Method and device for measuring dual-band infrared radiation characteristics of air-sea environment

Abstract

The invention relates to the technical field of environment characteristic measurement, in particular to an air-sea environment dual-band infrared radiation characteristic measurement method and device. The method comprises the following steps: building a portable measuring device on a shipborne platform; controlling the two-dimensional turntable to rotate according to an N-type variable-speed scanning path, synchronously controlling the medium-long wave thermal imager and the long-wave thermal imager to perform continuous image acquisition, and recording attitude information in real time by the photoelectric inertial navigation system; performing data alignment on each frame of infrared image and the corresponding accurate azimuth angle and pitch angle based on a time axis of photoelectric inertial navigation, and converting an image gray value into radiation brightness; and finally summarizing results. The device comprises a tripod, a two-dimensional turntable, an adapter plate, and a medium-wave thermal imager, a long-wave thermal imager and a photoelectric inertial navigation which are fixed on the adapter plate. Through data synchronization and alignment of the photoelectric inertial navigation and the thermal imager, the ship attitude disturbance is effectively compensated, the problem of low accuracy of infrared radiation measurement data on a dynamic platform is solved, and meanwhile, the device has the advantages of quick response and portability.

Description

Technical Field

[0001] This invention relates to the field of environmental characteristic measurement technology, and in particular to a method and apparatus for measuring the dual-band infrared radiation characteristics of the air-sea environment. Background Technology

[0002] Measuring the infrared radiation characteristics of the ocean-atmosphere environment is of great significance for fields such as marine remote sensing and environmental monitoring. Currently, measurements based on shipborne platforms are one of the important means of obtaining this data.

[0003] Existing shipborne infrared radiation measurement schemes mainly suffer from two types of problems. One type is the manual combination of thermal imager and tripod. Although this method is portable, it is severely affected by the displacement, rotation, and swaying of the ship in wind and waves. This makes it difficult to unify the measurement data with the real spatial information of the measured environment (such as precise azimuth and pitch angles), resulting in low data accuracy and low measurement efficiency.

[0004] Another type employs fixed automated measurement systems, such as the "Multi-band Infrared Radiation Automatic Measurement System" disclosed in Chinese patent document CN101793563A. This system scans a double blackbody, the sky, and the sea surface using a rotating reflector, and performs real-time correction using the blackbody to achieve automatic measurement of multi-band infrared radiation. However, such systems are typically complex in structure, bulky, and highly integrated, requiring fixed installation and unable to quickly respond to temporary or mobile measurement needs. More importantly, these systems primarily rely on internal hardware design and calibration sources to ensure the accuracy of the measurement link, failing to provide an effective solution for external dynamic interference such as the unstable attitude of the ship platform itself. Their measurement data still cannot be effectively correlated with the actual observed vectors under ship swaying, limiting their accuracy on dynamic shipboard platforms. Summary of the Invention

[0005] The purpose of this invention is to provide a method and apparatus for measuring the dual-band infrared radiation characteristics of the air-sea environment, which can adapt to the dynamic environment of shipboard platforms while maintaining high measurement accuracy and portability.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a method for measuring the dual-band infrared radiation characteristics of an air-sea environment, comprising the following steps: Step S1: Select test points on the deck of the shipborne platform and set up a portable measuring device; the portable measuring device includes a tripod, a two-dimensional turntable, an adapter plate, a medium-wave thermal imager, a long-wave thermal imager, an optoelectronic inertial navigation system, and a control and processing unit; Step S2: Environmental characteristics measurement: Control the two-dimensional turntable to rotate along the preset N-type variable speed scanning path, and simultaneously control the medium-wave thermal imager and long-wave thermal imager to perform uninterrupted continuous image acquisition; wherein, when the two-dimensional turntable rotates to each preset measurement angle, it stays for a preset time to perform continuous measurement, and the photoelectric inertial navigation records attitude information including time, azimuth angle and pitch angle in real time. Step S3: Measurement Data Processing: Based on the time axis of the photoelectric inertial navigation recording, align each frame of the infrared image with the precise azimuth and elevation angles corresponding to the acquisition time of that frame; select an N×N pixel region in the uniform background of the image center area, calculate its average gray value DN, and apply a calibration coefficient. and Using the formula Convert the average gray value DN to a radiance value. ,in, For slope and The intercept; Step S4: Align and summarize the measurement results after data conversion.

