Methods, devices, equipment, media and products for locating unintercepted aerial targets.

Abstract

This invention relates to the field of anti-drone interception technology, and provides a method, apparatus, equipment, medium, and product for locating aerial targets without interceptors. The method includes determining the guidance angle range of the aerial target in the coordinate system of an electro-optical pod; acquiring raw point cloud coordinate data collected by a lidar, and performing coordinate transformation based on a first coordinate transformation matrix of the lidar relative to the anti-drone and a second coordinate transformation matrix of the electro-optical pod relative to the anti-drone to obtain first point cloud coordinate data; filtering second point cloud coordinate data from the first point cloud coordinate data based on the guidance angle range and performing clustering, and determining the relative azimuth of the aerial target based on the target point cloud cluster closest to the electro-optical pod; and determining the target position data of the aerial target based on the attitude data, relative azimuth, and absolute position data of the anti-drone. Thus, this invention accurately calculates the position of the aerial target through multi-sensor data fusion, thereby achieving accurate differentiation between friendly and enemy targets.

Description

Technical Field

[0001] This invention relates to the field of anti-drone interception technology, and in particular to a method, apparatus, equipment, medium and product for locating aerial targets without interceptors. Background Technology

[0002] In anti-drone interception scenarios, anti-drone interceptors need to acquire high-precision 3D target position information in real time to achieve accurate interception. Currently, airborne electro-optical pods are typically used for target identification and tracking, or omnidirectional lidar is used for global search and matching.

[0003] However, in intense low-altitude combat, due to the curvature of the Earth and the influence of obstructions, anti-interceptors have terminal detection blind spots, which makes it impossible for anti-interceptors to accurately distinguish between friendly and enemy targets using only a single sensor, ultimately leading to confusion in mission allocation or failure of coordination. Summary of the Invention

[0004] This invention provides a method, apparatus, device, medium, and product for locating aerial targets without interceptors, in order to solve the technical problem that in the current terminal interception scenario of anti-UAVs, the single sensor of the anti-uninterceptor is easily affected by background clutter, which leads to positioning failure and ultimately causes task allocation confusion or coordination failure.

[0005] This invention provides a method for locating uninterceptor-free aerial targets, comprising the following steps: Obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor; Based on the identification and tracking of aerial targets using an optoelectronic pod, the guidance angle range of the aerial targets in the optoelectronic pod coordinate system is determined; The original point cloud coordinate data collected by the lidar is acquired, and the original point cloud coordinate data is transformed into the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. Based on the guidance angle range, second point cloud coordinate data is selected from the first point cloud coordinate data, the second point cloud coordinate data is clustered to obtain multiple point cloud clusters, and the relative azimuth of the aerial target is determined based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The absolute position data collected by the GNSS locator deployed on the anti-interceptor is obtained, and the target position data of the airborne target is determined based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

[0006] According to the anti-interceptorless aerial target localization method provided by the present invention, the step of transforming the original point cloud coordinate data to the electro-optical pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data includes: Based on the first coordinate transformation matrix, the original point cloud coordinate data is transformed from the lidar coordinate system to the anti-interceptor body coordinate system to obtain intermediate point cloud coordinate data; Construct the inverse matrix of the second coordinate transformation matrix, and based on the inverse matrix, transform the intermediate point cloud coordinate data from the anti-interceptor body coordinate system to the photoelectric pod coordinate system to obtain the first point cloud coordinate data.

[0007] According to the anti-interceptorless aerial target positioning method provided by the present invention, the guidance angle range includes a lateral guidance angle range and a longitudinal guidance angle range; determining the guidance angle range of the aerial target in the electro-optical pod coordinate system includes: Obtain the target detection box of the aerial target on the imaging plane of the optoelectronic pod, and determine the horizontal and vertical corner pixel coordinates of the target detection box; Obtain the horizontal and vertical pixel sizes of the optoelectronic pod; Based on the lateral corner pixel coordinates and the lateral cell size, the lateral turning angle range corresponding to the aerial target is determined; and based on the longitudinal corner pixel coordinates and the longitudinal cell size, the longitudinal pitch angle range corresponding to the aerial target is determined. Determine the lateral and longitudinal deflection angles of the optoelectronic pod; Based on the lateral deflection angle and the lateral turning angle range, the lateral guidance angle range of the air target in the electro-optical pod coordinate system is determined; and based on the longitudinal deflection angle and the longitudinal pitch angle range, the longitudinal guidance angle range of the air target in the electro-optical pod coordinate system is determined.

[0008] According to the anti-interceptor-less airborne target localization method provided by the present invention, the step of filtering out second point cloud coordinate data from the first point cloud coordinate data based on the guidance angle range includes: Traverse each point cloud coordinate in the first point cloud coordinate data to determine the lateral guidance angle and longitudinal guidance angle of the point cloud coordinate; The second point cloud coordinate data is selected from the first point cloud coordinate data, where the lateral guidance angle is within the range of the lateral guidance angle and the longitudinal guidance angle is within the range of the longitudinal guidance angle.

