Airborne portable medium-wave refrigeration infrared acquisition device

Abstract

An airborne portable medium-wave refrigeration infrared acquisition device adopts a medium-wave refrigeration thermal infrared imager as a detection subsystem, performs medium-wave infrared data acquisition on a target and a background, and completes photoelectric load optical axis stabilization and optical axis motion driving through a high-precision three-axis stabilization platform. Therefore, the airborne portable medium-wave refrigeration infrared acquisition device can acquire stable and clear images in an airborne environment. One path of infrared image is compressed and returned in real time, one path of image display observation and remote control of the airborne portable medium-wave refrigeration infrared acquisition device are completed through a ground workstation, and meanwhile, the remote camera image storage and deletion functions are achieved, and acquired original image data can be stored in an internal solid state disk of an image storage module in real time; the storage data comprises GPS coordinates, time and attitude information and can be copied to a ground workstation through a reserved data transmission interface. The storage function of the original infrared image and the unmanned aerial vehicle flight control information is added, the operation is convenient, and the use process is greatly simplified.

Description

Technical Field

[0001] The present application relates to the technical field of infrared acquisition devices, and in particular to an airborne portable medium-wave refrigerated infrared acquisition device. Background Art

[0002] Among the existing technologies, drone platforms are widely used due to their flexibility and are equipped with various application platforms.

[0003] However, it is precisely the flexibility of the drone platform that makes it difficult for the various application platforms on board to transmit data through wired connections and to exchange data stably with other parts of the entire device. Specifically, during the flexible rotation of the drone platform, the data cable is pulled, and the data cable ages rapidly during the long-term mechanical rotation, resulting in data transmission blockage or data errors.

[0004] Therefore, there is an urgent need for an airborne portable medium-wave cooled infrared acquisition device that adopts a new data transmission method to solve various problems caused by data line transmission. Summary of the invention

[0005] The present application provides an airborne portable medium-wave cooled infrared acquisition device. By setting up a network switch, the data of the integrated control component, the medium-wave cooled infrared thermal imager, and the servo stabilization platform are uniformly transmitted to the network switch, and the data is wirelessly transmitted through the network switch to the image processing module. Thus, wireless and stable data transmission is achieved. The specific technical solution is as follows:

[0006] An airborne portable medium-wave refrigerated infrared acquisition device, the device comprising: a medium-wave refrigerated infrared thermal imager, a servo stabilization platform, an integrated control component, an image processing module, and a network switch;

[0007] The medium-wave refrigeration infrared thermal imager is electrically connected to the integrated control component, and the integrated control component is electrically connected to the servo stabilization platform; the medium-wave refrigeration infrared thermal imager is signal-connected to the network switch, the image processing module is signal-connected to the network switch, the image processing module is signal-connected to the network switch, and the combined control component is signal-connected to the network switch;

[0008] The medium-wave cooled infrared thermal imager acquires a medium-wave infrared original image of a target, and transmits the medium-wave infrared original image to the network switch; the network switch sends the medium-wave infrared original image to the image processing module; the integrated control component determines servo control information based on the flight control attitude position information, and acquires servo feedback information of the servo stabilization platform; the integrated control component sends the flight control attitude position information and the servo feedback information to the network switch, and the network switch sends the flight control attitude position information and the servo feedback information to the image processing module; the image processing module performs data processing on the medium-wave infrared original image based on the flight control attitude position information and the servo feedback information, and eliminates the influence of the servo stabilization platform and flight jitter on the image.

[0009] In another embodiment of the present invention, the device further comprises: an image storage module;

[0010] The image storage module is connected to the image processing module, and the image storage module is used to store the medium-wave infrared original image.

[0011] In another embodiment of the present invention, the servo stabilization platform adopts a three-axis stabilization platform load mode and adopts a universal quick-release installation structure so that it can be quickly disassembled, installed and deployed.

[0012] In another embodiment of the present invention, the servo stabilization platform adopts external synchronization control, which can effectively control the medium-wave refrigeration infrared image synchronization function, thereby facilitating precise alignment of the UAV attitude information.

[0013] In another embodiment of the present invention, the medium wave cooled infrared thermal imager is used to store GPS information, attitude information and time information of the drone platform POS system, and to store original medium wave image storage and target information, target flight characteristics and communication instructions in real time.

