Electronic alignment method for a ground illumination pointing system

Abstract

The application relates to an electronic axis alignment method of a ground irradiation guiding system, which comprises the following steps: based on the cooperative positioning relationship between a laser assembly and a television imaging channel, the field of view optical axis of the television imaging channel is calibrated; and based on the spatial registration relationship between the calibrated television imaging channel and an infrared imaging channel, the optical axis of the infrared imaging channel is calibrated. Any target is taken as a reference system, the cross optical axis positions of the infrared and television images in any field of view are adjusted by using an interface picture, the problem that the optical axis deviation of the television, infrared and laser sensors in the ground irradiation guiding system is difficult to adjust is solved, the fast compensation of the multi-optical axis deviation is realized, the sensors do not need to be disassembled and adjusted, the operation is simple, the user can adjust at any time according to the needs, and the product maintainability is obviously improved.

Description

Technical Field

[0001] This invention relates to the field of ground photoelectric detection and illumination guidance technology, specifically to an electronic axis alignment method for a ground illumination guidance system. Background Technology

[0002] Existing ground illumination guidance systems typically integrate a television imaging channel, an infrared imaging channel, and a laser illumination component for observing, identifying, and guiding ground or aerial targets. During system operation, operators must switch between different optical sensors or adjust the field of view magnification as needed, based on changes in target characteristics and distance, to achieve clearer observation and detection results.

[0003] In practical applications, to ensure target guidance and accuracy, the center of the aiming line of each optical sensor must be highly aligned with the center of the laser illumination spot. However, during long-term outdoor use, due to factors such as temperature changes, structural stress, vibration, and shock, the parallelism of the optical axes between the infrared channel, the television channel, and the laser illuminator often gradually shifts, leading to increased system aiming errors. Existing optical axis calibration methods mostly employ manual adjustment, i.e., realigning the optical axis by disassembling the protective cover and adjusting the internal optical components. This method has the following drawbacks:

[0004] (1) The operation process is complicated and requires damage to the sealing structure;

[0005] (2) The adjustment process involves many steps, is time-consuming, and is highly dependent on the environment;

[0006] (3) Maintenance is difficult under field conditions and the system has poor reliability. Summary of the Invention

[0007] This invention provides an electronic alignment method for a ground illumination guidance system, a computer-readable storage medium, and a computer program product, which can effectively overcome the defects existing in the prior art.

[0008] Other features and advantages of the invention will become apparent from the following detailed description, or may be learned in part by practice of the invention.

[0009] According to a first aspect of the present invention, an electronic alignment method for a ground illumination guidance system is provided, the method comprising:

[0010] Based on the cooperative positioning relationship between the laser component and the television imaging channel, the first optical axis calibration reference data of the television imaging channel is determined;

[0011] Based on the first field-of-view zoom ratio and the first optical axis calibration reference data of the television imaging channel, the first optical axis compensation data of the corresponding field of view is determined; and the field-of-view optical axis of the television imaging channel is calibrated using the first optical axis compensation data.

[0012] Using the spatial registration relationship between the calibrated television imaging channel and the infrared imaging channel, the optical axis of the infrared imaging channel is calibrated to determine the second optical axis calibration reference data of the infrared imaging channel.

[0013] Based on the second field-of-view zoom ratio and the second optical axis calibration reference data of the infrared imaging channel, determine the second optical axis compensation data for the corresponding field of view; and use the second optical axis compensation data to perform field-of-view optical axis calibration on the infrared imaging channel.

[0014] In some exemplary embodiments, determining the first optical axis calibration reference data of the television imaging channel based on the cooperative positioning relationship between the laser component and the television imaging channel includes:

[0015] Adjust the television imaging channel to any field of view and control the laser component to illuminate the first reference object, thereby obtaining the first position coordinates of the laser spot corresponding to the first reference object on the current television imaging screen;

[0016] Based on the first position coordinates, adjust the current position coordinates of the center of the TV optical axis in the current TV image until the current position coordinates coincide with the first position coordinates, and obtain the target position coordinates of the center of the TV optical axis.

[0017] Based on the target position coordinates and the center position coordinates of the first image, the first optical axis calibration reference data is determined; wherein, the center position coordinates of the first image are the position coordinates of the center of the current television imaging image.

