Photoelectric pod image stabilization flyback integrated measuring device and measuring method

Abstract

The invention discloses a photoelectric pod image stabilization and flyback integrated measuring device and method, and relates to the technical field of aircraft photoelectric pods. Comprising the following steps: acquiring a rotation angle of a photoelectric pod in a working state within a time interval, and calculating a rotation angular velocity of the photoelectric pod within the time interval; and an active stability control model is established, and when the rotation angular speed of the photoelectric pod within the time interval is smaller than a set value, the position of the optical axis of the binocular camera is adjusted through an inertia original element of the photoelectric pod so as to capture a target object. According to the method, the active stability control model is established, multiple time intervals are divided, synchronous frequency rotation is carried out on the binocular camera in the opposite direction while the aircraft or the photoelectric pod rotates, it is ensured that the target object can be captured by the binocular camera in each time interval, and the purpose of rapidly capturing the target object is achieved; the tracking precision of the aircraft is improved, and the aircraft can effectively track the target.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft optoelectronic pods, and in particular to an optoelectronic pod image stabilization and retrace integrated measurement device and a measurement method. Background Art

[0002] Image acquisition technology is the most commonly used reconnaissance technology on unmanned reconnaissance aircraft. As the implementation carrier of image acquisition technology for unmanned reconnaissance aircraft, optoelectronic pods have been widely used on drones. Their imaging accuracy directly affects the quality of mission achievement of unmanned reconnaissance aircraft.

[0003] For example, the Chinese invention patent, application announcement number CN108107934A discloses a multi-level image stabilization / return composite control system for an optoelectronic pod, which is composed of a six-degree-of-freedom vibration isolation device, an image stabilization control device, an image stabilization return device and an optoelectronic pod. It can realize vibration isolation / suppression multi-level image stabilization control and large-range return of the optoelectronic pod, effectively improving the imaging accuracy of the optoelectronic pod.

[0004] Another example is the Chinese invention patent, application announcement number CN108088373A discloses an integrated control device and measurement method for an optoelectronic pod image stabilization and retracement, which uses a voice coil motor as a driving device, and the aperture and rotation angle of the reflector are significantly increased; compared with the general two-dimensional electrically adjustable line of sight stabilization system, the device has a simple structure and a light weight, and the rotation angle of the reflector around the X-axis is larger than that of a general symmetrical arrangement.

[0005] The above-mentioned scheme and the prior art solve the problem that the visual axis of the optical instrument in the pod deviates from the expected spatial inertial direction due to wind resistance torque and large-load maneuvers during flight, thereby causing the optical system in the optoelectronic pod to shake, affecting the clarity and visual effect of the imaging. However, in practical applications, the prior art still has some problems.

[0006] For example, when an aircraft is tracking a target, when the aircraft passes through a valley, a bridge, or a gap between adjacent buildings, the aircraft may be affected by crosswinds and produce a large rotation angle and rotation angular velocity deflection. However, adjusting the binocular camera optical axis position through the inertial elements of the optoelectronic pod is not convenient for quickly capturing the target, which will not only reduce the tracking accuracy of the aircraft, but may also make the aircraft unable to accurately reach the designated position or effectively track the target. Summary of the invention

[0007] The object of the present invention is to provide an integrated measurement device and method for image stabilization and retracement of an optoelectronic pod, so as to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: an integrated measurement method for photoelectric pod image stabilization and retrace, comprising:

[0009] Obtain the rotation angle of the optoelectronic pod within the time interval in the working state, and calculate the rotation angular velocity of the optoelectronic pod within the time interval;

[0010] An active stabilization control model is established. When the angular velocity of the optoelectronic pod is less than the set value within a time interval, the optical axis position of the binocular camera is adjusted through the inertial element of the optoelectronic pod to capture the target object.

[0011] When the angular velocity of the optoelectronic pod during the time interval is greater than the set value, the optical axis position of the binocular camera is adjusted through the active stabilization control model to capture the target object;

[0012] Obtain the image information recorded by the binocular camera of the optoelectronic pod, synthesize the image information taken by the binocular camera at the same time, and obtain the distance information between the target object and the binocular camera;

[0013] Obtain the angle information between the binocular camera and the target object after each time interval, and adjust the optical axis angle of the binocular camera through the inertial element of the optoelectronic pod so that the extended line of the binocular camera optical axis intersects with the target object;

[0014] The position of the laser beam is measured through the compensation system, and the angle of the laser beam is adjusted to achieve rapid capture of the target object.

