Dynamic stable imaging system and method for executing dynamic stable imaging

Abstract

The invention discloses a dynamic stable imaging system, which is characterized in that the dynamic stable imaging system is composed of a shell frame, and a reflex light path module, a photoelectric imaging detection module and a control unit which are arranged in the frame, and in the movement process of the shell frame, the control unit is used for driving the reflex light path module to adjust a visible light acquisition light path in the frame; visible light is collected by the photoelectric imaging detection module along a light path; the photoelectric imaging detection module converts an acquired visible light signal into layer image information data and outputs the layer image information data to the information processing subsystem, and the information processing subsystem adjusts a visible light acquisition light path through a control unit by means of a target identification tracking algorithm. The visible light information of the specified target is always collected by the photoelectric imaging detection module so as to realize the identification and tracking of the specified target. The method has the advantages of extremely small temperature drift, extremely high resolution and repeated positioning precision, and can be used for stable imaging under a dynamic condition.

Description

Technical Field

[0001] This invention relates to the field of photoelectric imaging technology, and more specifically to an imaging system based on a reflective scanning mirror for stable imaging under dynamic conditions, and a method for performing dynamic stable imaging based on the imaging system. Background Technology

[0002] In aerospace, high-speed target detection and other fields, stable imaging technology under dynamic conditions is the core support for obtaining clear images of targets and achieving accurate monitoring and identification. As application requirements expand to high-speed and high-dynamic scenarios, such as supersonic vehicle-borne imaging and high-speed moving target tracking, higher requirements are placed on the adaptability of imaging systems under complex motion states.

[0003] Existing dynamic imaging technology mainly achieves this through a combination of optical image stabilization and image processing. The optical image stabilization stage relies on the attitude adjustment of optical components such as prisms and galvanometers to counteract image shift caused by the movement of the carrier or target. The image processing stage uses algorithms to perform post-processing on the acquired images, such as blur compensation and resolution enhancement, to help improve imaging quality.

[0004] However, when the imaging scene enters a supersonic motion state, accompanied by dynamic interference of large amplitude (≥5°) and high frequency (≥3Hz), the existing technology system exposes significant technical bottlenecks and is unable to meet the requirements of stable imaging: On the one hand, the response speed and attitude adjustment accuracy of existing optical image stabilization elements are insufficient, and they cannot counteract the violent image shift under supersonic motion in real time and accurately, resulting in severe image blurring during the imaging process and failure to achieve stable imaging; on the other hand, the aerodynamic heating effect in the supersonic motion environment will cause temperature drift of optical elements and imaging devices, further damaging the optical path stability of the optical system, resulting in a significant decrease in imaging resolution and difficulty in clearly presenting target details; at the same time, the superposition of temperature drift and image shift interference will also cause the positioning reference of the imaging system to shift, resulting in a significant reduction in positioning accuracy and failure to meet the application requirements of high-precision monitoring and tracking.

[0005] Therefore, this application proposes a dynamic stabilization imaging system and a method for performing dynamic stabilization imaging to solve the above-mentioned technical problems. Summary of the Invention

[0006] The main objective of this invention is to provide a dynamic stabilization imaging system and a method for performing dynamic stabilization imaging, so as to solve the technical problems mentioned in the background art.

[0007] The present invention solves the above-mentioned technical problems by adopting the following technical solutions: A dynamic stabilized imaging system comprises an outer shell frame and a folding optical path module, a photoelectric imaging detection module, and a control unit within the frame. During the movement of the outer shell frame, the control unit drives the folding optical path module to adjust the visible light acquisition optical path within the frame, so that visible light is acquired by the photoelectric imaging detection module along the optical path. The photoelectric imaging detection module converts the acquired visible light signal into layer image information data and outputs it to the information processing subsystem. The information processing subsystem uses a target recognition and tracking algorithm and adjusts the visible light acquisition optical path through the control unit to ensure that the visible light information of the specified target is always acquired by the photoelectric imaging detection module, so as to realize the recognition and tracking of the specified target. The information processing subsystem collects information and outputs identification and tracking result image data and result data.

