Live monitoring range extending device based on vehicle-mounted test platform and range extending method thereof

Abstract

The invention discloses a live monitoring range extending device based on a vehicle-mounted test platform and a range extending method thereof, and belongs to the field of target live monitoring. The three carrying vehicles are respectively loaded with the live monitoring devices and are configured in a battlefield environment according to an equilateral triangle arrangement mode according to an effective monitoring distance, and the servo control subsystem is controlled to adjust the direction so as to ensure that a to-be-detected target is located at the center of a field of view of the live monitoring devices; the target tracking processing subsystem carries out image processing on the visible light polarization image sequence by using a four-frame difference method, outputs the processed image to an image processing system, carries out Stokes vector decomposition on the visible light polarization image, calculates to obtain a polarization degree image, and carries out target tracking processing on the polarization degree image; the image, the polarization degree image, the long-wave infrared image, the visible light polarization image and the medium-wave infrared image after target tracking processing are stored, and finally closed-loop control is formed by the servo control subsystem and the target tracking processing subsystem according to the output miss distance information, so that stable tracking of the to-be-measured target is realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of target live monitoring, and particularly relates to a live monitoring range extension device based on a vehicle-mounted test platform and a range extension method thereof. BACKGROUND

[0002] Currently, the test identification and training evaluation of missiles and various flying targets are seriously limited by the problem of insufficient field of view coverage distance of existing live monitoring devices. This shortcoming causes the target to often leave the monitoring range in the long-range stage of flight, resulting in the loss of key data such as trajectory midcourse adjustment, terminal guidance process and final damage effect, forming a significant monitoring blind area. Therefore, the research on effective live monitoring range extension technology aims to achieve full-range, seamless and high-precision visual coverage from launch to hit, which plays an indispensable key role in obtaining complete test data, accurately evaluating weapon system performance, improving the survival and adaptability of vehicle-mounted platforms in complex battlefield environments, and even supporting the research and development of future long-range precision strike weapons. Therefore, the research and development of the live monitoring range extension device of the vehicle-mounted test platform has significant practical significance.

[0003] Currently, the live monitoring of flying targets mainly relies on optical imaging, radar tracking and multi-station relay methods. Optical imaging is intuitive but the action distance is limited by atmospheric scattering; radar has a long action distance but lacks visual details, making it difficult to meet the demand for fine analysis; multi-station relay faces problems such as complex system, coordination difficulty, high cost and data loss during station transfer. These existing methods have not fundamentally solved the contradiction between monitoring field of view and action distance, and the core challenge lies in the lack of an efficient, flexible and reliable live monitoring range extension means to support continuous and stable tracking of high-speed long-range targets and high-quality live data acquisition. SUMMARY

[0004] The present application provides a live monitoring range extension device based on a vehicle-mounted test platform and a range extension method thereof, to solve the problem of lack of vehicle-mounted test platforms that can achieve live monitoring range extension in the prior art.

[0005] The present application is implemented by the following technical solutions: A live monitoring range extension device based on a vehicle-mounted test platform, comprising a vehicle I 1, a vehicle II 2, a vehicle III 3, a live monitoring device I 4, a live monitoring device II 5 and a live monitoring device III 6; The vehicle I 1, the vehicle II 2 and the vehicle III 3 are used to load the live monitoring device I 4, the live monitoring device II 5 and the live monitoring device III 6, and carry them to a simulated battlefield environment, and are configured in the battlefield environment according to the effective monitoring distance in the form of an equilateral triangle, for test identification and training evaluation of the target to be tested 7; The real-time monitoring devices I4, II5, and III6 have completely identical functions and configurations, forming a comprehensive monitoring of the battlefield, and can synchronously record the recorded images, corresponding timestamps, and additional information. The target to be tested 7 is used to represent missiles and various types of flight targets that need to be monitored in real time.

[0006] Furthermore, the vehicle I1 includes a driver's cab 11, a command and control compartment 12, and a vehicle-mounted fixing and leveling bracket 13; The cockpit 11 is used for the mobile movement of the vehicle-mounted test platform. According to the real-time position coordinates displayed by the Beidou positioning device 4513, the vehicle is driven to the predetermined position as required by the command. The command and control console 12 is used to issue command orders, and the command and control console 12 controls various devices in the system through the main control system 4511. The vehicle-mounted fixing and leveling bracket 13 is used for fixing and leveling the vehicle-mounted test platform; The real-time monitoring device I4 includes an azimuth turntable 41, an imaging end mounting bracket 42, an elevation turntable 43, a long-wave infrared camera 44, and a main optical detection device 45. The azimuth turntable 41 is used to adjust the azimuth angle of the real-time monitoring device I4 to ensure that the target 7 to be measured is located in the center of the field of view. The imaging end mounting bracket 42 is used to fix the real-time monitoring device I4; The pitch turntable 43 is used to adjust the pitch angle of the real-time monitoring device I4 to ensure that the target 7 to be measured is located in the center of the field of view; The long-wave infrared camera 44 is used for thermal identification of targets in dark or complex environments, undertaking all-weather monitoring and early warning tasks.

