Multi-target tracking debugging method for photoelectric turret

Abstract

The invention provides a multi-target tracking debugging method for a photoelectric turret, which belongs to the technical field of photoelectric debugging, and specifically comprises the following steps: introducing a simulation target into an image output loop of a photoelectric sensor of the photoelectric turret, superposing and presetting a plurality of simulation target points, and controlling the superposed simulation target points in real time by external debugging software, and multi-target motion parameters such as the size, the moving direction, the moving speed and the distance between the targets of the target can be simulated. The image simulation target device outputs an image superposed with a simulation target to the turret image processor, and the turret image processor can start the detection and tracking of the target, and feeds back the tracking miss distance to the photoelectric turret servo system, thereby completing the debugging of the multi-target tracking function and performance of the photoelectric turret. By adopting the tracking debugging method of the simulated target debugging photoelectric turret to multiple targets in the air, the problems that when the photoelectric turret detects multiple targets in the air and debugs a multi-target tracking system, a target source is difficult to find, debugging is inconvenient, and the debugging workload is large are solved.

Description

Technical Field

[0001] The present application relates to the field of optoelectronic debugging, and in particular to an optoelectronic turret multi-target tracking and debugging method. Background Art

[0002] With the rapid development of drone technology, drones are widely used in the fields of express logistics, environmental monitoring, aerial photography and mapping, patrol inspection, and agricultural and forestry pest prevention in the civilian field due to their low cost, small size, and long flight time. While drones facilitate people's daily lives, they also endanger public safety, interfere with public activities, and threaten the flight safety of civil aircraft. In the military field, the development of drones by foreign armies has threatened national homeland security. For example, the war between India and Pakistan clearly demonstrated the threat of drones to homeland security. Therefore, the research on drone countermeasure systems has become a necessity for all countries. The optoelectronic turret is the detection system of the drone countermeasure system. It extracts target information and feeds it back to the countermeasure system through the detection, identification and tracking of drones to complete the countermeasure of drones.

[0003] At present, during the debugging of optoelectronic turret products, it is difficult to find the source of the flying target when debugging the air target tracking function and performance, especially for multiple air targets. When debugging the air target tracking function and performance, pilots usually use drones for debugging. This debugging method is affected by many factors such as personnel and venues, and is inefficient. At the same time, the debugging process of the system is a long process, and it is not practical to fly drones for a long time. Summary of the invention

[0004] In view of this, the present application provides an optoelectronic turret multi-target tracking and debugging method, which solves the problems of difficult target source finding, inconvenient debugging, and large debugging workload when the optoelectronic turret detects multiple targets in the air and debugs the multi-target tracking system, thereby improving the debugging efficiency of the optoelectronic turret.

[0005] The present application provides an optoelectronic turret multi-target tracking and debugging method using the following technical solutions:

[0006] A photoelectric turret multi-target tracking and debugging method, comprising:

[0007] Step 1: The photoelectric sensor of the turret collects the video of the external natural environment and inputs it into the target simulator;

[0008] Step 2, the target simulator superimposes a simulated moving target on the captured video;

[0009] Step 3, setting the track of the simulated target to obtain the external natural environment video with target information;

[0010] Step 4: The turret image processor detects the target and calculates the deviation of the target relative to the center of the image;

[0011] Step 5: The turret servo system brings the deviation of the target relative to the center of the image into the initial servo control model to obtain the control amount, adjusts the posture of the turret, drives the photoelectric sensor to follow the target, and obtains new video data;

[0012] Step 6: Send the new video data to the turret image processor. The turret image processor detects the target and calculates the deviation of the target relative to the center of the image. The coefficient of the servo control model is updated to obtain a new control amount. The posture of the turret is adjusted with the new control amount, and the photoelectric sensor is driven to follow the target to obtain updated video data until the deviation between the target and the center of the image is less than the preset value, thereby obtaining the final servo control model.

[0013] Optionally, step 2 specifically includes: superimposing a target image at a corresponding position of each frame of the video data according to a preset track of the target.

[0014] Optionally, the target image is a block of white pixels.

[0015] Optionally, the pixel size of the target image is 2×2 to 40×40.

[0016] Optionally, the size of the simulated target pixel represents the distance between the simulated target and the turret, and the smaller the simulated target pixel, the farther the distance between the simulated target and the turret.

[0017] Optionally, the controlled variable includes the angular displacement and angular velocity of the turret.

[0018] In summary, this application includes the following beneficial technical effects:

[0019] The optoelectronic turret can debug its air multi-target tracking function and performance by using a method of simulating multiple targets to simulate the target source instead of the traditional method of using multiple micro-UAVs flying in the field as the target source. This can effectively solve the convenience of the optoelectronic turret's air multi-target debugging, greatly reduce the debugging workload, improve work efficiency, and has good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1This is a principle block diagram of the optoelectronic turret multi-target tracking and debugging method for this application. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0024] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0025] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0026] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0027] An embodiment of the present application provides a method for tracking and debugging multiple targets of an optoelectronic turret.

[0028] like Figure 1 As shown, a photoelectric turret multi-target tracking and debugging method comprises:

[0029] Step 1: The photoelectric sensor of the turret will collect the video of the external natural environment and input it into the target simulator.

[0030] Step 2: The target simulator superimposes a simulated moving target on the captured video. The superimposed simulated moving target may be one or more.

[0031] Step 3, setting the track of the simulated target to obtain the external natural environment video with target information.

[0032] Step 4: The turret image processor detects the target and calculates the deviation of the target relative to the center of the image.

[0033] Step 5: The turret servo system obtains the control value by bringing the deviation of the target relative to the center of the image into the initial servo control model, adjusts the posture of the turret, drives the photoelectric sensor to follow the target, and obtains new video data.

