Live monitoring of range extending device and method for extending range based on vehicle test platform

Abstract

The application discloses a live monitoring range increasing device based on a vehicle-mounted test platform and a range increasing method thereof, and belongs to the field of target live monitoring. Three vehicles are respectively loaded with live monitoring devices, which are arranged in an equilateral triangle according to effective monitoring distances in a battlefield environment. The direction of the live monitoring device is adjusted by a servo control subsystem to ensure that a target to be measured is located at the center of the field of view of the live monitoring device. A target tracking processing subsystem processes visible light polarization image sequences by using a four-frame difference method, and outputs the processed images to an image processing system. The visible light polarization images are decomposed by using Stokes vectors, and a polarization degree image is calculated. The images after target tracking processing, the polarization degree image, a long-wave infrared image, a visible light polarization image and a medium-wave infrared image are saved. Finally, a closed-loop control is formed by the servo control subsystem and the target tracking processing subsystem according to output miss distance information, so that stable tracking of the target to be measured is realized.

Description

Technical Field

[0001] This invention belongs to the field of target real-time monitoring technology, specifically relating to a real-time monitoring range extender based on an on-board test platform and its range extender method. Background Technology

[0002] Currently, the testing, evaluation, and training of missiles and various flight targets are severely limited by the insufficient field-of-view coverage of existing live-fire monitoring devices. This shortcoming often causes targets to leave the monitoring range during mid-to-long-range phases of flight, resulting in the loss of critical data such as mid-course trajectory adjustments, terminal guidance processes, and even the final damage effects, creating significant monitoring blind spots. Therefore, researching effective live-fire monitoring range extension technologies aims to achieve seamless, high-precision visual coverage throughout the entire flight path from launch to impact. This plays an indispensable and crucial role in acquiring complete test data, accurately evaluating weapon system performance, improving the survivability and adaptability of vehicle-mounted platforms in complex battlefield environments, and even supporting the development of future long-range precision strike weapons. Therefore, the development of live-fire monitoring range extension devices for vehicle-mounted test platforms has significant practical implications.

[0003] Currently, real-time monitoring of flying targets mainly relies on methods such as optical imaging, radar tracking, and multi-station relay. Optical imaging is intuitive, but its effective range is limited by atmospheric scattering; radar, while having a long effective range, lacks visual detail, making it difficult to meet the needs of fine analysis; multi-station relay faces problems such as system complexity, coordination difficulties, high costs, and the risk of data loss during inter-station handover. None of these existing methods have fundamentally solved the contradiction between the monitoring field of view and the effective range. The core challenge lies in the lack of an efficient, flexible, and reliable means of extending the range of real-time monitoring to support continuous and stable tracking of high-speed, long-range targets and the acquisition of high-quality real-time data. Summary of the Invention

[0004] This invention provides a real-time monitoring range extender and its range extender method based on an on-board test platform, in order to solve the problem of the lack of an on-board test platform in the prior art that can realize real-time monitoring range extender.

[0005] This invention is achieved through the following technical solution:

[0006] A real-time monitoring range extender based on an on-board test platform, the real-time monitoring range extender comprising vehicle I1, vehicle II2, vehicle III3, real-time monitoring device I4, real-time monitoring device II5, and real-time monitoring device III6;

[0007] The carrier vehicles I1, II2, and III3 are used to load the 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 equilateral triangle arrangement for the test identification and training evaluation of the target 7.

[0008] 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.

[0009] 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.

[0010] 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;

[0011] 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.

[0012] 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.

[0013] The vehicle-mounted fixing and leveling bracket 13 is used for fixing and leveling the vehicle-mounted test platform;

[0014] 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.

[0015] 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.

[0016] The imaging end mounting bracket 42 is used to fix the real-time monitoring device I4;

[0017] 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;

[0018] 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.

[0019] 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;

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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:

[0024] 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;

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Furthermore, step 3 includes the following steps:

[0031] 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°.

[0032] 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.

[0033] 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.

[0034] Step 3.4: The target tracking processing subsystem 458 outputs the target tracking processed image to the image processing system 459.

[0035] Furthermore, step 3.2 specifically involves,

[0036] Step 3.2.1: First, the continuous image sequence with 0° polarization is processed by frame extraction. Four consecutive frames are denoted as... , , 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:

[0037] (1)

[0038] (2)

[0039] (3)

[0040] (4)

[0041] (5)

[0042] (6)

[0043] 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.

[0044] The image processed by the four-frame difference algorithm of the 0° polarization continuous image sequence is denoted as... ;

[0045] 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 ;

[0046] 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:

[0047] (7)

[0048] in, L The final image obtained after target tracking processing.

[0049] Furthermore, the formula for calculating the centroid of the target 7 in step 3.3 is as follows:

[0050] (8)

[0051] in, The centroid coordinates of all bright pixels within the region; These are pixel coordinates; It is the grayscale value of that pixel;

[0052] The formula for calculating the miss distance is:

[0053] (9)

[0054] in, and The center point of the image.

[0055] 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:

[0056] (10)

[0057] 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.

[0058] 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.

[0059] 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.

[0060] The beneficial effects of this invention are:

[0061] This invention aims to improve the real-time monitoring capabilities of missiles and various types of flying targets.

[0062] 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

[0063] Figure 1 This is a schematic diagram illustrating the real-time range extension monitoring achieved by the device of the present invention.

[0064] Figure 2 This is a schematic diagram of the vehicle-mounted testing platform of the present invention.

[0065] Figure 3 This is a schematic diagram of the real-time monitoring device of the present invention.