[0007] Optionally, after step S1 and before step S2, a self-test step for the portable measuring device is further included, the self-test including: Control the two-dimensional turntable to rotate 360° in the azimuth direction and to rotate within its maximum angle range in the pitch direction; The control software is used to check whether the azimuth and pitch angle data of the photoelectric inertial navigation feedback change with the rotation of the two-dimensional turntable. After the thermal imager has cooled down, check whether the images it has acquired are normal.

[0008] Optionally, in step S1, setting up the portable measuring device specifically includes: Fix the two-dimensional turntable onto the tripod; Fix the adapter plate onto the two-dimensional turntable; The medium-wave thermal imager, long-wave thermal imager, and photoelectric inertial navigation system are fixed on the adapter plate; The medium-wave thermal imager, long-wave thermal imager, photoelectric inertial navigation system, and 2D turntable are electrically connected to the control and processing unit.

[0009] Optionally, in step S2, the traversal order of the scanning path in the N-type variable speed scanning method is consistent with the rotation direction of the shipborne platform itself.

[0010] Optionally, in step S2, the preset measurement angles include combinations of pitch angles of -10°, 0°, 10°, 20°, and 30° and azimuth angles of -45°, 0°, and 45°.

[0011] Optionally, in step S3, when the acquired image contains a sea-line, the area containing the sea-line is selected as the pixel processing area, and the size of the pixel processing area is not less than 5×5 pixels.

[0012] Optionally, in step S3, when N×N pixels are selected as the processing object at the center of the image, the value of N is dynamically adjusted according to the currently measured pitch angle; when the pitch angle is towards the sky background, the first value is used; when the pitch angle is towards the sea background, the second value, which is different from the first value, is used.

[0013] In a second aspect, the present invention also provides a measuring apparatus for implementing the method according to any one of the first aspects, comprising: Tripod; A two-dimensional turntable, fixed on a tripod; The adapter plate is fixed on the two-dimensional turntable; The medium-wave thermal imager and the long-wave thermal imager are fixed on the adapter plate and used to acquire dual-band infrared images; An optoelectronic inertial navigation system, fixed on an adapter plate, is used to measure the spatial attitude information of the measuring device in real time. The control and processing unit communicates with the medium-wave thermal imager, long-wave thermal imager, photoelectric inertial navigation system, and 2D turntable to control the coordinated operation of the components and perform data alignment and processing.

[0014] Optionally, the control and processing unit includes a control module, a computer, and a power management module; The control module is used to connect and control the mid-wave thermal imager, long-wave thermal imager, photoelectric inertial navigation system, and 2D turntable; The computer is connected to the control module to send control commands, receive and process data; The power management module is used to power the medium-wave thermal imager, long-wave thermal imager, photoelectric inertial navigation system, and 2D turntable.

[0015] Optionally, the measuring device also includes a left support rod, a right support rod, a left antenna, and a right antenna; the left support rod and the right support rod are installed on both sides of the adapter plate, and the left antenna and the right antenna are fixed on the left support rod and the right support rod, respectively, and connected to the photoelectric inertial navigation system.