[0014] In another embodiment of the present invention, the device further comprises: a secondary power supply;

[0015] The secondary power supply converts the onboard power supply into the power supply required inside the platform cabin, and filters and isolates the power supply to improve the electromagnetic compatibility of the system, and is used to power the medium-wave infrared thermal imager, the integrated control component, the image processing module, and the image storage module.

[0016] In another embodiment of the present invention, the network switch realizes the interconnection of interfaces inside the airborne portable medium-wave cooling infrared acquisition device through a gigabit network, and exchanges data and images in real time.

[0017] In another embodiment of the present invention, the detector material of the medium-wave cooled infrared thermal imager is mercury cadmium telluride.

[0018] In another embodiment of the present invention, the detector of the medium-wave cooled infrared thermal imager adopts external synchronous triggering to ensure the consistency of image timing.

[0019] In a second aspect, the present invention further provides a deblurring method for an airborne portable medium-wave refrigerated infrared acquisition device, the method comprising:

[0020] Acquire the maximum amplitude motion information of the shooting device within the imaging time, wherein the maximum amplitude motion information is the information that plays a decisive role in the motion direction among the UAV motion information, the servo stabilization platform motion information, and the target motion information;

[0021] Determine the relative motion direction between the shooting device and the shooting target based on the maximum amplitude motion information, and determine the blur direction of the original image shot by the shooting device, wherein the blur direction is the deviation direction of the pixels in the original image that deviate from the original imaging position;

[0022] Determine the relative motion distance between the shooting device and the shooting target based on the UAV motion information, the servo stabilization platform motion information, and the target motion information;

[0023] The original image is blurred based on the blur direction and the relative motion distance to improve the clarity of the original image.

[0024] The beneficial effects of the present invention are as follows:

[0025] The present application provides an airborne portable medium-wave cooled infrared acquisition device, which transmits the data of the integrated control component, the medium-wave cooled infrared thermal imager, and the servo stabilization platform to the network switch by setting a network switch, and transmits the data to the image processing module by wireless transmission through the network switch, thereby realizing wireless and stable data transmission.

[0026] In addition, the images acquired by the medium-wave cooled infrared thermal imager are blurred to a certain extent due to the vibration of the drone and the rotation of the servo stabilization platform. The existing technology mechanically stabilizes the medium-wave cooled infrared thermal imager through the servo stabilization platform, and deblurs the image data itself through algorithms. This solution obtains the flight trend of the drone and the rotation trend of the servo stabilization platform in real time, and eliminates the blurred data in the image in a direction, thereby achieving real-time high-definition image acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the connection of various modules of an airborne portable medium-wave refrigerated infrared acquisition device;

[0028] Figure 2It is a three-view image of an airborne portable medium-wave cooled infrared acquisition device;

[0029] Figure 3 This is one of the structural schematic diagrams of an airborne portable medium-wave refrigerated infrared acquisition device;

[0030] Figure 4 This is one of the structural schematic diagrams of an airborne portable medium-wave refrigerated infrared acquisition device;

[0031] Figure 5 This is one of the structural schematic diagrams of an airborne portable medium-wave refrigerated infrared acquisition device;

[0032] Figure 6 This is one of the structural schematic diagrams of an airborne portable medium-wave refrigerated infrared acquisition device;

[0033] Figure 7 This is one of the structural schematic diagrams of an airborne portable medium-wave refrigerated infrared acquisition device;

[0034] Figure 8 It is a working flow chart of an airborne portable medium-wave refrigerated infrared acquisition device;

[0035] Fig. 9 It is a deblurring step diagram of an airborne portable medium-wave cooled infrared acquisition device.

[0036] Among them, 1. Medium-wave cooled infrared thermal imager; 2. Servo stabilization platform; 3. Integrated control component; 4. Image processing module; 5. Image storage module; 6. Secondary power supply; 7. Network switch; 8. System structure; 9. Quick-release installation structure. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of this specification clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and their corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this document.