[0015] Furthermore, the specific method for obtaining the target object distance information is:

[0016] The first camera is used to capture a visible light image of the target object, and the second camera is used to capture an infrared light image of the target object;

[0017] Extracting a brightness classification image of the visible light image and a gray component image of the infrared light image, and extracting feature points of the visible light image and the infrared light image based on the brightness classification image of the visible light image and the gray component image of the infrared light image;

[0018] Compare the feature points in the two pictures, find the matching feature points that appear in both images, calculate the disparity of the matching feature points in the two images, calculate the coordinates of the matching feature points in three-dimensional space, obtain the depth information of the matching feature points through the depth component of the three-dimensional coordinates, and then obtain the distance between the target object and the binocular camera.

[0019] Furthermore, the specific method of establishing the active stability control model is:

[0020] A two-dimensional coordinate system of the optoelectronic pod is established according to the moving direction of the optoelectronic pod and the direction perpendicular to the moving direction, and the two-dimensional coordinate system is updated in real time according to the moving position of the optoelectronic pod;

[0021] When the rotation angle of the optoelectronic pod within the time interval is greater than the set value, the two-dimensional coordinate system is not updated within the optoelectronic pod rotation time;

[0022] The binocular camera angle is adjusted in the opposite direction, and the adjustment angle of the binocular camera adjusted in the opposite direction is equal to the rotation angle of the optoelectronic pod, wherein the angle adjustment speed of the binocular camera within the time interval is equal to the rotation angular speed of the optoelectronic pod within the time interval;

[0023] After adjusting the binocular camera angle in the opposite direction, the position of the camera is fine-tuned through the inertial element of the optoelectronic pod until the extended line of the binocular camera optical axis is parallel to the original binocular camera optical axis direction in the optoelectronic pod two-dimensional coordinate system.

[0024] Furthermore, the method also includes establishing a regression model;

[0025] The specific method of establishing the regression model is to obtain the test inertial deflection of the optoelectronic pod under different test angular velocities of the binocular camera, and obtain a test angular velocity set and a test inertial deflection set;

[0026] The test angular velocity and the test inertial deflection are marked on the horizontal and vertical axes respectively, and then a linear function is used as the objective function to fit a straight line;

[0027] The rotation angular velocity of the optoelectronic pod in the time interval under the working state is brought into the horizontal coordinate to obtain the actual inertial deflection of the optoelectronic pod;

[0028] The actual angle of the binocular camera is obtained by subtracting the reverse adjustment amount of the binocular camera angle from the actual inertial deflection amount.

[0029] Furthermore, the specific method of establishing the regression model also includes:

[0030] When the angular velocity of the photoelectric pod's rotation within the time interval is greater than the set value, the position of the photoelectric pod is taken as the origin, and the deviation position coordinates of the deflected photoelectric pod are obtained based on the established two-dimensional coordinate system, and the initial moving speed of the photoelectric pod is obtained. According to vector calculation, the rotation angle and speed of the deflected photoelectric pod re-entering the two-dimensional coordinate system within the set time are obtained.

[0031] Furthermore, the method for obtaining the angle information between the binocular camera and the target object after each time interval is:

[0032] The inclination angle between the binocular camera and the target object is measured, and the inclination angle between the binocular camera and the target object just before the optoelectronic pod rotates is saved to obtain a first inclination angle;

[0033] Get the moving speed of the photoelectric pod and calculate the moving distance of the photoelectric pod in each interval.

[0034] The distance between the binocular camera and the target object just before the optoelectronic pod rotates is retrieved, and the distance between the binocular camera and the target object and the second inclination angle after the first interval time are calculated, wherein the second inclination angle is the angle to be adjusted of the optical axis of the binocular camera after the first interval time;

[0035] The calculation is repeated to obtain several binocular camera optical axis angles to be adjusted in order of interval time.