[0016] The above-described technical solution of the present invention has the following advantages: The present invention provides a dual-band infrared radiation characteristic measurement method for the air-sea environment. By integrating and synchronously acquiring photoelectric inertial navigation with a thermal imager and a two-dimensional turntable, it achieves real-time and automatic alignment of each frame of infrared image with high-precision spatial attitude information (azimuth and pitch angles). This "data alignment" mechanism directly compensates for observation vector errors caused by attitude disturbances such as ship displacement, rotation, and swaying, solving the core problem that existing technologies cannot guarantee the accurate correspondence between measurement data and real environmental information on dynamic sea surface platforms. Employing a two-dimensional turntable and an N-type variable-speed scanning method, it achieves automatic, rapid, and continuous switching of measurement angles, avoiding the cumbersome operation of repeated adjustments required by traditional manual tripod methods, significantly shortening testing time, and enabling rapid response to temporary and mobile measurement needs.

[0017] The dual-band infrared radiation characteristic measurement device for the air-sea environment provided by this invention forms a stable whole by rigidly fixing a mid-wave thermal imager, a long-wave thermal imager, and an opto-inertial navigation system onto the same adapter plate. This ensures that the spatial attitude information (azimuth and pitch angles) measured by the opto-inertial navigation system can accurately and synchronously reflect the observation axes of the two thermal imagers, providing a hardware-level guarantee for data alignment, effectively compensating for ship attitude disturbances, and solving the problem of low accuracy of infrared radiation measurement data on dynamic platforms. It also boasts the advantages of rapid response and portability. Attached Figure Description

[0018] The accompanying drawings are provided for illustrative purposes only, and the proportions and quantities of the components in the drawings may not be consistent with the actual product.

[0019] Figure 1 This is a dual-band infrared radiation characteristic measurement device for air-sea environment in an embodiment of the present invention; Figure 2 This is a schematic diagram of a test conducted using a dual-band infrared radiation characteristic measurement device for the air-sea environment in an embodiment of the present invention. Figure 3 This is a schematic diagram of a process for measuring the dual-band infrared radiation characteristics of an air-sea environment in an embodiment of the present invention.

[0020] In the picture: 100: Measuring device; 101: Left antenna; 102: Left support rod; 103: Adapter board; 104: Mid-wave thermal imager; 105: Opto-inertial navigation system; 106: Long-wave thermal imager; 107: Right support rod; 108: Right antenna; 109: 2D turntable; 110: Power supply; 111: Tripod; 112: Power management module; 113: Control module; 114: Computer; 200: Shipborne platform; 300: Sky background; 400: Horizon line; 500: Sea background. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, not all embodiments. 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] like Figures 1-3 As shown, this embodiment of the invention provides a method for measuring the dual-band infrared radiation characteristics of an air-sea environment, comprising the following steps: Step S1: Select test points and set up the measurement device.

[0023] The test point was set in the open area near the ship's side on the upper deck of the 200-ship platform to ensure that the measurement field of view was not obstructed by the ship's structure or equipment within the required pitch and azimuth angles.

[0024] Next, the portable measuring device 100 is assembled. The tripod 111 is extended and placed stably on the deck. The 2D turntable 109 is bolted to the tripod 111. The adapter plate 103 is bolted to the 2D turntable 109. The mid-wave thermal imager 104, long-wave thermal imager 106, and photoelectric inertial navigation system 105 are then bolted to the adapter plate 103 one by one. Using data cables (such as network cables or serial cables), the mid-wave thermal imager 104, long-wave thermal imager 106, photoelectric inertial navigation system 105, and 2D turntable 109 are connected to the control module 113, and then the control module 113 is connected to the computer 114. Using power cables, the mid-wave thermal imager 104, long-wave thermal imager 106, photoelectric inertial navigation system 105, and 2D turntable 109 are connected to the power management module 112, and then the power management module 112 is connected to the power supply 110.

[0025] Step S2, environmental characteristic measurement.