[0009] According to the anti-interceptorless aerial target localization method provided by the present invention, the step of determining the relative azimuth of the aerial target based on the target point cloud cluster closest to the electro-optical pod among the plurality of point cloud clusters includes: For each of the multiple point cloud clusters, the distance between the center point coordinates of the point cloud cluster and the origin of the photoelectric pod coordinate system is obtained, and the point cloud cluster with the smallest distance is determined as the target point cloud cluster closest to the photoelectric pod. Obtain the target point cloud coordinate data of the target point cloud cluster in the anti-interceptor body coordinate system; The relative orientation of the aerial target is determined based on the center point coordinates of the target point cloud coordinate data.

[0010] According to the anti-interceptor-less airborne target localization method provided by the present invention, the step of obtaining the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor includes: Obtain the first origin translation vector and the first rotation vector of the lidar coordinate system relative to the anti-interceptorless aircraft coordinate system; and obtain the second origin translation vector and the second rotation vector of the optoelectronic pod coordinate system relative to the anti-interceptorless aircraft coordinate system; Based on the first origin translation vector and the first rotation vector, obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor. Based on the second origin translation vector and the second rotation vector, obtain the second coordinate transformation matrix of the electro-optical pod deployed on the anti-interceptor relative to the anti-interceptor.

[0011] The present invention also provides an anti-interceptor-less airborne target positioning device, comprising: The acquisition module is used to acquire the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor. The identification and tracking module is used to identify and track aerial targets based on the optoelectronic pod, and determine the guidance angle range of the aerial target in the optoelectronic pod coordinate system; The coordinate transformation module is used to acquire the original point cloud coordinate data collected by the lidar, and transform the original point cloud coordinate data to the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. The orientation determination module is used to filter out second point cloud coordinate data from the first point cloud coordinate data based on the guidance angle range, cluster the second point cloud coordinate data to obtain multiple point cloud clusters, and determine the relative orientation of the aerial target based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The position positioning module is used to acquire absolute position data collected by a GNSS locator deployed on the anti-interceptor, and determine the target position data of the airborne target based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the anti-interceptor-less airborne target localization method as described above.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the anti-interceptorless air target localization method as described above.

[0014] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the anti-interceptor-less airborne target localization method as described above.

[0015] The present invention provides a method, apparatus, device, medium, and product for locating aerial targets without interceptors. By acquiring the first coordinate transformation matrix of the lidar relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor, the original point cloud coordinate data collected by the lidar is transformed into the coordinate system of the electro-optical pod to obtain the first point cloud coordinate data. This not only achieves the unification of data from different sensors in a spatial reference but also avoids the computational burden caused by complex point cloud matching, meeting the real-time requirements of the anti-interceptor. Furthermore, the guidance angle range of the aerial target identified by the electro-optical pod is used to filter the second point cloud coordinate data from the first point cloud coordinate data, improving the positioning efficiency. Finally, the relative azimuth of the aerial target is determined based on the target point cloud cluster closest to the electro-optical pod, and the target position data of the aerial target is accurately calculated by combining the attitude data and absolute position data of the anti-interceptor, achieving accurate differentiation between friendly and enemy targets, thereby avoiding task allocation confusion and coordination failure. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the present invention or the conventional ones, the drawings used in the embodiments or conventional descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the anti-interceptorless air target localization method provided in an embodiment of the present invention.

[0018] Figure 2This is a schematic diagram of multi-sensor fusion without an interceptor provided in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the guidance angle conversion of the optical pod provided in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the anti-interceptorless air target positioning device provided in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] It should be noted that in the description of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] The terms "first," "second," etc., used in this invention are used to distinguish similar objects, not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, without limiting the number of objects; for example, a first object can be one or more. Furthermore, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] Figure 1 This is a flowchart illustrating the anti-interceptorless air target localization method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps 110, 120, 130, 140 and 150.

[0026] Step 110: Obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor.

[0027] In this embodiment, multiple sensors are deployed on the anti-interceptor aircraft to achieve fused perception. Specifically, refer to... Figure 2 As shown, the anti-interceptor is equipped with a lidar and an electro-optical pod. Since the lidar and electro-optical pod are positioned and oriented differently relative to the center of the anti-interceptor during installation, their spatial mapping relationship needs to be pre-determined in order to achieve spatial data fusion.

[0028] Here, the first coordinate transformation matrix is ​​used to characterize the rotation and translation relationship from the lidar coordinate system to the anti-interceptor body coordinate system; the second coordinate transformation matrix is ​​used to characterize the rotation and translation relationship from the electro-optical pod coordinate system to the anti-interceptor body coordinate system.

[0029] In practical applications, the first coordinate transformation matrix and the second coordinate transformation matrix can be calculated from the design drawings of the anti-interceptor, or they can be obtained through physical measurement and calibration after the installation of the lidar and optoelectronic pod. There are no restrictions on this.