[0036] Furthermore, the compensation system comprises:

[0037] The lens assembly captures and focuses the light reflected from the target object to form a natural light beam;

[0038] A calibration unit emits a laser beam through a laser head, and adjusts the position of the laser head through an adjusting member of the calibration unit so that the laser beam is parallel to the natural light beam;

[0039] A separation unit to capture the natural light beam and reflect the laser beam;

[0040] The detection unit senses and images the natural light beam through its photosensitive surface, calculates the deviation distance between the image and the center of the photosensitive surface, and controls the adjustment element of the calibration unit to adjust the position of the laser so that the laser beam is parallel to the natural light beam;

[0041] A sensing unit, wherein the imaging point of the visual axis is located at the center of the sensing unit, and is used to detect the angular deviation between the laser beam and the visual axis;

[0042] Image stabilization regression unit, to adjust the reflection angle of the laser beam;

[0043] The control unit is used to receive and detect the angular deviation information between the laser beam and the visual axis, and then convert the angular deviation information into an electrical signal for controlling the action of the image stabilization regression unit to adjust the reflection angle of the laser beam so that the laser beam is parallel to the visual axis.

[0044] The invention discloses an integrated measurement device for image stabilization and retracement of an optoelectronic pod, which is applied to an integrated measurement method for image stabilization and retracement of an optoelectronic pod.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The optoelectronic pod image stabilization and retrace integrated measurement device and method establish an active stabilization control model, divide the time into multiple intervals, and synchronously rotate the binocular camera in the opposite direction while the aircraft or the optoelectronic pod rotates, thereby ensuring that the target object can be captured by the binocular camera in each interval, thereby achieving the purpose of quickly capturing the target object, improving the tracking accuracy of the aircraft, and enabling the aircraft to effectively track the target.

[0047] At the same time, the aircraft or optoelectronics will vibrate during flight. When rotating, the natural light beam reflected by the target is not coaxial with the optical axis of the binocular camera, resulting in poor visual axis stability and affecting the tracking accuracy of the system. This solution measures the position of the laser beam through a compensation system and adjusts the angle of the laser beam to quickly capture the target.

[0048] In addition, a linear fit is performed on the test angular velocity and the test inertial deflection, and the actual angle of the binocular camera within the time interval is obtained through relevant calculations. This scheme takes into account the time interval between the rotation of the aircraft or the optoelectronic pod and the reverse rotation of the binocular camera, which causes the aircraft or the optoelectronic pod to produce a certain inertial deflection, thereby preventing excessive adjustment of the binocular camera and further improving the tracking accuracy of the aircraft.

[0049] In addition, the initial moving speed of the optoelectronic pod is obtained, and the turning angle and speed of the optoelectronic pod to re-enter the two-dimensional coordinate system after deflection within the set time are obtained according to vector calculation. The aircraft can be readjusted to the x-axis of the two-dimensional coordinate system within the set time, which can prevent the tracking accuracy from being reduced due to route deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a flow chart of the present invention;

[0051] Figure 2 A schematic diagram of the angle information between the binocular camera and the target object obtained after each time interval in the present invention;

[0052] Figure 3 This is a compensation system diagram of the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Figure 1The flowchart of the present invention provides a technical solution: an integrated photoelectric pod image stabilization and retrace measurement device and a measurement method, comprising: obtaining the rotation angle of the photoelectric pod fixedly connected to the bottom of the aircraft in a working state within a time interval, and then calculating the rotation angular velocity of the photoelectric pod within the time interval. The rotation angle can be obtained by an angle sensor installed inside / outside the aircraft or the photoelectric pod, or by a gyroscope installed inside the aircraft or the photoelectric pod, wherein the interval time is 0.1-0.3s. In this solution, the preferred interval time is 0.2s. For example, within 0.2s, the rotation angle of the photoelectric pod is 1°, then, expressed in degrees, the rotation angular velocity within the time interval is 1° / 0.2s. It can be known that after being affected by crosswind, the aircraft can be stabilized through its own automatic stabilization system or manual operation, so its rotation angular velocity may be different within different time intervals.

[0055] An active stability control model is established. When the rotation angular velocity of the optoelectronic pod within a time interval is less than a set value, the optical axis position of the binocular camera is adjusted through the inertial element of the optoelectronic pod to capture the target object. The set value is a safe rotation angular velocity value set by the technician. That is, under this set value, the binocular camera can slowly adjust the optical axis position of the binocular camera through the inertial element without leaving the target object to lock the specific position of the target object.