[0018] In some exemplary embodiments, determining the first optical axis compensation data corresponding to the field of view based on the first field-of-view zoom ratio and the first optical axis calibration reference data of the television imaging channel includes:

[0019] Based on the first optical axis calibration reference data, determine the first azimuth deviation and the first pitch deviation of the target position coordinates of the TV optical axis center relative to the position coordinates of the first screen center.

[0020] Multiply the first field-of-view zoom ratio by the first azimuth deviation and the first pitch deviation to obtain the first azimuth compensation data and the first pitch compensation data, respectively.

[0021] In some exemplary embodiments, the step of calibrating the field-of-view optical axis of the television imaging channel using the first optical axis compensation data includes:

[0022] The horizontal coordinates of the target position coordinates of the TV optical axis center are summed with the first azimuth compensation data of the corresponding field of view to obtain the horizontal coordinates of the TV optical axis center after the corresponding field of view is calibrated.

[0023] The longitudinal coordinate of the target position coordinate of the TV optical axis center is summed with the first pitch compensation data of the corresponding field of view to obtain the longitudinal coordinate of the TV optical axis center after the corresponding field of view is calibrated.

[0024] The position coordinates of the center of the television optical axis in the corresponding field of view are updated based on the horizontal and vertical coordinates of the calibrated center of the television optical axis.

[0025] In some exemplary embodiments, the step of using the calibrated television imaging channel, based on the spatial registration relationship between the television imaging channel and the infrared imaging channel, to perform optical axis calibration on the infrared imaging channel and determine the second optical axis calibration reference data of the infrared imaging channel includes:

[0026] Adjust the infrared imaging channel to any field of view, control the current infrared imaging channel to acquire the infrared information of the second reference object, and display the infrared information on the current infrared imaging screen;

[0027] Obtain the first position coordinates of the infrared optical axis center on the current infrared imaging screen, and the second position coordinates of the second reference object in the calibrated television imaging screen; wherein the calibrated television imaging screen is embedded in the current infrared imaging screen.

[0028] Map the second position coordinates to the current infrared imaging image to obtain the third position coordinates;

[0029] Based on the calibrated television image, adjust the first position coordinate of the infrared optical axis center until the first position coordinate is consistent with the third position coordinate to obtain the target position coordinate of the infrared optical axis center.

[0030] Based on the target position coordinates of the infrared optical axis center and the position center coordinates of the second image, the second optical axis calibration reference data is determined; where the position coordinates of the second image center are the position coordinates of the current infrared imaging image center.

[0031] In some exemplary embodiments, determining the second optical axis compensation data for the corresponding field of view based on the second field-of-view zoom ratio and the second optical axis calibration reference data of the infrared imaging channel includes:

[0032] Based on the second optical axis calibration reference data, determine the second azimuth deviation and the second pitch deviation of the target position coordinates relative to the second image position center coordinates;

[0033] Multiply the second field-of-view zoom ratio by the second azimuth deviation and the second pitch deviation to obtain the second azimuth compensation data and the second pitch compensation data, respectively.

[0034] In some exemplary embodiments, the step of calibrating the field-of-view optical axis of the infrared imaging channel using the second optical axis compensation data includes:

[0035] The lateral coordinates of the target position coordinates at the center of the infrared optical axis are summed with the second azimuth compensation data of the corresponding field of view to obtain the lateral coordinates of the center of the infrared optical axis after the corresponding field of view is calibrated.

[0036] The longitudinal coordinate of the target position coordinate at the center of the infrared optical axis is summed with the second pitch compensation data of the corresponding field of view to obtain the longitudinal coordinate of the center of the infrared optical axis after the corresponding field of view is calibrated.

[0037] The position coordinates of the infrared optical axis center of the corresponding field of view are updated based on the horizontal and vertical coordinates of the calibrated infrared optical axis center.

[0038] According to a second aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the storage medium is located to perform the above-described electronic alignment method for a ground illumination guidance system.

[0039] According to a third aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the above-described electronic alignment method for a ground illumination guidance system.