[0007] Furthermore, the main optical detection device 45 includes a main optical window 451, a mirror group 452, a slit 453, a collimating lens group 454, a beam splitter prism 455, a visible light polarization camera 456, a mid-wave infrared camera 457, a target tracking and processing subsystem 458, an image processing system 459, an image recording system 4510, a main control system 4511, a servo control subsystem 4512, and a Beidou positioning device 4513; The reflector group 452, slit 453, and collimating lens group 454 acquire the reflected light signal from the target 7 through the main optical window 451 and transmit the light signal to the beam splitter 455. The beam splitter 455 distributes the light signal evenly to the visible light polarization camera 456 and the mid-wave infrared camera 457 for visible light polarization imaging and mid-wave infrared imaging, respectively. The obtained visible light polarization image is transmitted to the target tracking and processing subsystem 458 for image processing to track the motion trajectory of the target 7. The processed image is then transmitted to the image processing system 459. The target tracking and processing subsystem 458 is also controlled by the main control system 4511 through the servo control subsystem 4512. The main control system 4511 also controls the image processing system 459 and the Beidou positioning device 4513. The image processing system 459 and the mid-wave infrared camera 457 respectively output the processed image and the mid-wave infrared image into the image recording system 4510. The image recording system 4510 also stores the long-wave infrared image of the long-wave infrared camera 44.

[0008] A method for using a real-time monitoring range extender based on an on-board test platform, wherein the method uses the aforementioned real-time monitoring range extender based on an on-board test platform, and the method specifically includes the following steps: Step 1: Transport and adjust the real-time monitoring range extender based on the vehicle-mounted test platform according to the instructions of the superior command; Step 2: When the real-time monitoring of missiles and various flying targets begins, the long-wave infrared camera 44 and the visible light polarization camera 456 and mid-wave infrared camera 457 of the main optical detection device 45 perform target imaging. Step 3: The target tracking and processing subsystem 458 of the main optical detection device 45 first receives the visible light polarization image acquired by the visible light polarization camera 456 and performs image processing. It uses the four-frame difference method to track the motion trajectory of the target 7 under test. Then, it outputs the miss distance information to the servo control subsystem 4512. Finally, it outputs the visible light polarization image to the image processing system 459. Step 4: The image processing system 459 of the main optical detection device 45 performs Stokes vector decomposition on the visible light polarization image and calculates the polarization degree image. It then outputs the target tracking processed image, the polarization degree image processed by the image processing system 459, the long-wave infrared image acquired by the long-wave infrared camera 44, the visible light polarization image acquired by the visible light polarization camera 456, and the mid-wave infrared image acquired by the mid-wave infrared camera 457 to the image recording system 4510. The image recording system 4510 synchronously records the recorded image, the corresponding timestamp, and additional information. Step 5: The servo control subsystem 4512 adjusts the azimuth turntable 41 and pitch turntable 43 of the real-time monitoring device I4 according to the miss distance information output by the target tracking processing subsystem 458 to ensure that the target 7 under test is located in the center of the field of view. Through the closed-loop control of the servo control subsystem 4512 and the target tracking processing subsystem 458, the target 7 under test is stably tracked. Step 6: The spatial position and flight trajectory of the target 7 are continuously determined by the real-time monitoring device I4 and the Beidou positioning device 4513. When the target 7 is within the monitoring range of the real-time monitoring device II5 or the real-time monitoring device III6 during flight, the real-time monitoring device I4 and the real-time monitoring device II5 or the real-time monitoring device III6 jointly monitor the target. If the target 7 flies out of the monitoring range of the real-time monitoring device I4, the real-time monitoring device II5 or the real-time monitoring device III6 takes over the monitoring, so as to ensure that the target 7 is monitored by at least one real-time monitoring device.

[0009] Furthermore, step 3 includes the following steps: Step 3.1: The visible light polarization continuous image of the target 7 under test is captured by the visible light polarization camera 456. Each visible light polarization image in the continuous visible light polarization image is a polarization mosaic image with 2*2 pixels. The internal structure of the visible light polarization camera 456 is to place the pixel polarizer array directly between the chip photosensitive surface and the microlens array. The angles corresponding to the pixel polarizer array are 0°, 45°, 90° and 135°. The pixels corresponding to each pixel polarizer array angle are extracted and the polarization mosaic image is recombined into images with four different polarization angles of 0°, 45°, 90° and 135°. The visible light polarization continuous image of the target 7 under test captured by the visible light polarization camera 456 is decomposed into a continuous image sequence with four different polarization angles of 0°, 45°, 90° and 135°. Step 3.2: Based on the continuous image sequences of four different polarization angles (0°, 45°, 90°, and 135°) decomposed from the visible light polarization continuous image, the motion trajectory of the target 7 is tracked using the four-frame difference method. Then, the four sets of target-tracked images are subjected to a "logical AND" operation to finally obtain the target-tracked image. Step 3.3: After the target tracking processing subsystem 458 finds the target, it calculates its "position point" in the image. The most effective method is to calculate the centroid of the target 7 and output the miss distance information to the servo control subsystem 4512. Step 3.4: The target tracking processing subsystem 458 outputs the target tracking processed image to the image processing system 459.