[0056] When the angular velocity of the optoelectronic pod during the time interval is greater than the set value, the optical axis position of the binocular camera is adjusted through the active stabilization control model to capture the target object.

[0057] Among them, the specific method of establishing the active stability control model is:

[0058] A two-dimensional coordinate system of the optoelectronic pod is established according to the moving direction of the optoelectronic pod and the direction perpendicular to the moving direction. The two-dimensional coordinate system is updated in real time according to the moving position of the optoelectronic pod. The moving direction of the optoelectronic pod is the flight path of the aircraft, which is set as the x-axis. The path is parallel to the ground, and the direction perpendicular to the moving direction is set as the y-axis. The intersection of the x-axis and the y-axis in the two-dimensional coordinate system is located at the center of the aircraft or the optoelectronic pod. The update time of the two-dimensional coordinate system can be set to 1-5s.

[0059] When the rotation angle of the optoelectronic pod within the time interval is greater than the set value, the two-dimensional coordinate system will not be updated during the rotation time of the optoelectronic pod, that is, if the rotation angle duration of the aircraft or optoelectronic pod is 5s, then the x-axis and y-axis of the two-dimensional coordinate system are constant from before the start of rotation to the 5s of the rotation angle duration. In this way, the position of the aircraft or optoelectronic pod at the beginning of rotation is the coordinate origin. After 5s, a new two-dimensional coordinate system is reset according to the flight path of the aircraft.

[0060] The binocular camera angle is adjusted in the opposite direction, and the adjustment angle of the binocular camera adjusted in the opposite direction is equal to the rotation angle of the optoelectronic pod, wherein the angle adjustment speed of the binocular camera within the time interval is equal to the rotation angular speed of the optoelectronic pod within the time interval;

[0061] After adjusting the binocular camera angle in the opposite direction, the position of the camera is fine-tuned through the inertial element of the optoelectronic pod until the extension line of the binocular camera optical axis is parallel to the original binocular camera optical axis direction in the optoelectronic pod two-dimensional coordinate system. It can be understood that the purpose of fine-tuning is to eliminate the error caused by vibration of the aircraft during flight. The device for fine-tuning can be a brushless motor with fast response speed and capable of completing forward and reverse rotation within 0.02 seconds.

[0062] Obtain the image information recorded by the binocular camera of the optoelectronic pod, synthesize the image information taken by the binocular camera at the same time, and obtain the distance information between the target object and the binocular camera;

[0063] Specifically, the specific method for obtaining the target object distance information is:

[0064] The first camera is used to capture a visible light image of the target object, and the second camera is used to capture an infrared light image of the target object.

[0065] The brightness classification image of the visible light image is extracted by a color image processor and the grayscale component image of the infrared light image is extracted by a black and white image processor. Based on the brightness classification image of the visible light image and the grayscale component image of the infrared light image, feature points of the visible light image and the infrared light image are extracted.

[0066] Compare the feature points in the two pictures, find the matching feature points that appear in both images, calculate the disparity of the matching feature points in the two images, calculate the coordinates of the matching feature points in three-dimensional space, obtain the depth information of the matching feature points through the depth component of the three-dimensional coordinates, and then obtain the distance between the target object and the binocular camera.

[0067] The angle information between the binocular camera and the target object is obtained after each time interval, and the optical axis angle of the binocular camera is adjusted by the inertial element of the optoelectronic pod so that the extended line of the binocular camera optical axis intersects with the target object.

[0068] Specifically, Figure 2 As shown, the method for obtaining the angle information between the binocular camera and the target object after each time interval is:

[0069] The inclination angle between the binocular camera and the target is measured, the inclination angle between the binocular camera and the target just before the photoelectric pod rotates is saved, and the first inclination angle a1 is obtained. The moving speed of the photoelectric pod is obtained, and the moving distance L1 of the photoelectric pod in each interval time is calculated. The distance L2 between the binocular camera and the target just before the photoelectric pod rotates is retrieved, and the distance L3 between the binocular camera and the target after the first interval time and the second inclination angle a2 are obtained by calculation, wherein the second inclination angle a2 is the angle to be adjusted of the optical axis angle of the binocular camera after the first interval time;

[0070] Repeat the calculation to obtain several binocular camera optical axis angles to be adjusted in order of interval time. Figure 2 It can be seen that as the interval time increases, the optical axis angle of the binocular camera to be adjusted also increases. The staff can set the rotation speed of the servo motor at different intervals in the system, so as to track the target object within the same adjustment time.

