Vehicle-mounted photoelectric searching-tracking double-mast cooperative work system and method

Abstract

The embodiment of the invention provides a vehicle-mounted photoelectric searching-tracking double-mast cooperative work system and method, and the system comprises a searching mast which is provided with a wide-view-field photoelectric load at the top so as to execute target searching; the top of the tracking mast is provided with a stable holder with a high magnification and a narrow view field so as to execute target tracking; the sensor unit is used for collecting the postures of the masts; the geometric transformation unit is used for calculating a cross-mast replacement angle; the vibration compensation unit is used for buffeting estimation and pan-tilt compensation; and the central controller is used for detecting and tracking a target, calculating a pre-aiming angle of the tracking mast and controlling the tracking mast to capture and continuously track the target based on the target information detected by the searching mast and the attitude and baseline information of the two masts. According to the embodiment of the invention, through multi-sensor fusion, a cross-mast replacement strategy based on mast geometry, and real-time buffeting estimation and holder compensation, seamless replacement of searched tracking and high-precision continuous tracking under a vehicle dynamic disturbance condition are realized.

Description

Technical Field

[0001] This invention relates to the field of technology, and in particular to a vehicle-mounted photoelectric search-tracking dual-mast collaborative working system and method. Background Technology

[0002] In modern battlefield reconnaissance, border patrol, and security patrol missions, vehicle-mounted optoelectronic platforms are required to quickly detect long-range or high-speed targets and then achieve high-precision continuous tracking. When performing both "long-range detection and high-precision tracking" tasks, a single mast or gimbal often faces trade-offs in terms of field of view, stiffness, image stabilization capability, and lifespan / power consumption. Furthermore, vehicle movement, wind load, and mast resonance can reduce angle measurement accuracy, leading to target loss or false locking. While existing publicly available technologies include various vehicle-mounted masts, image-stabilized gimbals, and attitude compensation methods, there are few publicly available solutions specifically addressing the functional separation (search and tracking) of dual masts and proposing a complete cross-mast handover process, or providing jitter compensation and real-time sensor fusion control based on mast dynamic models. This limits the system's detection-handover-continuous tracking performance on complex mobile platforms.

[0003] Therefore, it is necessary to provide a new vehicle-mounted optoelectronic system to improve detection efficiency and tracking robustness while reducing the high requirements for mast structural stiffness. Summary of the Invention

[0004] In view of the above-mentioned problems in the prior art, the present invention provides a vehicle-mounted photoelectric search-tracking dual-mast collaborative working system and method to solve the technical problems of low detection efficiency, insufficient tracking robustness, and high requirements for mast structural rigidity in the prior art.

[0005] This invention provides a vehicle-mounted photoelectric search-tracking dual-mast cooperative system, comprising:

[0006] The search mast is mounted on a vehicle and has a wide field-of-view electro-optical payload installed on top to perform target search.

[0007] The tracking mast is mounted on a vehicle and has a high-magnification, narrow-field-of-view stabilized gimbal mounted on top to perform target tracking.

[0008] The sensor unit is used to collect attitude information of each mast and vehicle;

[0009] The geometric transformation unit is used to perform coordinate system transformation operations based on the installation baseline vectors of the two masts and the real-time attitude matrix;

[0010] The vibration compensation unit is used to process sensor data and generate image stabilization compensation commands;

[0011] The central controller is used for target detection and tracking. Based on the target information detected by the search mast and the attitude and baseline information of the two masts, the central controller calculates the pre-aiming angle of the tracking mast and issues a control command when the handover conditions are met, controlling the tracking mast to capture and continuously track the target.

[0012] In one embodiment, a composite vibration damping device is provided at the base of the search mast and the tracking mast. The composite vibration damping device includes a passive damping element and an active torque compensation element for reducing the impact of mast vibration on the angle measurement accuracy of the gimbal.

[0013] In one embodiment, it also includes,

[0014] Differential torsion sensor is used to measure the relative torsional error between the search mast and the tracking mast caused by changes in vehicle attitude;

[0015] A differential torsion compensation mechanism, located between the two mast bases, is used to suppress relative torsional errors caused by changes in vehicle attitude.

[0016] In one embodiment, the central controller uses an extended Kalman filter, a weighted EKF, or a particle filter to perform multi-sensor fusion estimation of the target angle and mast attitude.

[0017] In one embodiment, the central controller includes two control methods: a predictive-memory slow path and a detection-association fast path. The predictive-memory slow path is used to maintain servo pointing under low confidence, high smoke, and low visibility conditions, and the detection-association fast path is switched when the detection confidence recovers.