[0010] Furthermore, step 3.2 specifically involves, Step 3.2.1: First, the continuous image sequence with 0° polarization is processed by frame extraction. Four consecutive frames are recorded as follows: , , and The process involves performing pairwise inter-frame difference calculations and converting the images into binary images based on a set threshold. Then, a logical AND operation is performed on the pairwise differencing images to obtain the contour of the target 7 and determine the foreground region in the image. The specific calculation process is as follows: (1) (2) (3) (4) (5) (6) like The target is the foreground point; if The target is the background point. Here, Z is a fixed binarization threshold. and All are dynamic thresholds. This reflects the lighting conditions in the image sequence; when the lighting changes significantly, the dynamic threshold... It will increase significantly. The suppression coefficient is M×N, which represents the size of each image. The image processed by the four-frame difference algorithm of the 0° polarization continuous image sequence is denoted as... ; Step 3.2.2: Repeat step 3.2.1 for the polarization continuous image sequences corresponding to 45°, 90°, and 135°, resulting in three sets of images processed by the four-frame difference algorithm, denoted as follows: , and ; Step 3.2.3: Perform a logical AND operation on the images processed by the four-frame difference algorithm at 0°, 45°, 90°, and 135°. The calculation formula is as follows: (7) in, L The final image obtained after target tracking processing.

[0011] Furthermore, the formula for calculating the centroid of the target 7 in step 3.3 is as follows: (8) in, The centroid coordinates of all bright pixels within the region; These are pixel coordinates; It is the grayscale value of that pixel; The formula for calculating the miss distance is: (9) in, and The center point of the image.

[0012] Furthermore, step 4 specifically involves the image processing system 459 performing Stokes vector decomposition on the visible light polarization image and calculating the degree of polarization image. The formula for calculating the degree of polarization is: (10) in, DOP This is a polarization degree image; This is a 0° polarization image; This is a 45° polarized image; This is a 90° polarized image; This is a 135° polarized image.

[0013] Furthermore, the target tracking image, the polarization image processed by the image processing system 459, the long-wave infrared image acquired by the long-wave infrared camera 44, the visible light polarization image acquired by the visible light polarization camera 456, and the mid-wave infrared image acquired by the mid-wave infrared camera 457 are output to the image recording system 4510 for image recording and storage.

[0014] Furthermore, step 5 specifically involves the servo control subsystem 4512 receiving the miss distance information output by the target tracking and processing subsystem 458, and then adjusting the azimuth turntable 41 and pitch turntable 43 of the real-time monitoring device I4 in real time according to the miss distance information to ensure that the missile and various flying targets are always located in the center of the field of view. Finally, the servo control subsystem 4512 and the target tracking and processing subsystem 458 form a stable closed-loop feedback control to achieve continuous and stable tracking of the missile and various flying targets.

[0015] The beneficial effects of this invention are: This invention aims to improve the real-time monitoring capabilities of missiles and various types of flying targets.

[0016] The method proposed in this invention not only solves the problem that the short monitoring range of a single vehicle-mounted test platform makes it difficult to cover a large-scale battlefield environment, but also enables real-time monitoring and recording of missiles and various flying targets through multi-band cameras, providing sufficient material and data for post-event image interpretation. The real-time monitoring range extender based on a vehicle-mounted test platform and its usage method proposed in this invention differ from previous visible light camera tracking methods. It utilizes the strong ability to maintain target polarization characteristics to reduce the influence of atmospheric light scattering, improving target tracking accuracy and thus reducing misjudgments or omissions. This allows for precise and stable tracking of missiles and various flying targets, providing an feasible real-time monitoring solution for the testing, identification, training, and evaluation of missiles and various flying targets, as well as potential missile interception and target tracking interference. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the real-time range extension monitoring achieved by the device of the present invention.

[0018] Figure 2 This is a schematic diagram of the vehicle-mounted testing platform of the present invention.

[0019] Figure 3 This is a schematic diagram of the real-time monitoring device of the present invention.

[0020] Figure 4 This is a schematic diagram of the main optical detection device of the present invention.