[0008] Preferably, the outer shell frame has a side window that conforms to the outer wall. During the movement of the outer shell frame, the visible light information of the designated target enters the outer shell frame through the side window. The side window is coated with double-sided AR coating and its visible light transmittance is set to ≥85%. Preferably, the outer shell frame structure is divided into two functional compartments: an optical payload compartment and an electronic payload compartment. The optical payload compartment houses the folding optical path module and the photoelectric imaging detection module. The electronic payload compartment houses the information processing hardware platform equipment, the folding optical path controller, the power supply module, and other electrical components. The rear of the electronic payload compartment is an interface panel with an RS422 control interface, an RJ45 network interface, a power supply interface, and a power switch.

[0009] Preferably, the specific calculation process for the target miss amount information includes using an optical lens to image the distant target onto the image plane, a detector placed on the image plane to convert the target's light signal into an electrical signal, and then using a tracking processor to extract the target signal from the video signal using weak signal extraction technology, and processing the target miss amount.

[0010] Preferably, the specific operation process of the target recognition and tracking algorithm includes: The camera captures real-time images of the scene, including the target. After video preprocessing and image segmentation, the centroid or square center of the target image and the coordinates of the relevant matching points relative to the origin of the optical axis are calculated frame by frame or frame by frame. The miss distance ±Δx, ±Ay includes the horizontal miss distance (±Δx) and the pitch miss distance (±Δy). The miss distance calculation process includes: first calculating the centroid or center of gravity of the target image and the coordinates (x,y) of the relevant matching points in the optical axis coordinate system, and then calculating the horizontal miss distance and the pitch miss distance. The servo system drives the camera to move the optical axis towards the target direction based on the transmitted miss distance (±Δx, ±Δy), thereby eliminating the miss distance and ensuring that the camera is always aligned with the target to achieve target tracking.

[0011] Preferably, the optical path folding module uses a vibration-stabilized mirror, an imaging reverse-scanning mirror, and a vibration IMU unit to perform the optical path folding operation during the movement of the outer shell frame.

[0012] Preferably, the side window, the vibration-stabilized mirror, the imaging reverse mirror, and the control unit form a line-of-sight stabilizing load system, wherein: The photoelectric imaging detection module is used to acquire visible light image data and simultaneously calculate the target miss distance information; The vibration-stabilizing reflector and control unit are used to stabilize the staring scan and ensure that visible light imaging information is received and imaged in the photoelectric imaging detection module after passing through the optical path module. The control unit controls the imaging reverse scanning mirror to perform scanning, stabilization, and tracking control drive operations.

[0013] Preferably, the vibration-stabilized reflector includes a sensor fixed relative to the base and a set of reflectors placed on a rotating frame and stabilized on both axes, thereby stabilizing the line of sight by stabilizing the reflectors in the optical path; By controlling the rotation of the reflector, the aiming line can be directed towards the target while isolating the effects of the aircraft's attitude motion and vibration.

[0014] Preferably, the IMU (Inertial Measurement Unit) is used to monitor the attitude changes of the moving platform in real time, and according to the attitude changes, the control unit drives the vibration stabilizing mirror to always be aligned with the target, so as to realize the identification and tracking of the target and the stabilization of the beam.

[0015] Preferably, the control unit drives the vibration-stabilized mirror to be equipped with a set of fast-pointing mirrors to compensate for minor vibrations of the optical axis, so as to ensure that it is always aligned with the target; The quick-pointing reflector's mirror body, support frame, and driver are integrated as a whole, eliminating problems such as shaft friction and significantly improving the mechanical resonant frequency. The quick-pointing reflector's mirror body can be either a glass mirror or a metal mirror. The quick-pointing reflector's support frame adopts a flexible structure, and the quick-pointing reflector's driver adopts a piezoelectric ceramic driver or a voice coil motor.