[0071] In summary, the device divides the time into multiple intervals. When the aircraft or the optoelectronic pod rotates, the binocular camera is rotated synchronously in the opposite direction to ensure that the target object can be captured by the binocular camera in each interval, thereby achieving the purpose of quickly capturing the target object, improving the tracking accuracy of the aircraft, and enabling the aircraft to effectively track the target.

[0072] In addition, the aircraft or optoelectronics will vibrate during flight. When rotating, the natural light beam reflected by the target is different from the optical axis of the binocular camera, resulting in poor visual axis stability and affecting the tracking accuracy of the system. This solution measures the position of the laser beam through a compensation system and adjusts the angle of the laser beam to quickly capture the target.

[0073] Specifically, Figure 3 As shown, the compensation system includes:

[0074] The lens assembly captures and focuses the light reflected from the target object to form a natural light beam;

[0075] A calibration unit emits a laser beam through a laser head, and adjusts the position of the laser head through an adjusting member of the calibration unit so that the laser beam is parallel to the natural light beam;

[0076] A separation unit to capture the natural light beam and reflect the laser beam;

[0077] The detection unit senses and images the natural light beam through its photosensitive surface, calculates the deviation distance between the image and the center of the photosensitive surface, and controls the adjustment element of the calibration unit to adjust the position of the laser so that the laser beam is parallel to the natural light beam;

[0078] A sensing unit, wherein the imaging point of the visual axis is located at the center of the sensing unit, and is used to detect the angular deviation between the laser beam and the visual axis;

[0079] Image stabilization regression unit, to adjust the reflection angle of the laser beam;

[0080] The control unit is used to receive and detect the angular deviation information between the laser beam and the visual axis, and then convert the angular deviation information into an electrical signal for controlling the action of the image stabilization regression unit to adjust the reflection angle of the laser beam so that the laser beam is parallel to the visual axis.

[0081] In another specific embodiment of the present solution, the method further includes establishing a regression model. The specific method of establishing the regression model is to obtain the test inertial deflection of the optoelectronic pod under different test angular velocities of the binocular camera, and obtain a test angular velocity set and a test inertial deflection set;

[0082] The test angular velocity and the test inertial deflection are marked on the horizontal and vertical axes respectively, and then a linear function is used as the objective function to fit a straight line, and the rotation angular velocity of the optoelectronic pod in the time interval under the working state is brought into the horizontal axis to obtain the actual inertial deflection of the optoelectronic pod;

[0083] The actual angle of the binocular camera in the corresponding time interval is obtained by subtracting the reverse adjustment amount of the binocular camera angle within the time interval from the actual inertial deflection. It can be understood that such a setting takes into account the time interval between the rotation of the aircraft or optoelectronic pod and the reverse rotation of the binocular camera (after the aircraft or optoelectronic pod stops rotating, the binocular camera is still rotating), which causes the aircraft or optoelectronic pod to produce a certain inertial deflection, preventing excessive adjustment of the binocular camera and further improving the tracking accuracy of the aircraft.

[0084] In another specific embodiment of this solution, the specific method of establishing the regression model also includes:

[0085] When the angular velocity of the photoelectric pod's rotation within the time interval is greater than the set value, the position of the photoelectric pod is taken as the origin, and the deviated position coordinates of the photoelectric pod after deflection are obtained based on the established two-dimensional coordinate system, and the initial moving speed of the photoelectric pod is obtained. According to vector calculation, the angle and speed of the photoelectric pod after deflection to re-enter the two-dimensional coordinate system within the set time are obtained. It can be understood that such a setting takes into account that the aircraft or the photoelectric pod deviates from the x-axis (flight direction) of the two-dimensional coordinate system while deflecting. In order to prevent the tracking accuracy from being reduced due to route deviation, the aircraft can be readjusted to the x-axis (flight direction) of the two-dimensional coordinate system within a set time, such as 2s, 3s or 4s.