[0026] The thermal imager's acquisition frequency is set to 5Hz, and environmental characteristic measurements are initiated. During measurement, the N-type variable speed scanning method is employed, and the thermal imager's scanning path is planned according to the required azimuth and elevation angles. The two-dimensional turntable 109 is controlled to rotate along the planned path via the control module 113 and computer 114, while simultaneously controlling the mid-wave thermal imager 104 and long-wave thermal imager 106 to perform uninterrupted continuous image acquisition. When the two-dimensional turntable 109 stops at a certain measurement angle, it remains in position for a relatively long period (e.g., 10 seconds) for measurement; afterwards, the turntable quickly rotates to the next measurement angle (e.g., 2-3 seconds). During this process, the photoelectric inertial navigation system 105 records attitude information such as time, latitude, longitude, altitude, azimuth, and elevation angles in real time at a high frequency.

[0027] Step S3, measurement data processing.

[0028] Export and generate a readable measurement data file. Based on the high-precision time axis recorded by the 105 photoelectric inertial navigation system, align each frame of the infrared image with the precise azimuth and elevation angles corresponding to the acquisition time of that frame. In a relatively uniform area at the center of the image (e.g., sky background 300 or sea background 500), select 15×15 pixels as the processing object and calculate the average gray value DN of the above pixels. This is then processed using calibration coefficients (…). , ), using formula Convert grayscale value DN to radiance value Among them, the scaling factor For slope and The intercept is determined beforehand through a radiometric calibration process. This process aims to establish a precise linear relationship between the grayscale value (DN) output by the thermal imager and the incident radiance (L). The calibration process is performed independently for both mid-wave and long-wave thermal imagers. The calibration process is existing technology and will not be described in detail here.

[0029] Step S4: Summarize the processing results.

[0030] The aligned and transformed measurement results are summarized in a list format, as shown in the table below. The table includes time, latitude, longitude, altitude, azimuth, and elevation angles (based on photoelectric inertial navigation recordings), and radiance values ​​(based on thermal image data processing). This method integrates photoelectric inertial navigation and synchronous acquisition with a thermal imager, achieving automatic alignment of infrared image data with spatial attitude information, fundamentally solving the problem of inaccurate data caused by hull attitude disturbances; and adopts the N-type variable speed scanning method to achieve automated measurement, significantly improving efficiency.

[0031] In one example, after setting up the measuring device in step S1 and before measuring the environmental characteristics in step S2, a device self-test step is added. This self-test step is as follows: First, turn on the power switch to power on the measuring device. The 2D turntable 109 begins its self-test by rotating 360° in the azimuth direction and rotating within the maximum pitch angle range (e.g., -10° to 30°) in the pitch direction. After the turntable completes its self-test, turn on the photoelectric inertial navigation system 105, the mid-wave thermal imager 104, and the long-wave thermal imager 106 respectively. At this point, the thermal imager enters the cooling phase.

[0032] Then, using the photoelectric inertial navigation control software installed on computer 114, check the photoelectric inertial navigation data feedback, including whether the output of information such as time, latitude, longitude, altitude, azimuth, and pitch angle is normal. Using the turntable control software installed on computer 114, input the azimuth and pitch angles of the turntable, with true north as 0°. For example, using combinations of azimuth and pitch angles (-10°, -45°), (0°, 0°), and (30°, 45°), control the two-dimensional turntable 109 to perform angular rotation, verifying whether the two-dimensional turntable 109 can work normally. Simultaneously, crucially check whether the azimuth and pitch angle data of the photoelectric inertial navigation system 105 accurately follow the rotation of the two-dimensional turntable 109, to verify the synchronization between the attitude measurement system and the turntable's movements.

[0033] When the 2D turntable 109 is under normal control and the photoelectric inertial navigation 105 is outputting data normally, after the thermal imager has finished cooling, check whether the thermal imager is acquiring images normally through the thermal imager control software installed on the computer, and adjust the integration time to ensure that the image is complete and unobstructed within the measurement angle range and that the data is valid and not saturated.

[0034] Finally, control the 2D turntable and adjust the integration time of the mid-wave and long-wave thermal imagers, such as 3000ms and 300ms respectively. By viewing the images acquired by the thermal imagers, determine whether the images are complete and unobstructed, and whether the data is valid and not saturated within the required elevation and azimuth angle ranges. For a 14-bit thermal imager, the optimal value should be between 3000 and 13000.