[0016] A method for performing dynamic stabilized imaging, comprising: Based on the dynamic stabilization imaging system according to any one of claims 1-5, the system acquires the position information of a specified target by combining the original visible light acquisition optical path with the system position. After acquiring the location information of the specified target, the visible light acquisition optical path is adjusted using a target recognition and tracking algorithm to ensure that the visible light information of the specified target is always acquired by the photoelectric imaging detection module, thereby achieving the identification and tracking of the specified target.

[0017] As can be seen from the above technical solution, the present invention provides a dynamically stabilized imaging system and a method for performing dynamically stabilized imaging. Compared with the prior art, the present invention has the following advantages: 1. This invention, through the connection of a vibration-stabilized mirror, an imaging back-scanning mirror, and a control unit, enables the overall imaging system to have extremely small temperature drift, extremely high resolution, and high repeatability. It can compensate for the severe image shift under supersonic motion in real time and accurately, avoiding problems such as severe image blurring and positioning reference deviation of the imaging system for the target during the imaging process. It can clearly present target details and is suitable for stable and high-precision imaging under high-speed dynamic conditions.

[0018] 2. The lightweight design of the support structure of this invention features stable rotation center, strong anti-interference ability, and good structural rigidity.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Of course, implementing any product of the invention does not necessarily require achieving all of the advantages described above simultaneously. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the imaging structure of the system of the present invention; Figure 2 This is a schematic diagram of the side window acquisition of the folded optical path according to the present invention; Figure 3 This is a schematic diagram illustrating the working principle of the line-of-sight stabilization of the present invention; Figure 4 This is a schematic diagram of a two-stage stable control system. Figure 5 This is a schematic diagram of the target tracking system. Figure 6 This is a schematic diagram of the basic components of an airborne optoelectronic imaging tracking system for angular vibration sensors that uses an inertial gyroscope as a line-of-sight stabilization loop in the prior art. Figure 7 This is a schematic diagram of the control flow of a target tracking system. Figure 8 This is a schematic diagram illustrating the control principle of the imaging reverse scanning mirror; Figure 9 This is a schematic diagram illustrating the stabilization principle of the imaging reverse scanning mirror; Figure 10 A schematic diagram illustrating the principle of aligning a vibration-stabilized mirror with a target. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] For details in the embodiments, please refer to Figures 1 to 3 .

[0023] like Figure 1 As shown. The dynamically stabilized imaging system proposed in this embodiment of the invention consists of an outer frame and a folding optical path module, a photoelectric imaging detection module, and a control unit within the frame, wherein: (1) During the movement of the outer frame, the control unit is used to drive the folding optical path module to adjust the visible light acquisition optical path within the frame so that the visible light is acquired by the photoelectric imaging detection module along the optical path.

[0024] In the specific implementation process, the side wall of the equipment shell needs to be reserved with an opening, and a side window should be added to conform to the outer wall. The equipment shell structure should combine metal and non-metal materials. The non-metal materials used should be strong and sturdy to facilitate subsequent testing and installation, so as to meet the strength requirements and reduce the weight reasonably.

[0025] In one experimental example, during the system dynamic test, since the system dynamic test conditions require a speed of 2-3 Mach, the aerodynamic shape needs to be optimized to adapt to the high-speed motion environment. Therefore, the device and its internal system also need to meet the following conditions: the optical system of the hardware platform uses side window imaging and fast reflector to realize the folding optical path, so that the system can detect and image forward and downward. The optical system selects a zoom lens, which can be adjusted to select the appropriate field of view according to the application scenario.

[0026] Furthermore, for flight speeds of Mach 2-3 (i.e., the hypersonic range), the aerodynamic shape of the equipment needs to focus on issues such as shock wave drag, stability, and maneuverability. Therefore, a shape design with a slender body and a sharp leading edge can be adopted.