[0086] The photoelectric pod image stabilization and retrace integrated measurement device is applied to the photoelectric pod image stabilization and retrace integrated measurement method, including:

[0087] A data storage module stores the rotation angle of the optoelectronic pod within the time interval under the working state, stores the image information captured by the binocular camera of the optoelectronic pod, and stores the angle information between the binocular camera and the target object after each time interval;

[0088] Active stabilization control model: when the angular velocity of the optoelectronic pod is less than the set value within the time interval, the optical axis position of the binocular camera is adjusted by the inertial element of the optoelectronic pod to capture the target object; when the angular velocity of the optoelectronic pod is greater than the set value within the time interval, the optical axis position of the binocular camera is adjusted by the active stabilization control model to capture the target object;

[0089] The data processing module calculates the rotation angular velocity of the optoelectronic pod within the time interval and synthesizes the image information taken by the binocular camera at the same time to obtain the distance information between the target object and the binocular camera;

[0090] The compensation system measures the position of the laser beam and adjusts the angle of the laser beam to quickly capture the target.

[0091] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. An integrated measurement method for photoelectric pod image stabilization and retrace, characterized in that: include: Obtain the rotation angle of the optoelectronic pod within the time interval in the working state, and calculate the rotation angular velocity of the optoelectronic pod within the time interval; An active stabilization control model is established. When the angular velocity of the optoelectronic pod is less than the set value within a time interval, the optical axis position of the binocular camera is adjusted through the inertial element of the optoelectronic pod to capture the target object. When the angular velocity of the optoelectronic pod during the time interval is greater than the set value, the optical axis position of the binocular camera is adjusted through the active stabilization control model to capture the target object; Obtain the image information recorded by the binocular camera of the optoelectronic pod, synthesize the image information taken by the binocular camera at the same time, and obtain the distance information between the target object and the binocular camera; Obtain the angle information between the binocular camera and the target object after each time interval, and adjust the optical axis angle of the binocular camera through the inertial element of the optoelectronic pod so that the extended line of the binocular camera optical axis intersects with the target object; The position of the laser beam is measured through the compensation system, and the angle of the laser beam is adjusted to achieve rapid capture of the target object.

2. The integrated measurement method of photoelectric pod image stabilization and retrace according to claim 1, characterized in that: The specific method for obtaining the target object distance information is: The first camera is used to capture a visible light image of the target object, and the second camera is used to capture an infrared light image of the target object; Extracting a brightness classification image of the visible light image and a gray component image of the infrared light image, and extracting feature points of the visible light image and the infrared light image based on the brightness classification image of the visible light image and the gray component image of the infrared light image; Compare the feature points in the two pictures, find the matching feature points that appear in both images, calculate the disparity of the matching feature points in the two images, calculate the coordinates of the matching feature points in three-dimensional space, obtain the depth information of the matching feature points through the depth component of the three-dimensional coordinates, and then obtain the distance between the target object and the binocular camera.

3. The integrated measurement method of photoelectric pod image stabilization and retrace according to claim 1, characterized in that: The specific method of establishing the active stability control model is: A two-dimensional coordinate system of the optoelectronic pod is established according to the moving direction of the optoelectronic pod and the direction perpendicular to the moving direction, and the two-dimensional coordinate system is updated in real time according to the moving position of the optoelectronic pod; When the rotation angle of the optoelectronic pod within the time interval is greater than the set value, the two-dimensional coordinate system is not updated within the optoelectronic pod rotation time; The binocular camera angle is adjusted in the opposite direction, and the adjustment angle of the binocular camera adjusted in the opposite direction is equal to the rotation angle of the optoelectronic pod, wherein the angle adjustment speed of the binocular camera within the time interval is equal to the rotation angular speed of the optoelectronic pod within the time interval; After adjusting the binocular camera angle in the opposite direction, the position of the camera is fine-tuned through the inertial element of the optoelectronic pod until the extended line of the binocular camera optical axis is parallel to the original binocular camera optical axis direction in the optoelectronic pod two-dimensional coordinate system.