[0021] The meanings of the reference numerals in the accompanying drawings are as follows: Vehicle I1, Vehicle II2, Vehicle III3, Real-time Monitoring Device I4, Real-time Monitoring Device II5, Real-time Monitoring Device III6, Target to be measured7, Driver's Cabin11, Command and Operation Cabin12, Vehicle-mounted Fixing and Leveling Bracket13, Azimuth Turntable41, Imaging End Fixing Frame42, Pitch Turntable43, Long-wave Infrared Camera44, Main Optical Detection Device45, Main Optical Window451, Reflector Group452, Slit453, Collimating Lens Group454, Beam Spectrometer455, Visible Light Polarization Camera456, Mid-wave Infrared Camera457, Target Tracking and Processing Subsystem458, Image Processing System459, Image Recording System4510, Main Control System4511, Servo Control Subsystem4512, Beidou Positioning Device4513. Detailed Implementation

[0022] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0023] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0024] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0025] The following is in conjunction with the appendix to this application specification.Figures 1-4 The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0026] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0027] Implementation Method 1 This embodiment provides a real-time monitoring range extender based on an on-board test platform. The real-time monitoring range extender includes vehicle I1, vehicle II2, vehicle III3, real-time monitoring device I4, real-time monitoring device II5, and real-time monitoring device III6. Vehicle I1, vehicle II2 and vehicle III3 are used to load real-time monitoring devices I4, II5 and III6 and transport them to the simulated battlefield environment. They are configured in the battlefield environment according to the effective monitoring distance in an arrangement of approximately equilateral triangles for the test identification and training evaluation of the target 7. The real-time monitoring devices I4, II5, and III6 have identical functions and configurations and are placed in vehicle I1, vehicle II2, and vehicle III3 respectively, forming a comprehensive monitoring of the battlefield. They can also synchronously record the recorded images, corresponding timestamps, and additional information. The target to be tested 7 is used to represent missiles and various types of flight targets that need to be monitored in real time.

[0028] Furthermore, the vehicle I1 includes a driver's cab 11, a command and control compartment 12, and a vehicle-mounted fixing and leveling bracket 13; The cockpit 11 is used for the mobile movement of the vehicle-mounted test platform. According to the real-time position coordinates displayed by the Beidou positioning device 4513, the vehicle is driven to the predetermined position as required by the command. The command and control console 12 is used to issue command orders, and the command and control console 12 controls various devices in the system through the main control system 4511. The vehicle-mounted fixing and leveling bracket 13 is used for fixing and leveling the vehicle-mounted test platform; The real-time monitoring device I4 includes an azimuth turntable 41, an imaging end mounting bracket 42, an elevation turntable 43, a long-wave infrared camera 44, and a main optical detection device 45. The azimuth turntable 41 is used to adjust the azimuth angle of the real-time monitoring device I4, so as to ensure that the target 7 under test is located in the center of the field of view. The imaging end mounting bracket 42 is used to fix the real-time monitoring device I4; The pitch turntable 43 is used to adjust the pitch angle of the real-time monitoring device I4, so as to ensure that the target 7 under test is located in the center of the field of view; The long-wave infrared camera 44 is used for thermal identification of targets in dark or complex environments, undertaking all-weather monitoring and early warning tasks.

[0029] The azimuth turntable 41 is used to adjust the azimuth angle of the real-time monitoring device I4. The azimuth angle can be adjusted from 0° to 360° to ensure that the target 7 under test is located in the center of the field of view. The pitch turntable 44 is used to adjust the pitch angle of the real-time monitoring device I4. The pitch angle can be adjusted from 0° to 90° to ensure that the target 7 under test is located in the center of the field of view. Furthermore, the main optical detection device 45 includes a main optical window 451, a mirror group 452, a slit 453, a collimating lens group 454, a beam splitter prism 455, a visible light polarization camera 456, a mid-wave infrared camera 457, a target tracking and processing subsystem 458, an image processing system 459, an image recording system 4510, a main control system 4511, a servo control subsystem 4512, and a Beidou positioning device 4513; The reflector group 452, slit 453, and collimating lens group 454 acquire the reflected light signal from the target 7 through the main optical window 451 and transmit the light signal to the beam splitter 455. The beam splitter 455 distributes the light signal evenly to the visible light polarization camera 456 and the mid-wave infrared camera 457 for visible light polarization imaging and mid-wave infrared imaging, respectively. The obtained visible light polarization image is transmitted to the target tracking and processing subsystem 458 for image processing to track the motion trajectory of the target 7. The processed image is then transmitted to the image processing system 459. The target tracking and processing subsystem 458 is also controlled by the main control system 4511 through the servo control subsystem 4512. The main control system 4511 also controls the image processing system 459 and the Beidou positioning device 4513. The image processing system 459 and the mid-wave infrared camera 457 respectively output the processed image and the mid-wave infrared image into the image recording system 4510. The image recording system 4510 also stores the long-wave infrared image of the long-wave infrared camera 44.