[0035] This self-inspection step, through a rigorous self-inspection process, especially "follow-up verification," ensures that all components of the measuring device (especially the photoelectric inertial navigation and turntable) are in normal working condition and have a unified reference before measurement, thus guaranteeing the accuracy of subsequent data alignment and the success rate of the entire measurement task from the source.

[0036] In one example, step S1, setting up the portable measuring device specifically includes: The tripod 111 is made of hard aluminum alloy, with rubber feet for vibration damping and anti-slip. The 2D turntable 109 has an adjustment accuracy of no less than 0.1°. The mid-wave thermal imager 104 uses a cooled HgCdTe detector with a pixel size of 15μm and a pixel count of 640×512, measuring a wavelength of 3.7~4.8μm. The long-wave thermal imager 106 uses a cooled HgCdTe detector with a pixel size of 15μm and a pixel count of 640×512, measuring a wavelength of 7.7~9.3μm. The opto-inertial navigation system 105, along with the left antenna 101 and right antenna 108, forms the attitude and position measurement module. The power supply 110 is standard AC power (220V, 50Hz). The overall weight of the measuring device 16 is less than 30kg, and the parts are detachable (e.g., connected by bolts, threads, etc.), enabling single-person portable installation and testing.

[0037] During setup, strictly follow the mechanical and electrical interfaces for connection: fix the 2D turntable 109 to the tripod 111 with bolts; fix the adapter plate 103 to the 2D turntable 109 with bolts; fix the mid-wave thermal imager 104, long-wave thermal imager 106, and photoelectric inertial navigation system 105 to the adapter plate 103 with bolts to form a rigid whole; finally, complete the connection of all data cables and power cables.

[0038] This example provides clear and repeatable setup steps, ensuring that the mid-wave thermal imager, long-wave thermal imager, and opto-inertial navigation system are rigidly connected via an adapter plate. This is the core physical foundation for achieving high-precision alignment of spatial attitude data with infrared image data.

[0039] In this embodiment, in step S2, the traversal order of the scanning path in the N-type variable speed scanning method is consistent with the rotation direction of the shipborne platform itself. In one example, the azimuth and pitch angle combinations of the scanning path are (30°, 45°), (20°, 45°), (10°, 45°), (0°, 45°), (-10°, 45°), (-10°, 0°), (0°, 0°), (10°, 0°), (20°, 0°), (30°, 0°), (30°, -45°), (20°, -45°), (10°, -45°), (0°, -45°), (-10°, -45°). The scanning path can also be carried out in reverse order as described above, but it needs to be consistent with the rotation direction of the shipborne platform itself. For example, when the shipborne platform is rotating clockwise, the azimuth angle change of the scanning path should also be clockwise. Continuous scanning enables uninterrupted image acquisition by the thermal imager. When the 2D turntable stops at a measurement angle, such as (30°, 45°), measurement is performed for 10 seconds, acquiring a total of 50 frames at that angle. Afterward, the turntable rotates to the next measurement angle (20°, 45°) after approximately 2-3 seconds, until all measurement angles are completed. This example scheme coordinates the scanning motion of the measuring device with the rotation of the ship itself, reducing problems such as excessive relative speed and shortened effective measurement time caused by opposite directions of movement. This helps to obtain more stable and representative data on a dynamic platform. Furthermore, an optimized measurement angle scheme covering typical observation ranges is provided, which can systematically acquire infrared radiation characteristics data of the sea-atmosphere environment at different altitudes and directions, meeting the measurement needs of most application scenarios.