[0040] According to a fourth aspect of the present invention, an electronic device is provided, comprising:

[0041] Processor; and

[0042] Memory for storing the executable instructions of the processor;

[0043] The processor is configured to implement the above-described electronic alignment method for a ground illumination guidance system by executing the executable instructions.

[0044] According to a fifth aspect of the present invention, a storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the above-described electronic alignment method for a ground illumination guidance system.

[0045] The present invention provides an electronic axis calibration method for a ground illumination guidance system, comprising: calibrating the optical axis of the television imaging channel based on the cooperative positioning relationship between the laser component and the television imaging channel; and calibrating the optical axis of the infrared imaging channel using the spatial registration relationship between the calibrated television imaging channel and the infrared imaging channel. This invention uses any target as a reference frame and adjusts the crosshair optical axis position of any field of view of the infrared and television images using the interface screen. This solves the problem of difficult adjustment of optical axis deviations of television, infrared, and laser sensors in ground illumination guidance systems, achieving rapid compensation for multi-axis deviations. It eliminates the need to disassemble and adjust sensors, is simple to operate, and allows users to adjust as needed, significantly improving product maintainability.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0048] Figure 1 This schematically illustrates a flowchart of an electronic alignment method for a ground illumination guidance system according to an exemplary embodiment of the present invention.

[0049] Figure 2 This schematic diagram illustrates the infrared sensor optical axis calibration of an electronic alignment method for a ground illumination guidance system, an exemplary embodiment of the present invention.

[0050] Figure 3 The diagram illustrates the composition of an electronic device according to an exemplary embodiment of the present invention. Detailed Implementation

[0051] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the invention will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0052] Furthermore, the accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0053] To address the shortcomings and deficiencies of existing technologies, this exemplary embodiment provides an electronic alignment method for a ground illumination guidance system. (Reference) Figure 1 As shown, it can specifically include:

[0054] Step S10: Based on the cooperative positioning relationship between the laser component and the television imaging channel, determine the first optical axis calibration reference data of the television imaging channel;

[0055] In step S10, the aforementioned television imaging channel (TV) refers to an independent optical subsystem in the ground illumination guidance system used for visible light imaging and target observation. It is a complete "imaging link," including optical lenses, image sensors, video processing units, display and computing modules, etc., used to capture visible light images of the external scene and generate electronic image signals that can be displayed or used for algorithm analysis.

[0056] Specifically, the ground illumination guidance system includes optical sensors, a core display control system, and a gimbal. The optical sensors include television, infrared, and laser illuminators, which are mounted on the gimbal to enable field-of-view switching and laser ranging of targets; the core display control system enables video switching, picture-in-picture functionality, crosshair overlay, and storage of axis calibration results.

[0057] Step S12: Based on the first field-of-view zoom ratio and the first optical axis calibration reference data of the television imaging channel, determine the first optical axis compensation data for the corresponding field of view; and use the first optical axis compensation data to perform field-of-view optical axis calibration on the television imaging channel.

[0058] Step S14: Using the spatial registration relationship between the calibrated television imaging channel and the infrared imaging channel, the optical axis of the infrared imaging channel is calibrated to determine the second optical axis calibration reference data of the infrared imaging channel.

[0059] In step S14, the aforementioned infrared imaging channel (IR) is used to characterize the optical channel in the ground illumination guidance system that operates in the infrared band (typically 3–5 μm or 8–12 μm) to capture the thermal radiation information of the target, thereby enabling detection and guidance at night or in low-visibility environments. It comprises an infrared optical lens assembly and an infrared detector. In the ground illumination guidance system, the infrared imaging channel does not function as an "independent observation" channel, but rather maintains optical axis consistency with the television imaging channel, achieving a "collinear" or "parallel optical axis" structure for the infrared, television, and laser three channels.

[0060] Step S16: Determine the second optical axis compensation data for the corresponding field of view based on the second field of view zoom ratio and the second optical axis calibration reference data of the infrared imaging channel; and perform field of view optical axis calibration on the infrared imaging channel using the second optical axis compensation data.