[0027] Further reference Figure 1The outer frame structure is internally divided into two functional compartments: an optical payload compartment and an electronic payload compartment. The optical payload compartment houses the folding optical path module and the photoelectric imaging detection module; the electronic payload compartment houses the information processing hardware platform equipment, the folding optical path controller, the power supply module, and other electrical components. The rear of the electronic payload compartment features an interface panel with an RS422 control interface, an RJ45 network interface, a power supply interface, and a power switch. The video interface includes one raw video output interface and one interface for outputting recognition and tracking results. Additionally, power indicator lights and operating status indicator lights are provided on the panel. The interface panel is easily removable for convenient system maintenance.

[0028] Additionally, it should be noted that an opening needs to be provided on the side wall of the outer casing to add a side window, which should be conformally designed to fit the outer wall. The side window should have a double-sided AR coating with a visible light transmittance of ≥85%.

[0029] (2) Reference Figure 2 The photoelectric imaging detection module converts the acquired visible light signal into layer image information data and outputs it to the information processing subsystem. The information processing subsystem uses a target recognition and tracking algorithm and adjusts the visible light acquisition optical path through the control unit to ensure that the visible light information of the specified target is always acquired by the photoelectric imaging detection module, so as to realize the recognition and tracking of the specified target. At this time, the information processing subsystem outputs the recognition and tracking result image data and result data through the acquired information.

[0030] To reliably identify and track targets 10km below and in front of the target under dynamic conditions (supersonic motion, amplitude ≥5°, frequency ≥3Hz), the system employs a vibration-stabilized reflector, an imaging reverse-scanning mirror, and a vibration IMU unit to deflect the optical path, achieving clear imaging of the target below and in front of the target. (a) The IMU unit (vibration-stabilized IMU inertial measurement unit) is used to sense and measure vibration information. It provides attitude feedback information for controlling the vibration-stabilized mirror and the imaging backscan mirror, enabling the device to achieve stable and clear imaging under dynamic conditions, thereby providing clear and high-quality images for the target recognition and tracking module; (b) Vibration-stabilized mirror, used for field-of-view compensation, to ensure that the tracked target remains stable within the camera's field of view, so as to maintain the target within the field of view under dynamic conditions such as supersonic motion, amplitude ≥5°, and frequency ≥3Hz; (c) Imaging back-scanning mirror (imaging back-scanning fast mirror) is used to stabilize the optical axis during camera exposure. The fast mirror can solve the problem of stabilizing the imaging optical axis while turning the optical path, so as to avoid image shift and image degradation and blurring under supersonic conditions. The imaging reverse scanning mirror here is controlled by the imaging reverse scanning mirror controller. That is, the imaging reverse scanning mirror is responsible for optical path control, and the imaging reverse scanning mirror controller is responsible for controlling the movement of the mirror, so that the line of sight is stable during the camera exposure time.

[0031] In one experimental example, according to the requirements of the target recognition and tracking verification platform, the equipment can test and verify the target recognition and tracking performance under supersonic conditions, amplitude ≥5°, and frequency ≥3Hz. When the verification platform is facing the target, due to the angle between the projectile-target axis and the line of sight, lateral displacement will occur during the movement towards the target, resulting in image shift and causing image blurring, which is not conducive to target recognition and tracking.

[0032] At this point, the target recognition and tracking verification platform uses a photoelectric detector as a load. It needs to effectively isolate the jitter of the photoelectric detector's line of sight in inertial space caused by the carrier's attitude movement or other disturbance torques. It should be able to effectively compensate for the blurring of the detector's image caused by the jitter of the line of sight. When the position and attitude change, it should be able to isolate the vibration of the moving platform, compensate for the changes in the attitude of the moving platform, ensure the stability of the front line of sight, achieve stable pointing in a specific direction and stable automatic tracking of the target in a specific direction, and improve the tracking accuracy.