[0018] In one embodiment, the photoelectric load is a visible / near-infrared composite camera.

[0019] In one embodiment, the stabilizing gimbal is an infrared / visible zoom gimbal.

[0020] In one embodiment, the central controller, photoelectric load, stabilized gimbal, sensor unit, geometric transformation unit, and vibration compensation unit perform frame alignment and data interaction via a time synchronization bus.

[0021] In one embodiment, the system has a redundancy and degradation operating mode, in which the search mast takes over basic detection and reports to the remote operation station when a critical sensor of the tracking mast or sensor unit fails.

[0022] In addition, embodiments of the present invention also provide a vehicle-mounted photoelectric search-tracking dual-mast cooperative working method, implemented based on the vehicle-mounted photoelectric search-tracking dual-mast cooperative working system as described in any embodiment of the present invention, including the following steps:

[0023] Step S1: The search mast acquires images and detects target candidates within a wide field of view according to a preset or adaptive strategy;

[0024] Step S2: Calculate the confidence level and trajectory predictability of the detected target candidates;

[0025] Step S3: When the target candidate meets the preset replacement threshold, the geometric transformation unit calculates the pre-aiming angle of the tracking mast based on the baseline geometry and attitude information of the two masts and issues a pre-aiming command.

[0026] Step S4: Track the mast to capture the target and establish closed-loop tracking. During the switching process, the central controller compensates for angle error and timestamp to ensure the continuity of angle measurement.

[0027] Step S5: During the tracking process, based on the feedback from the sensor unit and the stabilizing gimbal, the vibration compensation unit estimates the vibration of the tracking mast and performs feedforward or feedback compensation on the stabilizing gimbal commands.

[0028] Compared with the prior art, the beneficial effects of the vehicle-mounted photoelectric search-tracking dual-mast cooperative working system and method provided by the embodiments of the present invention are as follows:

[0029] 1. The embodiments of the present invention employ two liftable masts with clearly defined functions and corresponding control, compensation and replacement strategies, which improves the success rate of discovery-replacement-continuous tracking and reduces the probability of loss and false locking;

[0030] 2. The embodiments of the present invention reduce the reliance on the high rigidity of a single mast and the complex image stabilization mechanism through a clearly defined dual-mast design, thereby reducing costs and energy consumption;

[0031] 3. The embodiments of the present invention realize online compensation for vehicle dynamic disturbances (vehicle body sway, crosswind, etc.), and improve the accuracy of angle measurement;

[0032] 4. The system of the present invention has good engineering feasibility, and the sensor and compensation strategy can be selected according to the task requirements. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a vehicle-mounted photoelectric search-tracking dual-mast cooperative working system provided in an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the search mast, its optical load, and drive system provided in this embodiment of the invention for a vehicle-mounted photoelectric search-tracking dual-mast cooperative working system;

[0035] Figure 3 A schematic diagram of the tracking mast and high-magnification stabilizing gimbal involved in a vehicle-mounted photoelectric search-tracking dual-mast collaborative working system provided in an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of the mast base differential torsion compensation mechanism and composite vibration reduction device involved in a vehicle-mounted photoelectric search-tracking dual-mast collaborative working system provided in an embodiment of the present invention;

[0037] Figure 5 The timing diagram and data flow diagram of the search-relay-tracking process involved in the vehicle-mounted photoelectric search-tracking dual-mast collaborative working system provided in the embodiments of the present invention;

[0038] Figure 6 A flowchart illustrating the jitter estimation and gimbal compensation process of a vehicle-mounted photoelectric search-tracking dual-mast collaborative working system provided in an embodiment of the present invention;

[0039] Figure 7 A flowchart illustrating the redundancy and degradation process of a vehicle-mounted photoelectric search-tracking dual-mast collaborative working system provided in an embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Various embodiments and features of this application are described herein with reference to the accompanying drawings.

[0042] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0043] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0044] The above and other aspects, features and advantages of this application will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0045] Specific embodiments of this application are described below with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this application, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to ascertain the true intent based on the user's historical operations, and to avoid unnecessary or redundant details that would obscure this application. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as the basis and representative basis for the claims to teach those skilled in the art to use this application in various ways with substantially any suitable detailed structure.

[0046] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in other embodiments,” all of which may refer to one or more of the same or different embodiments according to this application.