[0030] The target tracking processing subsystem 458 is used to receive visible light polarization imaging and mid-wave infrared imaging acquired by visible light polarization camera 456 and mid-wave infrared camera 457 for image processing, and to use visible light polarization imaging combined with the four-frame difference method to track the motion trajectory of the target 7 under test. The image processing system 459 is used to process visible light polarization imaging and mid-wave infrared imaging, and input the processed image to the image recording system 4510. The main control system 4511 is used to control the operation of the image processing system 459, the servo control subsystem 4512, and the Beidou positioning device 4513. First, it controls the servo control subsystem 4512 to perform pitch and azimuth control on the real-time monitoring device I4. Second, it can be used to control the image processing system 459 to perform image processing on visible light polarization imaging. Finally, it uses the Beidou positioning device 4513 to confirm the spatial coordinates. Together with the real-time monitoring device II5 mounted on vehicle II2 and the real-time monitoring device III6 mounted on vehicle III3, it forms a real-time monitoring network. The servo control subsystem 4512 is used to control the azimuth turntable 41 and the pitch turntable 43 to adjust the azimuth and pitch angles of the real-time monitoring device I4. In specific operations, the pitch and azimuth angles of the real-time monitoring device I4 can be automatically controlled to automatically track the target 7 according to the instructions of the main control system 4511, or the pitch and azimuth angles of the real-time monitoring device I4 can be manually controlled to manually track the target 7.

[0031] Implementation Method 2 This embodiment provides a real-time monitoring range extension method based on a vehicle-mounted test platform. The invention uses a real-time monitoring range extension device and its usage method based on a vehicle-mounted test platform. First, three vehicles are equipped with the real-time monitoring device and transported to a simulated battlefield environment. Based on the effective monitoring distance, they are arranged in an approximately equilateral triangle configuration within the battlefield environment. Next, the azimuth and pitch turntables are adjusted by the servo control subsystem to ensure the target is located at the center of the real-time monitoring device's field of view. Then, the target tracking processing subsystem uses a four-frame difference method to process the visible light polarization image sequence, outputting the processed image to the image processing system. Next, the visible light polarization image undergoes Stokes vector decomposition to calculate the polarization degree image. The processed image, polarization degree image, long-wave infrared image, visible light polarization image, and mid-wave infrared image are recorded and saved. Finally, the servo control subsystem forms a closed-loop control based on the output miss distance information and the target tracking processing subsystem, thereby achieving stable tracking of the target. If the target to be tested flies away from the monitoring area of ​​the initial real-time monitoring device, the monitoring of the target to be tested will be maintained by the real-time monitoring device taking over.

[0032] The range extension method uses the real-time monitoring range extender device based on the vehicle-mounted test platform described above, and the range extension method specifically includes the following steps: Step 1: Transport and adjust the real-time monitoring range extender based on the vehicle-mounted test platform according to the instructions of the superior command; Specifically, step 1 involves transporting the Beidou positioning device 4513 to a simulated battlefield environment according to the command instructions from the superior and the geographical coordinates displayed by the device. The device is then configured in the battlefield environment according to an approximately equilateral triangle arrangement based on the effective monitoring distance. The azimuth turntable 41 and elevation turntable 43 of the real-time monitoring device I4 are adjusted to ensure that the target 7 is located in the center of the field of view. Step 2: When the real-time monitoring of missiles and various flying targets begins, the long-wave infrared camera 44 and the visible light polarization camera 456 and mid-wave infrared camera 457 of the main optical detection device 45 perform target imaging. Step 3: The target tracking and processing subsystem 458 of the main optical detection device 45 first receives the visible light polarization image acquired by the visible light polarization camera 456 and performs image processing. It uses the four-frame difference method to track the motion trajectory of the target 7 under test. Then, it outputs the miss distance information to the servo control subsystem 4512. Finally, it outputs the visible light polarization image to the image processing system 459. Step 4: The image processing system 459 of the main optical detection device 45 performs Stokes vector decomposition on the visible light polarization image and calculates the polarization degree image. It then outputs the target tracking processed image, the polarization degree image processed by the image processing system 459, the long-wave infrared image acquired by the long-wave infrared camera 44, the visible light polarization image acquired by the visible light polarization camera 456, and the mid-wave infrared image acquired by the mid-wave infrared camera 457 to the image recording system 4510. The image recording system 4510 synchronously records the recorded image, the corresponding timestamp, and additional information. Step 5: The servo control subsystem 4512 adjusts the azimuth turntable 41 and pitch turntable 43 of the real-time monitoring device I4 according to the miss distance information output by the target tracking processing subsystem 458 to ensure that the target 7 under test is located in the center of the field of view. Through the closed-loop control of the servo control subsystem 4512 and the target tracking processing subsystem 458, the target 7 under test is stably tracked. Step 6: The spatial position and flight trajectory of the target 7 are continuously determined by the real-time monitoring device I4 and the Beidou positioning device 4513. When the target 7 is within the monitoring range of the real-time monitoring device II5 or the real-time monitoring device III6 during flight, the real-time monitoring device I4 and the real-time monitoring device II5 or the real-time monitoring device III6 jointly monitor the target. If the target 7 flies out of the monitoring range of the real-time monitoring device I4, the real-time monitoring device II5 or the real-time monitoring device III6 takes over the monitoring, so as to ensure that the target 7 is monitored by at least one real-time monitoring device.