[0033] In light of the current state of technology, target identification and tracking verification platforms primarily employ two methods: overall stabilization and mirror stabilization. The former involves directly mounting the optical detector onto a stabilization platform, a common approach. However, this method results in a large platform size and moment of inertia, hindering miniaturization and rapid response, and is unsuitable for this project's requirements. The latter involves stabilizing one or more mirrors within the optical system's path to achieve line-of-sight stabilization. Due to the diverse implementation methods of mirror platforms, their line-of-sight motion is complex and variable, leading to variations in mirror platform line-of-sight stabilization techniques.

[0034] Therefore, the line-of-sight stabilization payload system of this application platform consists of a stitched side window, a vibration-stabilized mirror, an imaging fast-reflection mirror, a visible light imaging system, and a control unit. The visible light imaging system receives images, identifies and tracks targets, and calculates target miss distance information. The vibration-stabilized mirror and control unit are the main actuators for stabilizing staring scanning, ensuring clear and stable imaging of the light path refracted by the actuator in the camera, and also providing capture and tracking functions. The control unit mainly implements the scanning, stabilization, and tracking control and drive functions of the vibration-stabilized mirror, and is the implementation unit for the scanning algorithm and strategy. The vibration-stabilized mirror mainly performs spatial line-of-sight stabilization and target tracking functions.

[0035] The optical lens images the distant target onto an image plane. A detector placed on the image plane converts the target's light signal into an electrical signal. The tracking processor uses weak signal extraction technology to extract the target signal from the video signal and processes it to determine the target miss distance. The detector is a television camera. The camera captures the target's image signal, transmits it to the tracking processor, and the tracking processor processes the input image and extracts the miss distance.

[0036] Reference at this time Figure 7 The reason image tracking systems can track moving targets in real time is that they can calculate the miss distances (±Δx, ±Δy) of the target image's centroid or central coordinates and the coordinates of relevant matching points relative to the origin of the optical axis, frame by frame. Calculating these miss distances (±Δx, ±Δy) is a crucial task of image tracking systems. Miss distances include horizontal miss distances (±Δx) and pitch miss distances (±Δy). To calculate these miss distances, the centroid or central coordinates of the target image and the coordinates of relevant matching points in the optical axis coordinate system are first calculated (x, y). Then, the horizontal and pitch miss distances are calculated using the differences between these values.

[0037] It's worth noting that in object detection and image processing, the center of mass and the centroid of an object are two closely related but slightly different concepts. Both describe the geometric center of an object, but their calculation methods and applicable scenarios differ slightly. Specifically: Center of mass: calculated based on image moments, considering pixel intensity / area distribution; it is a "weighted average center." Centroid: calculated based on geometric shape, considering only the geometric center of the contour or region; it is the "geometric center." For example, in a set of black and white binary images, if the object is a solid circle, the center of mass and the centroid almost coincide. However, in a set of grayscale images, if the object is a circle but the left side is brighter and the right side is darker, the center of mass will shift to the left (because the brighter area has greater "mass"), while the centroid remains at the geometric center.

[0038] In a target tracking system, the camera captures real-time images of the scene (including the target). After a series of analyses and processing, the system calculates the centroid or rectangular center of the target image and the coordinates of relevant matching points relative to the origin of the optical axis, frame by frame, and transmits this information to the servo system. The servo system, based on the transmitted miss values ​​(±Δx, ±Δy), drives the camera to move the optical axis towards the target, eliminating the miss value and ensuring the camera remains aligned with the target for tracking.

[0039] Furthermore, it can be added that, for example Figure 8As shown, the imaging backscan mirror is frame-stabilized. For aircraft electro-optical systems, disturbances such as aircraft attitude changes, vibrations, and wind drag torque during flight can couple into the system, causing line-of-sight (LOS) instability and severely affecting the detector's clear imaging. To mitigate these effects, a LOS stabilization system must be established to "isolate" the LOS from disturbances, keeping it stable within a fixed inertial space. To achieve target detection, identification, and aiming, the electro-optical system must possess tracking capabilities, ensuring the LOS is always aligned with the target or a specific area.