[0047] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments described are for illustrative purposes only and are not intended to limit the scope of the invention. The following description, in conjunction with... Figure 1-7 The preferred embodiments of the present invention will be described in further detail below:

[0048] This invention relates to the field of vehicle-mounted optoelectronic detection and target tracking technology, specifically to an optoelectronic system and its collaborative control method for two liftable masts installed on a vehicle. One mast is used for target search (wide field of view, low resolution), and the other is used for target tracking (narrow field of view, high resolution). The system also provides mast dynamic compensation, cross-mast handover strategy, multi-sensor fusion, and vibration resistance measures.

[0049] like Figure 1-7 As shown, this embodiment of the invention provides a vehicle-mounted photoelectric search-tracking dual-mast cooperative working system, comprising:

[0050] The search mast is mounted on a vehicle and has a wide field-of-view electro-optical payload installed on top to perform target search.

[0051] The tracking mast is mounted on a vehicle and has a high-magnification, narrow-field-of-view stabilized gimbal mounted on top to perform target tracking.

[0052] The sensor unit is used to collect attitude information of each mast and vehicle, specifically including: a six-axis inertial measurement unit (IMU) installed on the mast base or top, used to measure angular velocity and linear acceleration, a high-precision angle encoder integrated on each joint axis of the stabilized gimbal (used to provide real-time feedback on the pitch and azimuth angles of the gimbal), and an on-board positioning module (such as GPS / RTK).

[0053] The geometric transformation unit is a computing module running in the central controller (OCU) used to perform coordinate system transformation calculations based on the installation baseline vectors of the two masts and the real-time attitude matrix.

[0054] The vibration compensation unit is a control algorithm module running in the central controller, used to process sensor data and generate image stabilization compensation commands;

[0055] The central controller is used for target detection and tracking. Based on the target information detected by the search mast and the attitude and baseline information of the two masts, the central controller calculates the pre-aiming angle of the tracking mast and issues a control command when the handover conditions are met, controlling the tracking mast to capture and continuously track the target.

[0056] Specifically,

[0057] 1. Structural Composition: The system includes a first lifting mast A (hereinafter referred to as the "search mast") and a second lifting mast B (hereinafter referred to as the "tracking mast") mounted on the vehicle. A wide-field-of-view photoelectric payload (visible / near-infrared composite camera, field of view approximately 30°–60°) is installed on the top of the search mast A for field scanning and target detection. A high-magnification stabilized gimbal (infrared / visible zoom gimbal, narrow field of view ≤5°, including laser rangefinder option) is installed on the top of the tracking mast B for high-precision angle measurement and continuous tracking. This stabilized gimbal is mounted on the top of the tracking mast via a flange interface. The gimbal integrates a high-precision two-axis or three-axis motor drive mechanism. Each mast base is equipped with an IMU (Inertial Measurement Unit, belonging to the sensor unit), an angle encoder (integrated on the joint axis of the top stabilized gimbal for precise measurement of the gimbal's azimuth and pitch angles), and a differential torsion sensor (used to determine the relative torsion angle between the two masts and, in conjunction with a differential torsion compensation mechanism, suppress relative torsion errors caused by changes in vehicle attitude).

[0058] 2. Mast vibration reduction and torsional compensation:

[0059] Composite vibration damping device (physical hardware): A passive + active composite vibration damping device is installed at the connection point between each mast base and the vehicle body. This device physically includes passive components (such as rubber damping pads and wire rope vibration dampers) for absorbing high-frequency vibrations and active actuators (such as torque motors or magnetic levitation actuators) for suppressing low-frequency large-amplitude swaying. This differs from a "vibration compensation unit," the former focusing on physical vibration isolation, while the latter focuses on algorithmic compensation at the signal level.

[0060] Differential Torsional Compensation: A differential torsion sensor and compensation mechanism are arranged between the two mast bases. The differential torsion sensor measures the relative torsional error (i.e., the non-parallelism of the coordinate systems of the two bases) caused by the elastic deformation of the vehicle frame due to driving on uneven road surfaces. Without compensation for this error, the target coordinates calculated by the search mast will deviate when projected onto the tracking mast coordinate system, leading to tracking mast pre-aiming failure (i.e., "missing the target"). The differential torsion compensation mechanism suppresses this error through mechanical adjustment or data correction based on the sensor data.

[0061] 3. Sensing and Synchronization: The system is equipped with an OCU (Optical Control Unit), which performs frame alignment and data exchange with the search camera (optical payload), tracking gimbal (stabilized gimbal), IMU, vehicle attitude sensor (sensor unit), GPS / RTK, and optional radar / sonar via a time synchronization bus (hardware trigger or PPS+PTP clock).