[0033] Furthermore, step 3 includes the following steps: Step 3.1: The visible light polarization continuous image of the target 7 under test is captured by the visible light polarization camera 456. Each visible light polarization image in the continuous visible light polarization image is a polarization mosaic image with 2*2 pixels. The internal structure of the visible light polarization camera 456 is to place the pixel polarizer array directly between the chip photosensitive surface and the microlens array. The angles corresponding to the pixel polarizer array are 0°, 45°, 90° and 135°. The pixels corresponding to each pixel polarizer array angle are extracted and the polarization mosaic image is recombined into images with four different polarization angles of 0°, 45°, 90° and 135°. The visible light polarization continuous image of the target 7 under test captured by the visible light polarization camera 456 is decomposed into a continuous image sequence with four different polarization angles of 0°, 45°, 90° and 135°. Step 3.2: Based on the continuous image sequences of four different polarization angles (0°, 45°, 90°, and 135°) decomposed from the visible light polarization continuous image, the motion trajectory of the target 7 is tracked using the four-frame difference method. Then, the four sets of target-tracked images are subjected to a "logical AND" operation to finally obtain the target-tracked image. Step 3.3: After the target tracking processing subsystem 458 finds the target, it calculates its "position point" in the image. The most effective method is to calculate the centroid of the target 7 and output the miss distance information to the servo control subsystem 4512. Step 3.4: The target tracking processing subsystem 458 outputs the target tracking processed image to the image processing system 459.

[0034] Furthermore, step 3.2 specifically involves, Step 3.2.1: First, the continuous image sequence with 0° polarization is processed by frame extraction. Four consecutive frames are recorded as follows: , , and The process involves performing pairwise inter-frame difference calculations and converting the images into binary images based on a set threshold. Then, a logical AND operation is performed on the pairwise differencing images to obtain the contour of the target 7 and determine the foreground region in the image. The specific calculation process is as follows: (1) (2) (3) (4) (5) (6) like The target is the foreground point; if The target is the background point. Here, Z is a fixed binarization threshold. and All are dynamic thresholds. This reflects the lighting conditions in the image sequence; when the lighting changes significantly, the dynamic threshold... This will significantly increase, effectively suppressing the impact of changes in lighting on the image; while when the ambient lighting in the image changes little, the dynamic threshold... It will be a very small value again; The suppression coefficient is set to 2 in this invention; M×N represents the size of each image; The image processed by the four-frame difference algorithm of the 0° polarization continuous image sequence is denoted as... ; Step 3.2.2: Repeat step 3.2.1 for the polarization continuous image sequences corresponding to 45°, 90°, and 135°, resulting in three sets of images processed by the four-frame difference algorithm, denoted as follows: , and ; Step 3.2.3: Perform a logical AND operation on the images processed by the four-frame difference algorithm at 0°, 45°, 90°, and 135°. The calculation formula is as follows: (7) in, L The final image obtained after target tracking processing.

[0035] Furthermore, the formula for calculating the centroid of the target 7 in step 3.3 is as follows: (8) in, The centroid coordinates of all bright pixels within the region; These are pixel coordinates; It is the grayscale value of that pixel; The formula for calculating the miss distance is: (9) in, and The center point of the image.

[0036] Furthermore, step 4 specifically involves the image processing system 459 performing Stokes vector decomposition on the visible light polarization image and calculating the degree of polarization image. The formula for calculating the degree of polarization is: (10) in, DOP This is a polarization degree image; This is a 0° polarization image; This is a 45° polarized image; This is a 90° polarized image; This is a 135° polarized image.

[0037] Furthermore, the target tracking image, the polarization image processed by the image processing system 459, the long-wave infrared image acquired by the long-wave infrared camera 44, the visible light polarization image acquired by the visible light polarization camera 456, and the mid-wave infrared image acquired by the mid-wave infrared camera 457 are output to the image recording system 4510 for image recording and storage.

[0038] Furthermore, step 5 specifically involves the servo control subsystem 4512 receiving the miss distance information output by the target tracking and processing subsystem 458, and then adjusting the azimuth turntable 41 and pitch turntable 43 of the real-time monitoring device I4 in real time according to the miss distance information to ensure that the missile and various flying targets are always located in the center of the field of view. Finally, the servo control subsystem 4512 and the target tracking and processing subsystem 458 form a stable closed-loop feedback control to achieve continuous and stable tracking of the missile and various flying targets.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended 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 modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do 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, and should all be included within the protection scope of the present invention.

Claims

1. A live monitoring range extending device based on a vehicle-mounted test platform, characterized in that, The live monitoring range-increasing device comprises a vehicle I (1), a vehicle II (2), a vehicle III (3), a live monitoring device I (4), a live monitoring device II (5) and a live monitoring device III (6); The vehicle I (1), the vehicle II (2) and the vehicle III (3) are used for loading the live monitoring device I (4), the live monitoring device II (5) and the live monitoring device III (6) and carrying them to a simulated battlefield environment, and are configured in the battlefield environment according to an equilateral triangle arrangement mode according to an effective monitoring distance, and are used for test identification and training evaluation of a to-be-tested target (7); The live monitoring device I (4), the live monitoring device II (5) and the live monitoring device III (6) are completely consistent in function and configuration, form a full-range monitoring of the battlefield, and synchronously record recorded images, corresponding time stamps and additional information; The to-be-tested target (7) is used for representing a missile and various flight targets which need to be live monitored.