[0066] Figure 4 This is a schematic diagram of the main optical detection device of the present invention.

[0067] 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

[0068] 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.

[0069] 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 a collection thereof.

[0070] 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.

[0071] The following is in conjunction with the appendix to this application specification. Figure 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.

[0072] 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.

[0073] Implementation Method 1

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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;

[0079] 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.

[0080] 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.

[0081] The vehicle-mounted fixing and leveling bracket 13 is used for fixing and leveling the vehicle-mounted test platform;

[0082] 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.

[0083] 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.

[0084] The imaging end mounting bracket 42 is used to fix the real-time monitoring device I4;

[0085] 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;

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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;

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] Implementation Method 2

[0098] 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.

[0099] 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:

[0100] 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;

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] Furthermore, step 3 includes the following steps:

[0108] 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°.

[0109] 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.

[0110] 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.

[0111] Step 3.4: The target tracking processing subsystem 458 outputs the target tracking processed image to the image processing system 459.

[0112] Furthermore, step 3.2 specifically involves,

[0113] Step 3.2.1: First, the continuous image sequence with 0° polarization is processed by frame extraction. Four consecutive frames are denoted as... , , 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:

[0114] (1)

[0115] (2)

[0116] (3)

[0117] (4)

[0118] (5)

[0119] (6)

[0120] 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;

[0121] The image processed by the four-frame difference algorithm of the 0° polarization continuous image sequence is denoted as... ;

[0122] 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 ;

[0123] 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:

[0124] (7)

[0125] in, L The final image obtained after target tracking processing.

[0126] Furthermore, the formula for calculating the centroid of the target 7 in step 3.3 is as follows:

[0127] (8)

[0128] in, The centroid coordinates of all bright pixels within the region; These are pixel coordinates; It is the grayscale value of that pixel;

[0129] The formula for calculating the miss distance is:

[0130] (9)

[0131] in, and The center point of the image.

[0132] 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:

[0133] (10)

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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 real-time monitoring method for range extension based on an on-board test platform, characterized in that, 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; Step 2: At the start of real-time monitoring of missiles and various flight targets, 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 collected 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 3 includes the following steps: Step 3.1: Take a continuous visible light polarization image of the target (7) under test by a visible light polarization camera (456). The single 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° respectively. Extract the pixels corresponding to each pixel polarizer array angle and recombine the polarization mosaic image into images with four different polarization angles of 0°, 45°, 90° and 135°. Decompose the continuous visible light polarization image of the target (7) under test taken by the visible light polarization camera (456) 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 3.2 specifically involves, Step 3.2.1: First, the continuous image sequence with 0° polarization is processed by frame extraction. Four consecutive frames are denoted as... , , and Perform pairwise inter-frame difference calculations and convert them into binary images according to the set threshold. Then, perform a logical AND operation on the pairwise differenced images to obtain the outline 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; where 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; 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 further outputs the target tracking 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 I (4) according to the miss amount information output by the target tracking processing subsystem (458) to ensure that the target (7) to be measured 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) to be measured is stably tracked. Step 6: The spatial position and flight trajectory of the target (7) are continuously determined by the real-time monitoring device I (4) and the Beidou positioning device (4513). When the target (7) is within the monitoring range of the real-time monitoring device II (5) or the real-time monitoring device III (6) during flight, the real-time monitoring device I (4) and the real-time monitoring device II (5) or the real-time monitoring device III (6) will jointly monitor the target. If the target (7) flies out of the monitoring range of the real-time monitoring device I (4), the real-time monitoring device II (5) or the real-time monitoring device III (6) will take over the monitoring, so as to ensure that the target (7) is monitored by at least one real-time monitoring device.

2. The real-time monitoring range extension method according to claim 1, characterized in that, Step 3 also includes the following steps: 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).

3. The real-time monitoring range extension method according to claim 2, characterized in that, 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.

4. The real-time monitoring range extension method according to claim 3, characterized in that, 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.

5. The real-time monitoring range extension method according to claim 4, characterized in that, 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 polarization image acquired by the visible 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.

6. The real-time monitoring range extension method according to claim 1, characterized in that, Specifically, step 5 involves the servo control subsystem (4512) receiving the miss 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 I (4) in real time according to the miss information to ensure that the missile and various flying targets are always 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.

7. The real-time monitoring range extension method according to claim 1, characterized in that, The devices used in the real-time monitoring range extension method include vehicle I (1), vehicle II (2), vehicle III (3), real-time monitoring device I (4), real-time monitoring device II (5), and real-time monitoring device III (6). The vehicle I (1), vehicle II (2) and vehicle III (3) are used to load the real-time monitoring device I (4), the real-time monitoring device II (5) and the real-time monitoring device III (6) and transport them to the simulated battlefield environment. They are configured in the battlefield environment according to the effective monitoring distance in the form of an equilateral triangle and are used for the test identification and training evaluation of the target to be tested (7). The real-time monitoring devices I (4), II (5), and III (6) have completely identical functions and configurations, forming a comprehensive monitoring of the battlefield and synchronously recording 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.

8. The real-time monitoring range extender according to claim 7, characterized in that, The vehicle I (1) includes a driver's cab (11), a command and operation 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 I (4) 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 I (4) 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 I (4); The pitch turntable (43) is used to adjust the pitch angle of the real-time monitoring device I (4) 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, and undertakes all-weather monitoring and early warning tasks.

9. The real-time monitoring range extender according to claim 8, characterized in that, 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 (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 mirror 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 processing subsystem (458) is also controlled by 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 mid-wave infrared camera (457) respectively output the processed image and mid-wave infrared image 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).

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