[0061] Based on steps S10 to S16 above, any target is used as a reference frame, and the position of the crosshair optical axis of any field of view of the infrared and television images is adjusted using the interface screen. This is used to solve the problem of difficult adjustment of the optical axis deviation of the television, infrared and laser sensors in the ground illumination guidance system, and realizes rapid compensation of multi-optical axis deviation. It does not require disassembly and adjustment of the sensors, is simple to operate, and users can adjust it at any time as needed, which significantly improves the maintainability of the product.

[0062] The following will describe in more detail the steps of an electronic alignment method for a ground illumination guidance system in this exemplary embodiment, with reference to the accompanying drawings and embodiments.

[0063] For example, in step S10, determining the first optical axis calibration reference data of the television imaging channel based on the cooperative positioning relationship between the laser component and the television imaging channel includes:

[0064] Step S101: Adjust the TV imaging channel to any field of view and control the laser component to illuminate the first reference object, and obtain the first position coordinates of the laser spot corresponding to the first reference object on the current TV imaging screen.

[0065] Step S102: Based on the first position coordinates, adjust the current position coordinates of the center of the TV optical axis in the current TV imaging screen until the current position coordinates coincide with the first position coordinates, and obtain the target position coordinates of the center of the TV optical axis.

[0066] Step S103: Based on the target position coordinates and the center position coordinates of the first screen, determine the first optical axis calibration reference data; wherein, the center position coordinates of the first screen are the position coordinates of the center of the current television imaging screen.

[0067] Specifically, tune the TV to any viewing angle. Control the laser components in the ground-based illumination guidance system to target any target. Irradiation is then performed; based on the position of the laser spot on the television screen, the operator issues a fine-tuning command for the television optical axis crosshair via an operating control terminal (such as a hand control button, joystick, or touch interface). The display control module adjusts the coordinate position of the television optical axis crosshair on the television screen according to the command until the television optical axis crosshair coincides with the center of the laser spot, in order to aim at the target. Obtain the adjusted center pixel coordinates of the optical axis crosshairs, denoted as... The top left corner of the image is the zero point. The calculation is... , Distance from the center of the image The pixel value is used as the first optical axis calibration reference data.

[0068] For example, in step S12, determining the first optical axis compensation data for the corresponding field of view based on the first field-of-view zoom ratio and the first optical axis calibration reference data of the television imaging channel includes:

[0069] Step S121: Determine the first azimuth deviation and the first pitch deviation of the target position coordinates of the TV optical axis center relative to the position coordinates of the first screen center based on the first optical axis calibration reference data.

[0070] Step S122: Multiply the first field of view zoom magnification by the first azimuth deviation and the first pitch deviation to obtain the first azimuth compensation data and the first pitch compensation data, respectively.

[0071] In step S122, the aforementioned first field-of-view zoom ratio is used to characterize the field of view in the television imaging channel. Other fields of view The ratio between them is denoted as .

[0072] Specifically, the pixel value of the orientation direction in the first optical axis calibration reference data is taken as the first orientation deviation, denoted as... The pixel value in the pitch direction of the first optical axis calibration reference data is taken as the first pitch deviation, denoted as... .

[0073] Specifically, the zoom magnification of the first field of view Multiplying the first azimuth error and the first pitch error respectively, we obtain the first azimuth compensation data. and first pitch compensation data As shown in the following formula:

[0074]

[0075]

[0076] For example, in step S12, the calibration of the field-of-view optical axis of the television imaging channel using the first optical axis compensation data includes:

[0077] Step S123: Summing the lateral coordinates of the target position coordinates of the TV optical axis center with the first azimuth compensation data of the corresponding field of view to obtain the lateral coordinates of the TV optical axis center after the corresponding field of view calibration.

[0078] Step S124: Summing the longitudinal coordinate in the target position coordinate of the TV optical axis center with the first pitch compensation data of the corresponding field of view to obtain the longitudinal coordinate of the TV optical axis center after the corresponding field of view calibration.

[0079] Step S125: Update the position coordinates of the center of the television optical axis in the corresponding field of view television imaging image based on the horizontal and vertical coordinates of the calibrated center of the television optical axis.