[0038] The following combination Figure 1-9 , describes in detail the technical solutions provided by each embodiment of this specification. Specific embodiment 1:

[0040] The purpose of the present application is to provide an airborne portable medium-wave cooled infrared acquisition device, which serves as a key device for detecting typical targets and collecting data. The system adopts a medium-wave cooled infrared thermal imager as a detection subsystem to collect medium-wave infrared data of targets and backgrounds. The optical axis stabilization and optical axis movement driving of the optoelectronic load are completed through a high-precision three-axis stabilized platform, thereby ensuring that the airborne portable medium-wave cooled infrared acquisition device obtains stable and clear images in an airborne environment, compresses and transmits one infrared image in real time, completes one image display observation and remote control of the airborne portable medium-wave cooled infrared acquisition device through a ground workstation, and has remote camera image storage and deletion functions. It can store the collected original image data in real time to the internal solid-state hard disk of the image storage module. The stored data includes GPS coordinates, time and attitude information, and can be copied to the ground workstation through a reserved data transmission interface.

[0041] An airborne portable medium-wave cooled infrared acquisition device comprises: a medium-wave cooled infrared thermal imager 1, a three-axis stabilized platform 2, an integrated control component 3, an image processing module 4, an image storage module 5, a secondary power supply 6, a switch 7, and a system structure 8.

[0042] The medium-wave cooled infrared thermal imager 1 detects the medium-wave radiation energy of the target and performs real-time imaging to obtain the target's original medium-wave infrared image. The airborne portable medium-wave cooled infrared acquisition device is a product drone adapted to a medium-wave cooled infrared thermal imager, which meets the following parameters:

[0043] a) Detector material: mercury cadmium telluride;

[0044] b) Detector type: medium wave infrared (3um~5um), Stirling cooling;

[0045] c) Detector resolution: 640×512;

[0046] d) Pixel size: 15um×15um;

[0047] e) Focal length: 11mm, fixed focus without thermalization, optional 25mm, 35mm, 50mm;

[0048] f) F number: 2;

[0049] g) Lens field of view: 50°×40°(±5%);

[0050] h) Lens distortion: ≤1%;

[0051] i) The detector trigger and storage frame rate are adjustable, with a maximum of no less than 25 frames / s;

[0052] j) Data bit width: ≥14bit;

[0053] k) The detector uses external synchronous triggering to ensure consistent image timing.

[0054] The three-axis stabilized platform 2 can isolate various disturbances in the carrier environment, allowing the medium-wave cooled infrared thermal imager to obtain clear and stable images; it is the executive component for realizing the movement of the optical axis, collecting information such as angle and angular velocity in real time, and based on the target deviation information obtained by the image tracking module, according to the working mode, combined with the corresponding control algorithm, it forms the necessary control signal to control the movement of the servo stabilized platform to achieve target tracking, and can output the frame angle and angular velocity in real time.

[0055] The integrated control component 3 receives and analyzes the ground control terminal instructions, and is responsible for the communication between the medium-wave infrared thermal imager, three-axis stabilization platform, image processing module, image storage module and UAV flight control attitude information inside the airborne portable medium-wave refrigerated infrared acquisition device, and is also responsible for the communication between the airborne portable medium-wave refrigerated infrared acquisition device and the ground workstation (display and control software);

[0056] The image processing module 4 realizes the functions of reading, preprocessing, tracking, compression encoding, communication, etc. of the original medium-wave infrared image, and realizes the real-time tracking of the target and the image output display;

[0057] The image storage module 5 realizes the storage of the raw data of the medium-wave cooled infrared thermal imager, can parse and store the GPS information, attitude information and time information of the POS system, and store it in the first line of the image information, and can read and delete the image storage board data through the gigabit network interface. It can store the original medium-wave image storage and target information, target flight characteristics and communication instructions and other control data in real time, and has the functions of starting to record data, stopping recording data, clearing recorded data, etc. The storage file name is related to the system time, and adopts a circular recording mode to prevent the storage space from being full and causing no data to be recorded, etc.;

[0058] The secondary power supply 6 converts the onboard power supply into the power supply required inside the platform cabin, and filters and isolates the power supply to improve the electromagnetic compatibility of the system, and is used to power the medium-wave infrared thermal imager, the integrated control component, the image processing module, and the image storage module;

[0059] The switch 7 realizes the interconnection of interfaces inside the airborne portable medium-wave refrigerated infrared acquisition device through a gigabit network, and exchanges data and images in real time.