[0040] In one example, in step S3, when the acquired image includes the sea-sky line 400, the region containing the sea-sky line 400 is selected as the pixel processing area. Since the sea-sky line region is a transition zone between the sea and sky, its features are distinct but its spatial scale is limited. Therefore, the selected pixel area can be smaller than the conventional 15×15 pixels, but to ensure the validity of data statistics, it must not be smaller than 5×5 pixels. This example optimizes the data processing method for the special and important observation target of the sea-sky line 400. By selecting an appropriate pixel area, the radiation characteristics of the sea-sky line region can be extracted more accurately, providing high-quality data for related model research.

[0041] In one example, when selecting N×N pixels at the center of the image as the processing target, the value of N is dynamically adjusted based on the pitch angle measured by the current photoelectric inertial navigation system 105. Specifically, when the pitch angle is 30° towards the sky background (e.g., pitch angle > 2°), the sky background is usually relatively uniform, so a larger first value is used, such as N = 15; when the pitch angle is 50° towards the sea surface background (e.g., pitch angle < -2°), the sea surface may have small-scale inhomogeneities such as ripples, so a smaller second value is used, such as N = 9, to obtain more locally representative data.

[0042] This embodiment also provides a measuring device for implementing any of the above-described measurement methods, the structure of which is described in [reference needed]. Figure 1 The device includes: Tripod 111 serves as the supporting base for the entire device.

[0043] The two-dimensional turntable 109, which is fixed on the tripod 111, is used to precisely change the observation azimuth and elevation angles.

[0044] The adapter plate 103 is fixed on the two-dimensional turntable 109 and serves as the core load-bearing component.

[0045] Both the medium-wave thermal imager 104 and the long-wave thermal imager 106 are fixed on the adapter plate 103 and are used to acquire dual-band infrared image data of the sea and air environment.

[0046] The photoelectric inertial navigation system 105 is fixed on the adapter plate 103 and is used to measure the spatial attitude information (time, position, azimuth angle, and pitch angle) of the measuring device in real time.

[0047] The control and processing unit is communicatively connected to the medium-wave thermal imager 104, the long-wave thermal imager 106, the photoelectric inertial navigation system 105, and the two-dimensional turntable 109.

[0048] In one example, the control and processing unit specifically includes a control module 113, a computer 114, and a power management module 112. The control module 113 is used to connect and centrally control the various components; the computer 114 is used to send instructions, receive and process data; and the power management module 112 is used to perform power conversion and distribution.

[0049] In one example, the measuring device may also include a left support rod 102, a right support rod 107, a left antenna 101, and a right antenna 108. The left and right support rods are mounted on both sides of the adapter plate 103, and the left and right antennas are fixed on it respectively and connected to the opto-inertial navigation system 105 to enhance the satellite signal reception capability.

[0050] The measurement device described in this implementation is highly integrated and portable. Through a rigidly connected adapter plate and electrical connections, the device tightly integrates the photoelectric inertial navigation system with the thermal imager, providing a reliable hardware platform for achieving high-precision data alignment and effectively ensuring the accuracy of measurements on a dynamic shipboard platform.

[0051] Any aspects of this invention not described in detail are common knowledge or prior art in the field.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that not every embodiment contains only one independent technical solution, and in the absence of conflict between solutions, the various technical features mentioned in each embodiment can be combined in any way to form other implementation methods that can be understood by those skilled in the art.

[0053] Furthermore, without departing from the scope of the present invention, modifications to the technical solutions described in the foregoing embodiments, or equivalent substitutions of some of the technical features, shall not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring the dual-band infrared radiation characteristics of a sea-air environment, characterized in that, The method comprises the following steps: Step S1: selecting a test point on the deck of a ship-borne platform and setting up a portable measuring device; the portable measuring device comprises a tripod, a two-dimensional turntable, an adapter plate, a medium-wave thermal imager, a long-wave thermal imager, an optoelectronic inertial device and a control and processing unit; Step S2: measuring the environmental characteristics; the two-dimensional turntable is controlled to rotate according to a preset N-type variable-speed scanning path, and the medium-wave thermal imager and the long-wave thermal imager are synchronously controlled to continuously collect images; when the two-dimensional turntable rotates to each preset measurement angle, it is stopped for a preset time for continuous measurement, and the optoelectronic inertial device records real-time attitude information including time, azimuth angle and pitch angle; Step S3: Measurement Data Processing: Based on the time axis of the photoelectric inertial navigation record, align each frame of the infrared image with the precise azimuth and elevation angles corresponding to the acquisition of that frame; select an N×N pixel region in the uniform background of the image center area, calculate its average gray value DN, and apply a calibration coefficient. and Using the formula Convert the average gray value DN into a radiance value. ,in, For slope and The intercept; Step S4: collecting the measurement results after the data alignment and conversion.