2. The live monitoring range extension apparatus of claim 1, wherein, The vehicle I (1) comprises a driver cabin (11), a command operation cabin (12) and a vehicle-mounted fixing and leveling support (13); The driver cabin (11) is used for mobile movement of the vehicle-mounted test platform, and the vehicle is driven to a predetermined position according to a real-time position coordinate displayed by a Beidou positioning device (4513) and according to a command requirement; The command operation cabin (12) is used for issuing a command, and the command operation cabin (12) controls each device in the control system through a main control system (4511); The vehicle-mounted fixing and leveling support (13) is used for fixing and leveling the vehicle-mounted test platform; The live monitoring device I (4) comprises an azimuth angle turntable (41), an imaging end fixing frame (42), a pitch turntable (43), a long-wave infrared camera (44) and a main optical detection device (45); The azimuth angle turntable (41) is used for adjusting an azimuth angle of the live monitoring device I (4) to ensure that the to-be-tested target (7) is located in a field center; The imaging end fixing frame (42) is used for fixing the live monitoring device I (4); The pitch turntable (43) is used for adjusting a pitch angle of the live monitoring device I (4) to ensure that the to-be-tested target (7) is located in the field center; The long-wave infrared camera (44) is used for thermal identification of a target in darkness or a complex environment, and undertakes all-weather monitoring and early warning tasks.

3. The live monitoring range extension apparatus of claim 2, wherein, The main optical detection device (45) comprises a main optical window (451), a mirror group (452), a slit (453), a collimating mirror group (454), a light splitting prism (455), a visible light polarization camera (456), a medium-wave infrared camera (457), a target tracking processing subsystem (458), an image processing system (459), an image recording system (4510), a main control system (4511), a servo control subsystem (4512) and a Beidou positioning device (4513); The mirror group (452), the slit (453), and the collimating mirror group (454) acquire the reflected light signal of the target (7) to be measured through the main optical window (451) and transmit the light signal to the light splitting prism (455), which evenly distributes the light signal to the visible light polarization camera (456) and the medium wave infrared camera (457) through the light splitting prism (455) for visible light polarization imaging and medium wave infrared imaging, respectively; the obtained visible light polarization image is transmitted to the target tracking processing subsystem (458) for image processing to track the motion trajectory of the target (7) to be measured; and the processed image is transmitted to the image processing system (459); The target tracking processing subsystem (458) also receives the control of the main control system (4511) through the servo control subsystem (4512), and the main control system (4511) also controls the image processing system (459) and the Beidou positioning device (4513); The image processing system (459) and the medium wave infrared camera (457) respectively store the processed image and the medium wave infrared image output into the image recording system (4510), and the image recording system (4510) also stores the long wave infrared image of the long wave infrared camera (44).

4. A method for live monitoring of an on-board test platform based on range extension, characterized in that, The range increasing method uses the live monitoring range increasing device based on the vehicle-mounted test platform according to any one of claims 1-3, and specifically includes the following steps: Step 1: according to the upper command instruction, the live monitoring range increasing device based on the vehicle-mounted test platform is transported and adjusted; Step 2: when the live monitoring of the missile and various flight targets starts, the long wave infrared camera (44) and the visible light polarization camera (456) and the medium wave infrared camera (457) of the main optical detection device (45) perform target imaging; Step 3: the target tracking processing subsystem (458) of the main optical detection device (45) first receives the visible light polarization image collected by the visible light polarization camera (456) for image processing, tracks the motion trajectory of the target (7) to be measured by using the four-frame difference method, secondly outputs the miss distance information to the servo control subsystem (4512), and finally outputs the visible light polarization image to the image processing system (459); Step 4: the image processing system (459) of the main optical detection device (45) performs Stokes vector decomposition on the visible light polarization image and calculates the degree of polarization image, further outputs the target tracking processed image, the degree of polarization image processed by the image processing system (459), the long wave infrared image collected by the long wave infrared camera (44), the visible light polarization image collected by the visible light polarization camera (456), and the medium wave infrared image collected by the medium wave infrared camera (457) to the image recording system (4510), and the image recording system (4510) synchronously records the recorded image, the corresponding time stamp, and additional information. Step 5: The servo control subsystem (4512) adjusts the azimuth turntable (41) and the elevation turntable (43) of the live monitoring device I (4) according to the miss distance information output by the target tracking processing subsystem (458) to ensure that the target to be measured (7) is located at the center of the field of view. Through the closed-loop control of the servo control subsystem (4512) and the target tracking processing subsystem (458), the target to be measured (7) is stably tracked. Step 6: The spatial position and flight trajectory of the target to be measured (7) are continuously judged by the live monitoring device I (4) and the Beidou positioning device (4513). When the target to be measured (7) is in the monitoring range of the live monitoring device II (5) or the live monitoring device III (6) during flight, the target is monitored by the live monitoring device I (4) and the live monitoring device II (5) or the live monitoring device III (6) together. If the target to be measured (7) flies out of the monitoring range of the live monitoring device I (4), the live monitoring device II (5) or the live monitoring device III (6) takes over the monitoring, so as to ensure that the target to be measured (7) is monitored by at least one live monitoring device.