[0034] Step 6: Send the new video data to the turret image processor. The turret image processor detects the target and calculates the deviation of the target relative to the center of the image. The coefficient of the servo control model is updated to obtain a new control amount. The posture of the turret is adjusted with the new control amount, and the photoelectric sensor is driven to follow the target to obtain updated video data until the deviation between the target and the center of the image is less than the preset value, thereby obtaining the final optimized servo control model.

[0035] By introducing simulated targets into the output image loop of the optoelectronic sensor of the optoelectronic turret and superimposing multiple simulated target points, these superimposed simulated target points can be controlled in real time by external debugging software, and can simulate the multi-target motion parameters such as the size, moving direction, moving speed, and distance between targets. The image simulation target device outputs the image superimposed with the simulated target to the turret image processor, and the turret image processor can start the detection and tracking of the target, and feed back the tracking miss amount to the optoelectronic turret servo system to complete the debugging of the optoelectronic turret multi-target tracking function and performance. By using the simulated target to debug the optoelectronic turret's tracking debugging method for multiple targets in the air, the problems of difficulty in finding the target source, inconvenience in debugging, and heavy debugging workload when the optoelectronic turret detects multiple targets in the air and debugs the multiple target tracking system are solved.

[0036] The simulation target method used in this application is not affected by factors such as personnel and venues, which can save manpower and material resources, reduce work costs and improve work efficiency. Different targets can be simulated multiple times, and the turret servo system can be debugged multiple times to obtain a good servo control model as much as possible.

[0037] For the method of simulating the target, a target simulation image board is made, and an optoelectronic turret image tracking board can also be used. The target simulation image board has one image input, one image output and one communication interface; the target simulation image board completes the acquisition of the video image output by the optoelectronic turret optoelectronic sensor. According to the debugging and testing needs, the target parameters such as the movement direction, movement speed, target size, and the distance between multiple targets of the simulated target are set through the host computer; the simulated target is superimposed on the video image; after the target simulation board completes the generation of the simulated target, the image with the simulated target is output to the optoelectronic turret image tracking board to complete the debugging of the optoelectronic turret. Among them, the two methods of simulating the target running hardware are executed on the optoelectronic turret image tracking board; a working debugging mode is set in the image board program, the debugging mode is used during the debugging period, and the normal working mode is used during the working period; the advantage of this method is that it does not need to develop special simulation target execution hardware and system wiring, reducing costs. The disadvantage is that the debugging working mode is added, which complicates the product. Develop a simulated target image board, generate the simulated target through the simulated target image board, and output it to the image tracking board. The advantage is that the working mode required by the original product design is not increased, and the disadvantage is that the cost is increased. The specific method to be chosen can be selected based on the actual situation.

[0038] Simulated target parameter setting: In order to achieve realistic simulation effect and precision debugging of optoelectronic turret, the size of the simulated target is calculated based on the optoelectronic sensor field of view, the size of the test aircraft, the flight distance and other parameters to obtain the size parameters of the simulated target; the simulated target flight speed is calculated based on the aircraft flight distance, flight speed, and the flight speed of the simulated target in the field of view; the simulated target flight direction, the distance between multiple targets and other parameters are calculated by setting the aircraft distance and other information.

[0039] Step 2 specifically includes: superimposing the target image at the corresponding position of each frame image of the video data according to the preset track of the target.

[0040] The target image is a block of white pixels. The pixel size of the target image is 2×2 to 40×40.

[0041] The size of the simulated target pixel indicates the distance between the simulated target and the turret. The smaller the simulated target pixel, the farther the distance between the simulated target and the turret.

[0042] The control quantity includes the angular displacement and angular velocity of the turret.

[0043] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A photoelectric turret multi-target tracking and debugging method, characterized in that: include: Step 1: The photoelectric sensor of the turret collects the video of the external natural environment and inputs it into the target simulator; Step 2, the target simulator superimposes a simulated moving target on the captured video; Step 3, setting the track of the simulated target to obtain the external natural environment video with target information; Step 4: The turret image processor detects the target and calculates the deviation of the target relative to the center of the image; Step 5: The turret servo system brings the deviation of the target relative to the center of the image into the initial servo control model to obtain the control amount, adjusts the posture of the turret, drives the photoelectric sensor to follow the target, and obtains new video data; Step 6: Send the new video data to the turret image processor. The turret image processor detects the target and calculates the deviation of the target relative to the center of the image. The coefficient of the servo control model is updated to obtain a new control amount. The posture of the turret is adjusted with the new control amount, and the photoelectric sensor is driven to follow the target to obtain updated video data until the deviation between the target and the center of the image is less than the preset value, thereby obtaining the final servo control model.

2. The optoelectronic turret multi-target tracking and debugging method according to claim 1 is characterized in that: Step 2 specifically includes: superimposing the target image at the corresponding position of each frame image of the video data according to the preset track of the target.

3. The optoelectronic turret multi-target tracking and debugging method according to claim 1 is characterized in that: The target image is a block of white pixels.

4. The optoelectronic turret multi-target tracking and debugging method according to claim 1 is characterized in that: The pixel size of the target image ranges from 2×2 to 40×40.

5. The optoelectronic turret multi-target tracking and debugging method according to claim 1 is characterized in that: The size of the simulated target pixel indicates the distance between the simulated target and the turret. The smaller the simulated target pixel, the farther the distance between the simulated target and the turret.

6. The optoelectronic turret multi-target tracking and debugging method according to claim 1, characterized in that: The control quantity includes the angular displacement and angular velocity of the turret.

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