[0080] Specifically, the horizontal and vertical coordinates of the center of the TV optical axis after field calibration are shown below:

[0081]

[0082]

[0083] For example, in step S14, the step of using the calibrated television imaging channel, based on the spatial registration relationship between the television imaging channel and the infrared imaging channel, to perform optical axis calibration on the infrared imaging channel and determine the second optical axis calibration reference data of the infrared imaging channel includes:

[0084] Step S141: Adjust the infrared imaging channel to any field of view, control the current infrared imaging channel to acquire the infrared information of the second reference object, and display the infrared information on the current infrared imaging screen;

[0085] In step S142, the first position coordinates of the infrared optical axis center on the current infrared imaging screen are obtained, as well as the television image and second position coordinates of the second reference object in the calibrated television imaging screen; wherein the calibrated television imaging screen is embedded in the current infrared imaging screen.

[0086] In step S143, the second position coordinates are mapped to the current infrared imaging image to obtain the third position coordinates;

[0087] In step S144, based on the calibrated television imaging image, the first position coordinate of the infrared optical axis center is adjusted until the first position coordinate is consistent with the third position coordinate, so as to obtain the target position coordinate of the infrared optical axis center.

[0088] In step S145, the second optical axis calibration reference data is determined based on the target position coordinates of the infrared optical axis center and the position center coordinates of the second image; wherein, the position coordinates of the second image center are the position coordinates of the current infrared imaging image center.

[0089] For details, please refer to Figure 2 As shown, the ground illumination guidance system is controlled to switch to any field of view of the infrared sensor. Activating the picture-in-picture function displays the image corresponding to the infrared sensor on the main screen, while the TV screen is displayed in the picture-in-picture mode. The TV screen displays the adjusted crosshairs of the TV's optical axis. This allows for the detection of any target using the infrared sensor. The target in the TV screen The position is mapped onto the main screen. Then, the operator issues a fine-tuning command for the infrared crosshair via a control terminal (e.g., hand button, joystick, or touch interface). The display control module adjusts the coordinates of the infrared crosshair on the display screen according to the command until the infrared crosshair aligns with the target. By coinciding, the target position coordinates at the center of the infrared optical axis are obtained, denoted as ( The distance between the adjusted infrared crosshair and the center of the main image was calculated. , The pixel value is used as the second optical axis calibration reference data.

[0090] For example, in step S145, determining the second optical axis compensation data for the corresponding field of view based on the second field-of-view zoom ratio and the second optical axis calibration reference data of the infrared imaging channel includes:

[0091] Step S501: Based on the second optical axis calibration reference data, determine the second azimuth deviation and the second pitch deviation of the target position coordinates of the infrared optical axis center relative to the position center coordinates of the second image.

[0092] Step S502: Multiply the second field of view zoom ratio by the second azimuth deviation and the second pitch deviation to obtain the second azimuth compensation data and the second pitch compensation data, respectively.

[0093] Specifically, the pixel value of the orientation direction in the second optical axis calibration reference data is taken as the second orientation deviation, denoted as... The pixel value in the pitch direction of the second optical axis calibration reference data is taken as the first pitch deviation, denoted as... .

[0094] Specifically, the zoom magnification of the second field of view Multiplying these values ​​by the second azimuth error and the second pitch error respectively yields the second azimuth compensation data. and first pitch compensation data As shown in the following formula:

[0095]

[0096]

[0097] For example, in step S16, the calibration of the field-of-view optical axis of the infrared imaging channel using the second optical axis compensation data includes:

[0098] Step S161: Summing the lateral coordinates of the target position coordinates at the center of the infrared optical axis with the second azimuth compensation data of the corresponding field of view, to obtain the lateral coordinates of the center of the infrared optical axis after the corresponding field of view calibration.

[0099] Step S162: Summing the longitudinal coordinate in the target position coordinate of the infrared optical axis center with the second pitch compensation data of the corresponding field of view to obtain the longitudinal coordinate of the infrared optical axis center after the corresponding field of view calibration.

[0100] Step S163: Update the position coordinates of the infrared optical axis center of the corresponding field of view based on the horizontal and vertical coordinates of the calibrated infrared optical axis center.