[0040] The imaging reverse scanning mirror is actually a single-axis servo control loop system. As a typical servo control loop, the single-axis control loop usually adopts a three-loop cascade control form, consisting of a current loop, a speed loop, and a position loop from the inside out. The current loop reduces large fluctuations in the control motor current and thus reduces torque fluctuations in the motor by regulating the current. The speed loop often uses a gyroscope as speed feedback, also known as a stabilization loop, and mainly achieves spatial stabilization of the line of sight by regulating the speed.

[0041] The IMU (Inertial Measurement Unit) monitors the attitude changes of the moving platform in real time, forming a closed-loop system with the vibration-stabilized mirror to stabilize the beam. At the same time, it completes motion measurement with an amplitude ≥5° and a frequency ≥3Hz in the inertial space. According to the attitude changes, the control unit drives the vibration-stabilized mirror to always be aligned with the target, realizing the identification and tracking of the target.

[0042] Further reference Figure 9 Imaging mirror stabilization achieves line-of-sight stabilization by stabilizing the reflector in the optical path. The sensor is fixed relative to the base, and the reflector is placed on a frame, achieving two-axis stabilization. By controlling the rotation of the reflector, the aiming line is directed towards the target while isolating the effects of aircraft attitude motion and vibration.

[0043] Reference at this time Figure 10The core technology for aligning a vibration-stabilized mirror with a target is fast-steering mirror stabilization. It compensates for minute vibrations along the optical axis by adjusting a fast-steering mirror (FSM). The FSM has a small adjustment range and high precision. Unlike frame-mounted mirror stabilization, the FSM's mirror body, support frame, and actuator are integrated, eliminating issues like shaft friction and significantly increasing the mechanical resonant frequency. FSM mirror bodies are generally either glass or metal, the support frame typically uses a flexible structure, and the actuator uses a piezoelectric ceramic (PZT) actuator or a voice coil motor. The PZT actuator utilizes the inverse piezoelectric effect; when an adjustable high-voltage signal is applied to the piezoelectric ceramic, corresponding micro-displacement motion is generated. PZT-driven fast-steering mirrors have high torque stiffness, high positioning accuracy, and a working bandwidth of up to several kilohertz. Voice coil motors are direct-drive motors based on the Lorentz force principle. The bandwidth of a voice coil motor is typically around 200Hz, and its rotation range is an order of magnitude larger than that of a PZT drive.

[0044] The FSM method requires very high servo stiffness from the actuators, thus ensuring high bandwidth and high precision of the closed-loop system, with current precision reaching the sub-micro-arc level. This type of precision servo control mechanism has a relatively small range of motion. In airborne optoelectronic systems, it is generally combined with a stable platform capable of isolating large-angle disturbances to form a coarse-precision combined stabilization platform.

[0045] The principle of the line-of-sight stabilization system of the target recognition and tracking verification platform is as follows: Figure 3 As shown, it includes functions such as initial pointing, platform inertial attitude measurement, and line-of-sight tracking. Its control strategy is implemented by servo control technology. The vibration stabilization mirror completes its own position and velocity loop closure by the encoder. The camera provides the miss distance to the loop to realize external light closure. Gyro data is used to suppress the platform's own vibration and at the same time provide input for staring in inertial space. The three parts work together to realize inertial space staring imaging. When the target enters the field of view, the target is identified and stably tracked.

[0046] At this time, the typical structure of the photoelectric imaging tracking system is as follows: Figure 5 As shown in the figure, the core of the photoelectric imaging tracking system is the image tracking sensor. Currently, CMOS image sensors are widely used as photoelectric imaging tracking sensors. Target recognition and tracking systems generally consist of a velocity loop and a feedback position loop. To ensure the system has sufficiently high servo bandwidth and control accuracy, a DC torque mechanism directly coupled to the azimuth and pitch output shafts of the tracking frame is used to form a torque motor that directly drives the servo system. This is a characteristic of high-performance photoelectric imaging tracking systems.