4. The integrated measurement method of photoelectric pod image stabilization and retrace according to claim 3 is characterized in that: The method also includes establishing a regression model; The specific method of establishing the regression model is to obtain the test inertial deflection of the optoelectronic pod under different test angular velocities of the binocular camera, and obtain a test angular velocity set and a test inertial deflection set; The test angular velocity and the test inertial deflection are marked on the horizontal and vertical axes respectively, and then a linear function is used as the objective function to fit a straight line; The rotation angular velocity of the optoelectronic pod in the time interval under the working state is brought into the horizontal coordinate to obtain the actual inertial deflection of the optoelectronic pod; The actual angle of the binocular camera is obtained by subtracting the reverse adjustment amount of the binocular camera angle from the actual inertial deflection amount.

5. The integrated measurement method of photoelectric pod image stabilization and retrace according to claim 4, characterized in that: The specific method of establishing the regression model also includes: When the angular velocity of the photoelectric pod's rotation within the time interval is greater than the set value, the position of the photoelectric pod is taken as the origin, and the deviation position coordinates of the deflected photoelectric pod are obtained based on the established two-dimensional coordinate system, and the initial moving speed of the photoelectric pod is obtained. According to vector calculation, the rotation angle and speed of the deflected photoelectric pod re-entering the two-dimensional coordinate system within the set time are obtained.

6. The integrated measurement method of photoelectric pod image stabilization and retrace according to claim 1, characterized in that: The method for obtaining the angle information between the binocular camera and the target object after each time interval is: The inclination angle between the binocular camera and the target object is measured, and the inclination angle between the binocular camera and the target object just before the optoelectronic pod rotates is saved to obtain a first inclination angle; Get the moving speed of the photoelectric pod and calculate the moving distance of the photoelectric pod in each interval. The distance between the binocular camera and the target object just before the optoelectronic pod rotates is retrieved, and the distance between the binocular camera and the target object and the second inclination angle after the first interval time are calculated, wherein the second inclination angle is the angle to be adjusted of the optical axis of the binocular camera after the first interval time; The calculation is repeated to obtain several binocular camera optical axis angles to be adjusted in order of interval time.

7. The integrated measurement method of photoelectric pod image stabilization and retrace according to claim 1, characterized in that: The compensation system comprises: The lens assembly captures and focuses the light reflected from the target object to form a natural light beam; A calibration unit emits a laser beam through a laser head, and adjusts the position of the laser head through an adjusting member of the calibration unit so that the laser beam is parallel to the natural light beam; A separation unit to capture the natural light beam and reflect the laser beam; The detection unit senses and images the natural light beam through its photosensitive surface, calculates the deviation distance between the image and the center of the photosensitive surface, and controls the adjustment element of the calibration unit to adjust the position of the laser so that the laser beam is parallel to the natural light beam; A sensing unit, wherein the imaging point of the visual axis is located at the center of the sensing unit, and is used to detect the angular deviation between the laser beam and the visual axis; Image stabilization regression unit, to adjust the reflection angle of the laser beam; The control unit is used to receive and detect the angular deviation information between the laser beam and the visual axis, and then convert the angular deviation information into an electrical signal for controlling the action of the image stabilization regression unit to adjust the reflection angle of the laser beam so that the laser beam is parallel to the visual axis.

8. An integrated photoelectric pod image stabilization and retrace measurement device, applied to the integrated photoelectric pod image stabilization and retrace measurement method according to any one of claims 1 to 7, characterized in that: include: A data storage module stores the rotation angle of the optoelectronic pod within the time interval under the working state, stores the image information captured by the binocular camera of the optoelectronic pod, and stores the angle information between the binocular camera and the target object after each time interval; Active stabilization control model: when the angular velocity of the optoelectronic pod is less than the set value within the time interval, the optical axis position of the binocular camera is adjusted by the inertial element of the optoelectronic pod to capture the target object; when the angular velocity of the optoelectronic pod is greater than the set value within the time interval, the optical axis position of the binocular camera is adjusted by the active stabilization control model to capture the target object; The data processing module calculates the rotation angular velocity of the optoelectronic pod within the time interval and synthesizes the image information taken by the binocular camera at the same time to obtain the distance information between the target object and the binocular camera; The compensation system measures the position of the laser beam and adjusts the angle of the laser beam to quickly capture the target.

Images