[0101] Specifically, the horizontal and vertical coordinates of the infrared optical axis center after field-of-view calibration are shown below:

[0102]

[0103]

[0104] Furthermore, the optical axis crosshair coordinates of each field of view of the television and infrared are stored, and the core display control system unit stores the optical axis crosshair coordinates of all optical sensors and the entire field of view to achieve axis calibration.

[0105] The beneficial effects of this invention are as follows:

[0106] (1) Achieving electronic axis alignment significantly improves field maintenance efficiency.

[0107] Traditional optical axis adjustment methods rely on manual disassembly and reassembly of cover plates and adjustment of optical components, which not only compromises the airtightness of the ground illumination guidance system but also requires specialized optical tooling, making the operation cumbersome and time-consuming. This invention introduces an electronic axis alignment algorithm and a core display control module within the ground illumination guidance system, enabling software control and image calculation to replace physical adjustments. Operators can complete automatic or semi-automatic calibration on the interface without opening the equipment, significantly reducing field maintenance time and improving the reliability and mission response speed of the ground illumination guidance system.

[0108] (2) Establish a unified coordinate system for multiple optical axes to ensure guidance accuracy.

[0109] This invention utilizes the cooperative positioning relationship between the laser component and the television imaging channel to obtain the visible light optical axis reference, and then determines the calibration data of the infrared optical axis through the television-infrared spatial registration relationship, ultimately forming a unified optical axis compensation model for all channels. This structure ensures that the aiming lines of the television, infrared, and laser channels are collinear or parallel in space, effectively avoiding pointing errors caused by multi-sensor optical axis offset, improving the optical axis consistency and target guidance accuracy of the ground illumination guidance system, and meeting the needs of long-range precision strikes and all-weather observation.

[0110] (3) Supports automatic compensation for multiple fields of view, improving the intelligence and stability of the system.

[0111] By calculating the zoom ratio relationship (pTV, pIR) between different fields of view, the ground illumination guidance system can automatically calculate the offset compensation amount of the optical axis center at different magnifications, achieving adaptive correction for each field of view in both television and infrared. The core display control system can store and recall the alignment parameters of the entire field of view in real time, achieving optical axis maintenance under multi-mode switching. This improves the automation and intelligence level of the ground illumination guidance system, avoids target offset caused by field of view switching, and ensures continuous observation and guidance stability.

[0112] This electronic alignment method achieves substantial improvements in maintenance convenience, system accuracy, and intelligent self-adaptation through the coordinated calibration of visible light and infrared channels, providing key technical support for the efficient and reliable operation of ground illumination guidance systems in complex environments.

[0113] It should be noted that the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may, for example, be executed synchronously or asynchronously in multiple modules.

[0114] It should be noted that although several modules or units of the device for performing actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0115] Figure 3 A schematic diagram of an electronic device suitable for implementing embodiments of the present invention is shown.

[0116] It should be noted that, Figure 3 The electronic device 1000 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0117] like Figure 3 As shown, the electronic device 1000 includes a Central Processing Unit (CPU) 1001, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1002 or programs loaded from storage section 1008 into Random Access Memory (RAM) 1003. The RAM 1003 also stores various programs and data required for system operation. The CPU 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An Input / Output (I / O) interface 1005 is also connected to the bus 1004. Furthermore, the electronic device 1000 also includes an FPGA device and a System-on-a-Chip (SoC) device.

[0118] The following components are connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1010 as needed so that computer programs read from them can be installed into storage section 1008 as needed.

[0119] In particular, according to embodiments of the present invention, the processes described below with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a storage medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by central processing unit (CPU) 1001, it performs various functions defined in the system of this application.

[0120] Specifically, the aforementioned electronic devices can be airborne intelligent electronic devices.

[0121] It should be noted that the storage medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, wherein computer-readable program code is carried. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any storage medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the storage medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0123] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0124] It should be noted that, as another aspect, this application also provides a storage medium, which may be included in an electronic device or may exist independently without being assembled into the electronic device. The aforementioned storage medium carries one or more programs, which, when executed by an electronic device, cause the electronic device to perform the methods described in the following embodiments. For example, the electronic device may perform... Figure 1 The steps of the method shown.