[0047] At this point, target recognition and tracking are used for tracking and imaging ground targets. It should also be noted that target recognition and tracking must employ light-of-sight stabilization technology. The motion of the aircraft causes vibrations in the electro-optical imaging sensor platform mounted on it, resulting in light-of-sight jitter. This light-of-sight jitter not only affects the image quality but also the accuracy of the electro-optical imaging sensor in extracting the target miss distance, thus impacting the system's tracking performance. Therefore, in addition to the position tracking loop centered on the electro-optical imaging sensor, target recognition and tracking must also have a light-of-sight stabilization loop. A basic block diagram of an airborne electro-optical imaging tracking system using an inertial gyroscope as the light-of-sight stabilization loop is shown below. Figure 6 As shown.

[0048] In summary, as Figure 4 As shown, the imaging backscanning mirror and the vibration-stabilized mirror work together to complete a coarse-fine two-stage stabilization. The two-stage stabilization uses the mirror gyroscope stabilization as a coarse channel for the first-stage stabilization, and then adds a high-precision stabilization method on the basis of the first-stage stabilization to perform a second optical stabilization, eliminating the residual error after the first stabilization.

[0049] The principle of the two-stage stability control system is shown in the figure below. It utilizes an integrated fine stabilization device to form a fine stabilization loop. The gyroscope signal on the coarse stabilization platform controls two channels respectively. On one hand, it serves as the feedback element of the coarse stabilization loop, sensing the angular rate of the frame and forming the first-stage coarse stabilization control loop. On the other hand, the residual error signal of the gyroscope stabilization platform is used as a command input to the fine stabilization loop.

[0050] On the other hand, the present invention also discloses a method for performing dynamic stabilization imaging, comprising: Based on the dynamic stabilization imaging system in the above embodiments, the location information of the specified target is acquired by combining the original visible light acquisition optical path with the system position. After acquiring the location information of the specified target, the visible light acquisition optical path is adjusted using a target recognition and tracking algorithm to ensure that the visible light information of the specified target is always acquired by the photoelectric imaging detection module, thereby achieving the identification and tracking of the specified target.

[0051] It is understood that the system provided in the embodiments of the present invention corresponds to the method provided in the embodiments of the present invention, and the explanation, examples and beneficial effects of the relevant content can be referred to the corresponding parts of the above methods.

[0052] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, an optical medium, or a semiconductor medium, etc.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0054] Furthermore, it should be noted that if any directional indication (such as up, down, left, right, front, back, etc.) is involved in the embodiments of the present invention, the directional indication is only used to explain the relative positional relationship and movement of each unit in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0055] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, in the embodiments of this invention, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

Claims

1. A dynamically stabilized imaging system, characterized in that, It consists of an outer shell frame and a folding optical path module, a photoelectric imaging detection module, and a control unit within the frame. During the movement of the outer shell frame, the control unit is used to drive the folding optical path module to adjust the visible light acquisition optical path within the frame, so that the visible light is acquired by the photoelectric imaging detection module along the optical path. The photoelectric imaging detection module converts the acquired visible light signal into layer image information data and outputs it to the information processing subsystem. The information processing subsystem uses a target recognition and tracking algorithm and adjusts the visible light acquisition optical path through the control unit to ensure that the visible light information of the specified target is always acquired by the photoelectric imaging detection module, so as to realize the recognition and tracking of the specified target. The information processing subsystem collects information and outputs identification and tracking result image data and result data.

2. The dynamically stabilized imaging system as described in claim 1, characterized in that, The outer frame has a side window on its side wall. During the movement of the outer frame, the visible light information of the designated target enters the outer frame through the side window. The visible light transmittance of the side window is set to ≥85%.