[0062] 4. Target detection and cross-mast handover strategy:

[0063] 1) Search mast A operates according to a preset or adaptive scanning strategy (grid / spiral / segmented) and detects targets in a wide field of view;

[0064] 2) When a target is detected and the takeover threshold is met (e.g., detection confidence ≥ T_detect, estimated angle accuracy ≤ θ_max, trajectory predictability threshold, etc.), the OCU calculates the pre-aiming angle of the tracking mast B based on the geometric baseline and attitude information of the two masts and issues a pre-aiming command.

[0065] 3) Tracking mast B enters capture mode. After the target enters its field of view and is captured by the gimbal, the OCU completes the control switch. During the switch, angle deviation compensation, timestamp alignment and confidence fusion are performed to avoid loss.

[0066] 5. Multi-sensor fusion and trajectory prediction: The OCU uses extended Kalman filter (EKF) or adaptive weighted filter (e.g., weighted EKF, IMM, particle filter PF) to fuse and estimate the target angle, velocity and mast attitude. During periods of temporary target obstruction or low confidence, motion model prediction is used to maintain pointing continuity (prediction recovery strategy). That is, the OCU uses a prediction-memory slow path to maintain servo pointing under low confidence or high smoke / low visibility conditions, and switches to the detection-association fast path when the detection confidence is restored.

[0067] 6. Boom estimation and gimbal compensation: Real-time identification of mast vibration spectrum, generation of compensation amount through frequency domain or time domain vibration estimation model, and injection into gimbal servo closed loop to improve angle measurement accuracy.

[0068] 7. Human-Machine Interface and Remote Link: This system includes a local display / control panel, recording and playback, and health monitoring modules, and supports command and video transmission to remote operation stations via data link.

[0069] 8. Safety and Degradation Strategy: When the tracking mast or a sensor fails, the system automatically switches to redundancy mode (e.g., only the search mast continues to scan the field and is taken over by ground / remote manual personnel) and records the fault diagnosis log.

[0070] This invention achieves a seamless transition between rapid wide-field-of-view target search and high-precision narrow-field-of-view target tracking through the coordinated design of mechanical structure, sensor arrangement, and control algorithm; it can maintain high availability and continuous tracking even under dynamic disturbances such as vehicle movement, wind load, and mast vibration; it reduces the system's dependence on the high rigidity and high power consumption of a single mast, and improves engineering feasibility and reliability.

[0071] In one embodiment, the OCU uses an extended Kalman filter (EKF), a weighted EKF, or a particle filter (PF) to perform multi-sensor fusion estimation of the target angle and mast attitude.

[0072] In one embodiment, the search mast performs a field scan according to a preset or adaptive scanning strategy, and the OCU determines whether to trigger cross-mast replacement based on detection confidence, estimated angle uncertainty, and trajectory predictability.

[0073] In one embodiment, the tracking mast gimbal further includes a laser rangefinder (LRF), and the OCU fuses distance information from the LRF during the handover and tracking process to improve the accuracy of target state estimation.

[0074] In addition, embodiments of the present invention also provide a vehicle-mounted photoelectric search-tracking dual-mast cooperative working method, implemented based on the vehicle-mounted photoelectric search-tracking dual-mast cooperative working system as described in any embodiment of the present invention, including the following steps:

[0075] Step S1: The search mast acquires images and detects target candidates within a wide field of view according to a preset or adaptive strategy;

[0076] Step S2: Calculate the confidence level and trajectory predictability of the detected target candidates;

[0077] Step S3: When the target candidate meets the preset replacement threshold, the geometry transformation unit calculates the pre-aiming angle of the tracking mast based on the baseline geometry and attitude information of the two masts and issues a pre-aiming command. The replacement threshold includes a detection confidence threshold, an estimated angle uncertainty threshold, and a trajectory smoothness threshold. The OCU implements a time synchronization mechanism (PPS / PTP) to ensure cross-mast data alignment and reduce replacement delay.

[0078] Step S4: Track the mast to capture the target and establish closed-loop tracking. During the switching process, the central controller compensates for angle error and timestamp to ensure the continuity of angle measurement.

[0079] Step S5: During the tracking process, based on the feedback from the sensor unit and the stabilizing gimbal, the vibration compensation unit estimates the vibration of the tracking mast and performs feedforward or feedback compensation on the stabilizing gimbal commands.