[0060] System structure 8 is an internal combination of a fixedly mounted airborne portable medium-wave refrigerated infrared acquisition device.

[0061] The medium-wave cooled infrared thermal imager, integrated control component, image processing module, image storage module, secondary power supply, and switch are fixedly installed on the load structure of the three-axis stabilized platform through the system structure. The load structure is an important component of the system structure, and the frame structure greatly reduces the weight. The medium-wave cooled infrared thermal imager is installed at the front end of the load structure of the three-axis stabilized platform, the integrated control component is installed on the right side of the load structure of the three-axis stabilized platform (observed from back to front), the image processing module and the image storage module are installed at the top of the load structure of the three-axis stabilized platform, the secondary power supply is installed at the rear end of the load structure of the three-axis stabilized platform, and the switch is installed at the bottom of the load structure of the three-axis stabilized platform. The optical axis direction of the medium-wave cooled infrared thermal imager is installed parallel to the three-axis stabilized platform. When in the default zero position, the optical axis of the medium-wave cooled infrared thermal imager points horizontally forward.

[0062] The external installation interface of the three-axis stabilized platform adopts a universal quick-release installation structure, which contains mechanical structure and electrical interface, which is convenient for quick disassembly and installation. The electrical interface contains RS232 communication, Gigabit network, power supply structure, external synchronization signal, flight control input interface, etc. The mechanical interface has locking and fixing capabilities to ensure accurate docking. After the quick-release installation structure is locked, the onboard portable medium-wave cooled infrared acquisition device can achieve rapid power supply, communication and image output through the DJI M300 drone.

[0063] The airborne portable medium-wave cooled infrared acquisition device adopts the following workflow: Step 1: Install it on the UAV platform through the quick-disassembly structure, self-check after power-on and capture the target area by scanning; Step 2: Reconnaissance of the target area and identification of the target are achieved through manual search, automatic search and digital guidance; Step 3: Select the target for man-in-the-loop tracking; Step 4: After stable tracking, confirm the target and carry out parameter control, image acquisition and storage functions of the airborne portable medium-wave cooled infrared acquisition device; Step 5: Confirm whether the collected data is normal in real time based on the feedback status and target image of the acquisition system; Step 6: Read, process and manage the stored data to obtain actual target and scene information.

[0064] This application adopts an integrated design with the characteristics of high integration, small size and light weight. It adopts a universal quick-release installation structure, which is easy to use and meets the adaptation and installation requirements of drones. Specific embodiment 2:

[0066] The present application provides an airborne portable medium-wave cooled infrared acquisition device. By setting up a network switch, the data of the integrated control component, the medium-wave cooled infrared thermal imager, and the servo stabilization platform are uniformly transmitted to the network switch, and the data is wirelessly transmitted through the network switch to the image processing module. Thus, wireless and stable data transmission is achieved. The specific technical solution is as follows:

[0067] An airborne portable medium-wave refrigerated infrared acquisition device, the device comprising: a medium-wave refrigerated infrared thermal imager, a servo stabilization platform, an integrated control component, an image processing module, and a network switch;

[0068] The medium-wave refrigeration infrared thermal imager is electrically connected to the integrated control component, and the integrated control component is electrically connected to the servo stabilization platform; the medium-wave refrigeration infrared thermal imager is signal-connected to the network switch, the image processing module is signal-connected to the network switch, the image processing module is signal-connected to the network switch, and the combined control component is signal-connected to the network switch;

[0069] The medium-wave cooled infrared thermal imager acquires a medium-wave infrared original image of a target, and transmits the medium-wave infrared original image to the network switch; the network switch sends the medium-wave infrared original image to the image processing module; the integrated control component determines servo control information based on the flight control attitude position information, and acquires servo feedback information of the servo stabilization platform; the integrated control component sends the flight control attitude position information and the servo feedback information to the network switch, and the network switch sends the flight control attitude position information and the servo feedback information to the image processing module; the image processing module performs data processing on the medium-wave infrared original image based on the flight control attitude position information and the servo feedback information, and eliminates the influence of the servo stabilization platform and flight jitter on the image.