[0125] In one embodiment, this application provides a computer program product including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0126] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0127] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0128] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. An electronic alignment method for a ground illumination guidance system, characterized in that, The method includes: Based on the cooperative positioning relationship between the laser component and the television imaging channel, the first optical axis calibration reference data of the television imaging channel is determined; Based on the first optical axis calibration reference data, determine the first azimuth deviation and the first pitch deviation of the target position coordinates of the TV optical axis center relative to the position coordinates of the first screen center. Multiply the first field-of-view zoom ratio by the first azimuth deviation and the first pitch deviation to obtain the first azimuth compensation data and the first pitch compensation data, respectively; and use the first optical axis compensation data to perform field-of-view optical axis calibration on the television imaging channel. Adjust the infrared imaging channel to any field of view, control the current infrared imaging channel to acquire the infrared information of the second reference object, and display the infrared information on the current infrared imaging screen; Obtain the first position coordinates of the infrared optical axis center on the current infrared imaging screen, and the second position coordinates of the second reference object in the calibrated television imaging screen; wherein the calibrated television imaging screen is embedded in the current infrared imaging screen. Map the second position coordinates to the current infrared imaging image to obtain the third position coordinates; Based on the calibrated television image, adjust the first position coordinate of the infrared optical axis center until the first position coordinate is consistent with the third position coordinate to obtain the target position coordinate of the infrared optical axis center. Based on the target position coordinates of the infrared optical axis center and the position center coordinates of the second image, the calibration reference data of the second optical axis is determined; wherein, the position coordinates of the second image center are the position coordinates of the current infrared imaging image center; Based on the second optical axis calibration reference data, determine the second azimuth deviation and the second pitch deviation of the target position coordinates relative to the second image position center coordinates; Multiply the second field-of-view zoom ratio by the second azimuth deviation and the second pitch deviation to obtain the second azimuth compensation data and the second pitch compensation data, respectively; and use the second optical axis compensation data to perform field-of-view optical axis calibration on the infrared imaging channel.

2. The method according to claim 1, characterized in that, The determination of the first optical axis calibration reference data of the television imaging channel based on the cooperative positioning relationship between the laser component and the television imaging channel includes: Adjust the television imaging channel to any field of view and control the laser component to illuminate the first reference object, thereby obtaining the first position coordinates of the laser spot corresponding to the first reference object on the current television imaging screen; Based on the first position coordinates, adjust the current position coordinates of the center of the TV optical axis in the current TV image until the current position coordinates coincide with the first position coordinates, and obtain the target position coordinates of the center of the TV optical axis. Based on the target position coordinates and the center position coordinates of the first image, the first optical axis calibration reference data is determined; wherein, the center position coordinates of the first image are the position coordinates of the center of the current television imaging image.

3. The method according to claim 1, characterized in that, The step of calibrating the field-of-view optical axis of the television imaging channel using the first optical axis compensation data includes: The horizontal coordinates of the target position coordinates of the TV optical axis center are summed with the first azimuth compensation data of the corresponding field of view to obtain the horizontal coordinates of the TV optical axis center after the corresponding field of view is calibrated. The longitudinal coordinate of the target position coordinate of the TV optical axis center is summed with the first pitch compensation data of the corresponding field of view to obtain the longitudinal coordinate of the TV optical axis center after the corresponding field of view is calibrated. The position coordinates of the center of the television optical axis in the corresponding field of view are updated based on the horizontal and vertical coordinates of the calibrated center of the television optical axis.

4. The method according to claim 1, characterized in that, The process of calibrating the field of view optical axis of the infrared imaging channel using the second optical axis compensation data includes: The lateral coordinates of the target position coordinates at the center of the infrared optical axis are summed with the second azimuth compensation data of the corresponding field of view to obtain the lateral coordinates of the center of the infrared optical axis after the corresponding field of view is calibrated. The longitudinal coordinate of the target position coordinate at the center of the infrared optical axis is summed with the second pitch compensation data of the corresponding field of view to obtain the longitudinal coordinate of the center of the infrared optical axis after the corresponding field of view is calibrated. The position coordinates of the infrared optical axis center of the corresponding field of view are updated based on the horizontal and vertical coordinates of the calibrated infrared optical axis center.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 4.

6. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 4.

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