2. The method of claim 1, wherein, After the step S1 and before the step S2, the method further comprises a step of self-checking the portable measuring device, and the self-checking comprises: controlling the two-dimensional turntable to rotate 360° in the azimuth direction and to rotate through its maximum angle range in the pitch direction; checking, through the control software, whether the azimuth angle and the pitch angle data fed back by the optoelectronic inertial device change with the rotation of the two-dimensional turntable; checking whether the images collected by the thermal imagers are normal after the thermal imagers complete refrigeration.

3. The method of claim 1, wherein, In the step S1, the setting up of the portable measuring device specifically comprises: fixing the two-dimensional turntable on the tripod; fixing the adapter plate on the two-dimensional turntable; fixing the medium-wave thermal imager, the long-wave thermal imager and the optoelectronic inertial device on the adapter plate; electrically connecting the medium-wave thermal imager, the long-wave thermal imager, the optoelectronic inertial device and the two-dimensional turntable with the control and processing unit.

4. The method of claim 1, wherein: In the step S2, the traversal order of the scanning path of the N-type variable-speed scanning method is consistent with the rotation direction of the ship-borne platform itself.

5. The method of claim 1, wherein: In the step S2, the preset measurement angles include combinations of the pitch angles -10°, 0°, 10°, 20°, 30° and the azimuth angles -45°, 0°, 45°.

6. The method of claim 1, wherein: In the step S3, when the collected images contain a sea-sky line, a region containing the sea-sky line is selected as a pixel processing region, and the size of the pixel processing region is not less than 5*5 pixels.

7. The method of claim 1, wherein: In the step S3, when N*N pixels are selected as processing objects at the center position of an image, the value of N is dynamically adjusted according to the currently measured pitch angle; when the pitch angle is toward the sky background, a first value is adopted; when the pitch angle is toward the sea surface background, a second value different from the first value is adopted.

8. A measuring device for implementing the method according to any one of claims 1 to 7, characterized in that The method comprises: a tripod; a two-dimensional turntable fixed on the tripod; an adapter plate fixed on the two-dimensional turntable; a medium-wave thermal imager and a long-wave thermal imager fixed on the adapter plate, for acquiring double-band infrared images; an optoelectronic inertial device fixed on the adapter plate, for measuring real-time spatial attitude information of the measuring device; a control and processing unit in communication connection with the medium-wave thermal imager, the long-wave thermal imager, the optoelectronic inertial device and the two-dimensional turntable, for controlling the coordinated work of the components and performing the alignment and processing of data.

9. The apparatus of claim 8, wherein: The control and processing unit comprises a control module, a computer and a power management module; The control module is used for connecting and controlling the middle wave thermal imager, long wave thermal imager, photoelectric inertial navigation and two-dimensional turntable; The computer is connected with the control module and is used for sending control instructions, receiving and processing data; The power management module is used for supplying power for the middle wave thermal imager, long wave thermal imager, photoelectric inertial navigation and two-dimensional turntable.

10. The apparatus of claim 8, wherein: The left supporting rod and the right supporting rod are installed on both sides of the adapter plate, and the left antenna and the right antenna are respectively fixed on the left supporting rod and the right supporting rod and connected with the photoelectric inertial navigation.

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