5. The live monitoring range extension method of claim 4, wherein, The step 3 includes the following steps: Step 3.1: Visible light polarization continuous images of the target to be measured (7) are captured by the visible light polarization camera (456), wherein each visible light polarization image in the visible light polarization continuous images is a polarization mosaic image arranged in 2*2 pixels. The internal structure of the visible light polarization camera (456) is that a pixel polarization plate array is directly placed between the chip photosensitive surface and the microlens array, wherein the angles corresponding to the pixel polarization plate array are 0°, 45°, 90° and 135° respectively. The polarization mosaic image is recombined into images of four different polarization angles of 0°, 45°, 90° and 135° by extracting pixels corresponding to each pixel polarization plate array angle. The visible light polarization continuous images of the target to be measured (7) captured by the visible light polarization camera (456) are decomposed into continuous image sequences of four different polarization angles of 0°, 45°, 90° and 135°; Step 3.2: According to the continuous image sequences of four different polarization angles of 0°, 45°, 90° and 135° decomposed from the visible light polarization continuous images, the motion trajectory of the target to be measured (7) is tracked by using four-frame difference method, and then the four groups of images processed by target tracking are subjected to "logical and" operation to finally obtain the image processed by target tracking; Step 3.3: After the target tracking processing subsystem (458) finds the target, the "position point" of the target in the image is calculated, and the most effective method is to calculate the centroid of the target to be measured (7), and output the miss distance information to the servo control subsystem (4512); Step 3.4: The image processed by target tracking is output to the image processing system (459) by the target tracking processing subsystem (458).

6. The live monitoring range extension method of claim 5, wherein, The step 3.2 is specifically, Step 3.2.1: Firstly, the 0° polarization continuous image sequence is frame extracted, and the four continuous images are recorded as , , and , the difference between two frames is calculated, and the binary image is obtained according to the set threshold, then the images after two-frame difference are operated by "logical and" operation, and the outline of the target (7) to be measured is obtained, and the foreground area in the image is determined. The specific calculation process is as follows: （1） （2） （3） （4） （5） （6） If , the target is a foreground point; if , the target is a background point. where Z is a fixed binary threshold, and are dynamic thresholds, reflecting the illumination condition in the image sequence, when the illumination changes significantly, the dynamic thresholds will increase significantly, is a suppression factor; M x N represents the size of each image. The image after processing the four-frame difference algorithm of the 0° polarization continuous image sequence is denoted as ; Step 3.2.2: Repeat the operation of step 3.2.1 for the polarized continuous image sequences corresponding to 45°, 90° and 135°, respectively, to obtain 3 sets of four images processed by the four-frame difference algorithm, denoted as , and , respectively. Step 3.2.3: The images processed by the four-frame difference algorithm of 0°, 45°, 90° and 135° are subjected to "logical and" calculation, and the calculation formula is: （7） wherein, L is the resulting target tracking-processed image.

7. The live monitoring range extension method of claim 6, wherein, The target (7) centroid calculation formula of step 3.3 is: （8） wherein, is the centroid coordinate of all bright pixels in the region; is the pixel coordinate; is the gray value of the pixel; The off-target amount calculation formula is: （9） wherein and is the center point of the image.

8. The live monitoring range extension method of claim 7, wherein, The step 4 is specifically that the image processing system (459) performs Stokes vector decomposition on the visible light polarization image and calculates a polarization degree image, and the polarization degree calculation formula is: （10） wherein DOP is a polarization degree image; is a 0° polarization image; is a 45° polarization image; is a 90° polarization image; is a 135° polarization image.

9. The live monitoring range extension method of claim 8, wherein, The target tracking processed image, the polarization degree image processed by the image processing system (459), the long-wave infrared image collected by the long-wave infrared camera (44), the visible light polarization image collected by the visible light polarization camera (456), and the medium-wave infrared image collected by the medium-wave infrared camera (457) are output to the image recording system (4510) for image recording and saving.

10. The live monitoring range extension method of claim 4, wherein, The step 5 is specifically that the servo control subsystem (4512) receives the off-target amount information output by the target tracking processing subsystem (458), then adjusts the azimuth angle turntable (41) and the elevation turntable (43) of the live monitoring device I (4) in real time according to the off-target amount information to ensure that the missile and various flight targets are always located at the center of the field of view, and finally the servo control subsystem (4512) and the target tracking processing subsystem (458) form a stable closed-loop feedback control to realize continuous and stable tracking of the missile and various flight targets.

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