[0080] Feedforward compensation: Based on the base vibration signal (disturbance source) measured by IMU, the influence of the vibration on the optical axis is predicted by the inverse dynamics model. The reverse torque is directly applied to the gimbal motor to cancel the vibration before the error actually occurs. It is mainly used to suppress high-frequency rapid vibration.

[0081] Feedback compensation: Based on the actual pointing error (residual) from the angle encoder or image processing feedback, a closed-loop correction is performed by a PID controller, mainly used to eliminate low-frequency drift and steady-state error.

[0082] The system features redundancy and degradation modes. When the tracking mast or key sensors fail, the search mast takes over basic detection and reports to the remote operation station.

[0083] Example 1 (Basic Example)

[0084] System Overview:

[0085] • Two retractable masts are installed on the top of the vehicle: the search mast A extends to a height of H_A≈2.0m (extended state), and the tracking mast B extends to a height of H_B≈1.2m;

[0086] • Top load of search mast A: Visible / near-infrared composite camera (equivalent focal length f_short, horizontal field of view HFOV≈45°), with low-speed pitch and slewing drive for field scanning;

[0087] • Tracking mast B top load: High-magnification infrared gimbal with three-axis stabilization (zoom range ×10–×40, narrow field of view ≤5°), equipped with laser rangefinder (LRF) and encoder;

[0088] • Each mast base is equipped with a six-axis IMU (measuring angular velocity and linear acceleration) and an angle encoder; the OCU uses an embedded industrial computer (quad-core CPU + GPU), with runtime synchronization (PPS / PTP) and a data bus.

[0089] Workflow:

[0090] 1. Search mast A acquires continuous frames according to a preset grid scanning strategy, and the images are used to detect target candidates in real time within the OCU (lightweight detection network or traditional front-end algorithm);

[0091] 2. Confidence assessment, trajectory correlation, and estimation of far-field azimuth θs and elevation φs are performed on candidate targets;

[0092] 3. When the candidate meets the succession threshold (e.g., confidence level ≥ 0.7 and estimated angle error ≤ 0.5°), the OCU calculates the target's pre-aiming angle in the coordinate system of tracking mast B based on the baseline geometry of the two masts and their respective IMU outputs, and sends the pre-aiming command to tracking mast B;

[0093] 4. After receiving the instruction, tracking mast B enters high-speed pre-aiming and locks onto the target when it enters its field of view, and enters closed-loop tracking; after the OCU completes the handover, it switches the main control from the search mission to the tracking mission, while allowing the search mast to continue patrolling the surrounding area;

[0094] 5. During the tracking process, the OCU continuously integrates IMU, gimbal feedback, LRF and visual measurements, runs EKF to estimate the target state and provides compensation commands to the gimbal to counteract mast vibration and vehicle attitude changes.

[0095] Boom compensation:

[0096] • Perform time-domain or frequency-domain analysis on the acceleration / angular velocity acquired by the mast base IMU to identify the main vibration modes (e.g., 1–10 Hz);

[0097] • The estimated angle disturbance is converted into a gimbal compensation amount (feedforward term) through a prediction model and superimposed on the PID servo loop of the gimbal.

[0098] Example 2 (Enhanced Robust Type)

[0099] The following enhancements are made based on Example 1:

[0100] • Search mast A is equipped with a higher frame rate camera and a low-resolution thermal imager to achieve multi-spectral joint detection;

[0101] • Tracking mast B uses a high-bandwidth servo (response bandwidth ≥20Hz) and a more advanced vibration reduction unit (a combination of electromagnetic damping and passive damping);

[0102] • Particle filtering (PF) is implemented within the OCU for state estimation of difficult maneuvering targets (particle number N≈500), and a short-term occlusion recovery and re-identification module is integrated;

[0103] • Employ time-synchronized multi-source confidence fusion (Bayesian fusion) during the succession process to improve the success rate of succession.

[0104] Example 3 (High Reliability / Multi-Purpose Type)

[0105] • The system adds a small millimeter-wave radar as the first detection or auxiliary ranging sensor to assist in search / range estimation in extremely low visibility conditions;

[0106] • The mast is designed with a modular, quick-replacement structure and features remote diagnostics, hot-swap alarms, and automatic retraction capabilities;

[0107] • The entire system includes task management software, which can dynamically allocate search and track resources according to task priority (e.g., priority allocation and multi-target succession scheduling when multiple targets appear).