[0070] In another embodiment of the present application, the device further includes: an image storage module;

[0071] The image storage module is connected to the image processing module, and the image storage module is used to store the medium-wave infrared original image.

[0072] In another embodiment of the present application, the servo stabilization platform adopts a three-axis stabilization platform load mode and a universal quick-release installation structure that can be quickly disassembled, installed and deployed.

[0073] In another embodiment of the present application, the servo stabilization platform adopts external synchronization control, which can effectively control the medium-wave refrigeration infrared image synchronization function, thereby facilitating precise alignment of the drone attitude information.

[0074] In another embodiment of the present application, the medium wave cooled infrared thermal imager is used to store GPS information, attitude information and time information of the drone platform POS system, and to store original medium wave image storage and target information, target flight characteristics and communication instructions in real time.

[0075] In another embodiment of the present application, the device further comprises: a secondary power supply;

[0076] The secondary power supply converts the onboard power supply into the power supply required inside the platform cabin, and filters and isolates the power supply to improve the electromagnetic compatibility of the system, and is used to power the medium-wave infrared thermal imager, the integrated control component, the image processing module, and the image storage module.

[0077] In another embodiment of the present application, the network switch realizes the interconnection of interfaces inside the airborne portable medium-wave cooling infrared acquisition device through a gigabit network, and exchanges data and images in real time.

[0078] In another embodiment of the present application, the detector material of the medium-wave cooled infrared thermal imager is mercury cadmium telluride.

[0079] In another embodiment of the present application, the detector of the medium-wave cooled infrared thermal imager adopts external synchronous triggering to ensure the consistency of image timing.

[0080] In another embodiment of the present application, the image processing module adopts FPGA+DSP+ARM architecture. Specific embodiment 3:

[0082] like Figure 6 As shown, the present application provides an airborne portable medium-wave cooled infrared acquisition device. The airborne portable medium-wave cooled infrared acquisition device adopts the following workflow: the first step: install it on the UAV platform through a quick-disassembly structure, self-check after power-on and capture the target area by scanning; the second step: realize reconnaissance of the target area through manual search, automatic search and digital guidance, and realize target identification; the third step: select the target for human-in-the-loop tracking; the fourth step: after stable tracking, confirm the target and carry out parameter control, image acquisition and storage functions of the airborne portable medium-wave cooled infrared acquisition device; the fifth step: confirm whether the collected data is normal according to the feedback status and target image of the acquisition system in real time; the sixth step: read, process and manage the stored data to obtain the actual target and scene information. Specific embodiment 4:

[0084] like Fig. 9As shown, an image data processing method of an airborne portable medium-wave cooled infrared acquisition device is provided. When the device of the present application is used on a drone, the movement of the drone, the rotation of the servo-stabilized platform, and the movement of the detected object may cause the medium-wave infrared original image to produce a directional image offset. In order to eliminate such an offset, there are usually only two solutions adopted in the prior art. One is to offset the relative movement between the medium-wave cooled infrared thermal imager and the detected target by a mechanical device, so that the medium-wave cooled infrared thermal imager and the detected target are relatively static. The specific technical solution is to offset the movement of the detected target by the movement of the drone and the movement of the servo-stabilized platform. The other is to process the data of the medium-wave infrared original image itself, thereby eliminating the blurred data in the original image. Among them, the mechanical method has high control requirements and the cost of mechanical equipment is high. The data algorithm method relies solely on the data itself, and the data processing effect is based on the data itself. The pre-set algorithm has a good effect on the data in a certain situation, but it is difficult to achieve a good blur processing effect when processing on data different from the original environment.

[0085] Therefore, the present application specifically determines the relative motion direction between the medium-wave cooled infrared thermal imager and the detection target by obtaining the motion direction of the drone, the rotation of the servo-stabilized platform, and the motion direction of the detection target. Then determine the directional blur caused by the relative motion between the photographed object and the photographed object. In theory, as long as one of the three, the motion direction of the drone, the rotation of the servo-stabilized platform, and the motion direction of the detection target is determined, the blur direction of the original image can be determined. Since the motion amplitudes of the three are different, the maximum change in the motion amplitude will determine the blur direction of the original image. In order to further determine the blur distance of the original image, that is, the deviation between the deviated pixel in the original image and the actual position of the pixel. Based on the distance between the medium-wave cooled infrared thermal imager and the detection target, the distance moved by the drone during the imaging time period, the rotation angle of the servo-stabilized platform, and the motion distance of the detection target, the blur distance of the pixel in the original image can be determined.