3. The dynamically stabilized imaging system as described in claim 2, characterized in that, The optical path folding module uses a vibration-stabilized mirror, an imaging reverse-scanning mirror, and a vibration IMU unit to perform the optical path folding operation during the movement of the outer shell frame.

4. The dynamically stabilized imaging system as described in claim 3, characterized in that, The specific calculation process for the target miss amount information includes using an optical lens to image the distant target onto the image plane, a detector placed on the image plane to convert the target's light signal into an electrical signal, and then using a tracking processor to extract the target signal from the video signal using weak signal extraction technology, and processing the target miss amount.

5. The dynamically stabilized imaging system as described in claim 4, characterized in that, The specific operation process of the target recognition and tracking algorithm includes: The camera captures real-time images of the scene, including the target. After video preprocessing and image segmentation, the centroid or square center of the target image and the coordinates of the relevant matching points relative to the origin of the optical axis are calculated frame by frame or frame by frame. The miss distance ±Δx, ±Ay includes the horizontal miss distance (±Δx) and the pitch miss distance (±Δy). The miss distance calculation process includes: first calculating the centroid or center of gravity of the target image and the coordinates (x,y) of the relevant matching points in the optical axis coordinate system, and then calculating the horizontal miss distance and the pitch miss distance. The servo system drives the camera to move the optical axis towards the target direction based on the transmitted miss distance (±Δx, ±Δy), thereby eliminating the miss distance and ensuring that the camera is always aligned with the target to achieve target tracking.

6. The dynamically stabilized imaging system as described in claim 3, characterized in that, The side window, vibration-stabilized reflector, imaging reverse-scanning mirror, and control unit form a line-of-sight stabilizing load system, wherein: The photoelectric imaging detection module is used to acquire visible light image data and simultaneously calculate the target miss distance information; The vibration-stabilizing reflector and control unit are used to stabilize the staring scan and ensure that visible light imaging information is received and imaged in the photoelectric imaging detection module after passing through the optical path module. The control unit controls the imaging reverse scanning mirror to perform scanning, stabilization, and tracking control drive operations.

7. The dynamically stabilized imaging system as described in claim 3, characterized in that, The vibration-stabilized reflector includes a sensor fixed relative to the base and a set of reflectors placed on a rotating frame and stabilized on both axes. The stability of the line of sight is achieved by stabilizing the reflectors in the optical path. By controlling the rotation of the reflector, the aiming line can be directed towards the target while isolating the effects of the aircraft's attitude motion and vibration.

8. The dynamically stabilized imaging system as described in claim 7, characterized in that, The IMU (Inertial Measurement Unit) is used to monitor the attitude changes of the moving platform in real time. Based on the attitude changes, the control unit drives the vibration stabilizing mirror to always be aligned with the target, thereby realizing the identification and tracking of the target and stabilizing the beam.

9. The dynamically stabilized imaging system as described in claim 8, characterized in that, The control unit drives a set of fast-pointing mirrors on the vibration-stabilized mirror to compensate for minor vibrations of the optical axis, so as to ensure that it is always aligned with the target. The quick-pointing reflector's mirror body, support frame, and driver are integrated as a whole, eliminating problems such as shaft friction and significantly improving the mechanical resonant frequency. The quick-pointing reflector's mirror body can be either a glass mirror or a metal mirror. The quick-pointing reflector's support frame adopts a flexible structure, and the quick-pointing reflector's driver adopts a piezoelectric ceramic driver or a voice coil motor.

10. A method for performing dynamic stabilized imaging, characterized in that, include: Based on the dynamic stabilization imaging system according to any one of claims 1-9, the system acquires the position information of a specified target by combining the original visible light acquisition optical path with the system position. After obtaining the location information of the specified target, the visible light acquisition optical path is adjusted using a target recognition and tracking algorithm to ensure that the visible light information of the specified target is always acquired by the photoelectric imaging detection module, thereby realizing the identification and tracking of the specified target.

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