[0108] Example of parameters in the implementation plan (engineering suggestions)

[0109] • Search mast field of view: HFOV≈30°–60°; recommended frame rate 30–60fps;

[0110] • Narrow field of view for tracking mast gimbal: FOV≤5°; gimbal response bandwidth≥10Hz (preferably ≥20Hz);

[0111] • Mast extension range (extended state): H_A 1.5–2.5m; H_B 1.0–1.8m (adjusted according to vehicle model);

[0112] • Servo control loop delay: ≤50ms (including image processing delay);

[0113] Example of succession threshold: Detection confidence T_detect = 0.7, estimated angular uncertainty θ_uncert ≤ 0.6°.

[0114] Experimental verification and calibration scheme

[0115] Suggested experimental items:

[0116] 1. Search success rate and replacement success rate test in static scenarios (different distances and target types);

[0117] 2. Tracking continuity and average pointing error test under vehicle driving conditions (different speeds) and crosswind conditions;

[0118] 3. Comparison test of angle accuracy before and after chattering compensation;

[0119] 4. Priority switching and multi-target succession stability test in multi-target scenarios.

[0120] Record metrics:

[0121] Tracking continuity rate (%), average pointing error (°), handover time (ms), false tracking / false recognition rate (times / 1000 frames), system latency (ms), resource usage (CPU / GPU%).

[0122] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A vehicle-mounted photoelectric search-tracking dual-mast cooperative working system, characterized in that, include: The search mast is mounted on a vehicle and has a wide field-of-view electro-optical payload installed on top to perform target search. The tracking mast is mounted on a vehicle and has a high-magnification, narrow-field-of-view stabilized gimbal mounted on top to perform target tracking. The sensor unit is used to collect attitude information of each mast and vehicle; The geometric transformation unit is used to perform coordinate system transformation operations based on the installation baseline vectors of the two masts and the real-time attitude matrix; The vibration compensation unit is used to process sensor data and generate image stabilization compensation commands; The central controller is used for target detection and tracking. Based on the target information detected by the search mast and the attitude and baseline information of the two masts, the central controller calculates the pre-aiming angle of the tracking mast and issues a control command when the handover conditions are met, controlling the tracking mast to capture and continuously track the target.

2. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: The bases of the search mast and the tracking mast are equipped with a composite vibration damping device, which includes a passive damping element and an active torque compensation element for reducing the impact of mast vibration on the gimbal's angle measurement accuracy.

3. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: It also includes, Differential torsion sensor is used to measure the relative torsional error between the search mast and the tracking mast caused by changes in vehicle attitude; A differential torsion compensation mechanism, located between the two mast bases, is used to suppress relative torsional errors caused by changes in vehicle attitude.

4. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: The central controller uses an extended Kalman filter, a weighted EKF, or a particle filter to perform multi-sensor fusion estimation of the target angle and mast attitude.

5. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: The central controller has two control modes: a prediction-memory slow path and a detection-association fast path. Under conditions of low confidence, high smoke, and low visibility, the prediction-memory slow path is used to maintain servo pointing, and the detection-association fast path is switched when the detection confidence is restored.

6. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: The photoelectric payload uses a visible / near-infrared composite camera.

7. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: The stabilized gimbal is an infrared / visible light zoom gimbal.

8. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: The central controller, photoelectric load, stabilized gimbal, sensor unit, geometric transformation unit, and vibration compensation unit perform frame alignment and data interaction through a time synchronization bus.

9. The vehicle-mounted photoelectric search-tracking dual-mast cooperative working system according to claim 1, characterized in that: The system has redundancy and degradation modes. When a critical sensor in the tracking mast or sensor unit fails, the search mast takes over the basic detection and reports to the remote operation station.

10. A vehicle-mounted photoelectric search-tracking dual-mast cooperative working method, implemented based on the vehicle-mounted photoelectric search-tracking dual-mast cooperative working system as described in any one of claims 1-9, characterized in that, Includes the following steps: Step S1: The search mast acquires images and detects target candidates within a wide field of view according to a preset or adaptive strategy; Step S2: Calculate the confidence level and trajectory predictability of the detected target candidates; Step S3: When the target candidate meets the preset replacement threshold, the geometric transformation unit calculates the pre-aiming angle of the tracking mast based on the baseline geometry and attitude information of the two masts and issues a pre-aiming command. Step S4: Track the mast to capture the target and establish closed-loop tracking. During the switching process, the central controller compensates for angle error and timestamp to ensure the continuity of angle measurement. Step S5: During the tracking process, based on the feedback from the sensor unit and the stabilizing gimbal, the vibration compensation unit estimates the vibration of the tracking mast and performs feedforward or feedback compensation on the stabilizing gimbal commands.

Images