[0086] Through the above steps, the direction and distance of the pixel deviating from the original position are determined, so that the blurring process of the original image has clear directionality and distance.

[0087] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for limiting purposes. In some embodiments, it will be apparent to those skilled in the art that, unless otherwise expressly noted, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. An airborne portable medium-wave refrigerated infrared acquisition device, characterized in that: The device comprises: a medium wave refrigerated infrared thermal imager, a servo stabilization platform, an integrated control component, an image processing module, and a network switch; The medium-wave refrigeration infrared thermal imager is electrically connected to the integrated control component, and the integrated control component is electrically connected to the servo stabilization platform; the medium-wave refrigeration infrared thermal imager is signal-connected to the network switch, the image processing module is signal-connected to the network switch, the image processing module is signal-connected to the network switch, and the combined control component is signal-connected to the network switch; The medium-wave cooled infrared thermal imager acquires a medium-wave infrared original image of a target, and transmits the medium-wave infrared original image to the network switch; the network switch sends the medium-wave infrared original image to the image processing module; the integrated control component determines servo control information based on the flight control attitude position information, and acquires servo feedback information of the servo stabilization platform; the integrated control component sends the flight control attitude position information and the servo feedback information to the network switch, and the network switch sends the flight control attitude position information and the servo feedback information to the image processing module; the image processing module performs data processing on the medium-wave infrared original image based on the flight control attitude position information and the servo feedback information, and eliminates the influence of the servo stabilization platform and flight jitter on the image.

2. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 1, characterized in that: The device also includes: an image storage module; The image storage module is connected to the image processing module, and the image storage module is used to store the medium-wave infrared original image.

3. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 1, characterized in that: The servo stabilization platform adopts a three-axis stabilization platform load mode and a universal quick-release installation structure, which can be quickly disassembled, installed and deployed.

4. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 3, characterized in that: The servo stabilization platform adopts external synchronization control, which can effectively control the synchronization function of medium-wave refrigeration infrared images, and facilitates the precise alignment of the UAV attitude information.

5. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 1, characterized in that: The medium wave cooled infrared thermal imager is used to store GPS information, attitude information and time information of the UAV platform POS system, and to store original medium wave image storage and target information, target flight characteristics and communication instructions in real time.

6. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 1, characterized in that: The device also includes: a secondary power supply; The secondary power supply converts the onboard power supply into the power supply required inside the platform cabin, and filters and isolates the power supply to improve the electromagnetic compatibility of the system, and is used to power the medium-wave infrared thermal imager, the integrated control component, the image processing module, and the image storage module.

7. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 1, characterized in that: The network switch realizes the interconnection of interfaces inside the airborne portable medium-wave refrigeration infrared acquisition device through a gigabit network, and exchanges data and images in real time.

8. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 1, characterized in that: The detector material of the medium-wave cooled infrared thermal imager is mercury cadmium telluride.

9. The airborne portable medium-wave refrigerated infrared acquisition device according to claim 1, characterized in that: The detector of the medium-wave cooled infrared thermal imager adopts external synchronous triggering to ensure the consistency of image timing.

10. A deblurring method for an airborne portable medium-wave refrigerated infrared acquisition device, characterized in that: The method is applied to the device according to any one of claims 1 to 9, and the method comprises: Acquire the maximum amplitude motion information of the shooting device within the imaging time, wherein the maximum amplitude motion information is the information that plays a decisive role in the motion direction among the UAV motion information, the servo stabilization platform motion information, and the target motion information; Determine the relative motion direction between the shooting device and the shooting target based on the maximum amplitude motion information, and determine the blur direction of the original image shot by the shooting device, wherein the blur direction is the deviation direction of the pixels in the original image that deviate from the original imaging position; Determine the relative motion distance between the shooting device and the shooting target based on the UAV motion information, the servo stabilization platform motion information, and the target motion information; The original image is blurred based on the blur direction and the relative motion distance to improve the clarity of the original image.

Images