[0030] In one example, obtaining the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor includes: Obtain the first origin translation vector and the first rotation vector of the lidar coordinate system relative to the anti-interceptorless aircraft coordinate system; and obtain the second origin translation vector and the second rotation vector of the optoelectronic pod coordinate system relative to the anti-interceptorless aircraft coordinate system; Based on the first origin translation vector and the first rotation vector, obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor. Based on the second origin translation vector and the second rotation vector, obtain the second coordinate transformation matrix of the electro-optical pod deployed on the anti-interceptor relative to the anti-interceptor.

[0031] In this embodiment, we continue to refer to Figure 2As shown, with the center O of the anti-interceptor as the origin of the 3D coordinate system, the front is the positive X-axis, the left is the positive Y-axis, and the top is the positive Z-axis. Through physical measurement, the position of the lidar in the anti-interceptor coordinate system can be obtained as follows: The position of the electro-optical pod in the anti-interceptor coordinate system is: .

[0032] Among them, the position of the electro-optical pod in the anti-interceptor coordinate system The 3D coordinate origin of the electro-optical pod coordinate system is defined by the coordinate system with the front of the pod directly in the positive X' direction, the left side directly in the positive Y' direction, and the top directly in the positive Z' direction. The position of the lidar in the anti-interceptor coordinate system is also considered. The origin of the 3D coordinate system of the lidar is the point directly in front of the lidar, the positive direction of the X-axis is directly to the left, the positive direction of the Y-axis is directly to the left, and the positive direction of the Z-axis is directly above, thus forming the lidar coordinate system.

[0033] Based on this, the translation vector of the first origin of the lidar coordinate system relative to the anti-interceptorless aircraft coordinate system is: The first rotation vector is Similarly, the translation vector of the second origin of the electro-optical pod coordinate system relative to the anti-interceptor body coordinate system is: The second rotation vector is .

[0034] in, , , Let yaw, pitch, and roll be the yaw angle, pitch angle, and roll angle of the lidar coordinate system relative to the origin of the anti-interceptor aircraft coordinate system, respectively. Then, the formula is as follows: ; ; ; Based on this, the first coordinate transformation matrix of the lidar relative to the anti-interceptorless system is: .

[0035] Similarly, , , Let be the yaw angle, pitch angle, and roll angle of the electro-optical pod coordinate system relative to the origin of the anti-interceptor aircraft's coordinate system; then, as shown in the following formula: ; ; ; Based on this, the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptorless device is: .

[0036] Step 120: Based on the identification and tracking of the aerial target by the photoelectric pod, determine the guidance angle range of the aerial target in the coordinate system of the photoelectric pod.

[0037] Here, the guidance angle range refers to the effective angle interval in the electro-optical pod coordinate system in which an aerial target can be stably identified and tracked by the electro-optical pod, and used to output guidance signals. Figure 2 The lateral guidance angle of the aerial target relative to the optical pod coordinate system shown. longitudinal guidance angle of the air target relative to the optical pod coordinate system .

[0038] It should be understood that the electro-optical pod possesses high-resolution visual perception capabilities, making it suitable for feature recognition of aerial targets. In this step, the electro-optical pod photographs the environment within its field of view and uses its built-in image recognition algorithm to capture and track aerial targets such as enemy drones.

[0039] Continue to refer to Figure 2 As shown, in front of the anti-interceptor There is an enemy drone at the location, which is the aerial target that needs to be tracked and identified. Once the aerial target is identified, the electro-optical pod will generate a target detection box or target area on its two-dimensional imaging plane. Since there is a geometric mapping relationship between the pixel position on the imaging plane and the angle in space, the guidance angle range of the aerial target relative to the electro-optical pod in the coordinate system can be calculated based on the pixel position of the aerial target on the imaging plane and the optical parameters of the electro-optical pod.

[0040] Step 130: Obtain the original point cloud coordinate data collected by the lidar, and transform the original point cloud coordinate data to the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data.

[0041] LiDAR can acquire high-precision raw point cloud coordinate data. However, the raw point cloud coordinate data is acquired based on the LiDAR coordinate system, which is not in the same spatial reference system as the visual data acquired by the optoelectronic pod.

[0042] Based on this, in this embodiment, the first coordinate transformation matrix and the second coordinate transformation matrix are used to map each original point cloud coordinate data collected by the lidar to the photoelectric pod coordinate system through matrix operations. The data obtained after the transformation is the first point cloud coordinate data.

[0043] At this point, the first point cloud coordinate data and the visual image of the photoelectric pod are aligned in spatial geometry, meaning that each point in the first point cloud coordinate data can be directly matched with a pixel on the imaging plane of the photoelectric pod.

[0044] In some embodiments, the step of transforming the original point cloud coordinate data to the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data includes: Based on the first coordinate transformation matrix, the original point cloud coordinate data is transformed from the lidar coordinate system to the anti-interceptor body coordinate system to obtain intermediate point cloud coordinate data; Construct the inverse matrix of the second coordinate transformation matrix, and based on the inverse matrix, transform the intermediate point cloud coordinate data from the anti-interceptor body coordinate system to the photoelectric pod coordinate system to obtain the first point cloud coordinate data.

[0045] First, the raw point cloud coordinate data obtained by the lidar at time t is... By using the first coordinate transformation matrix of the lidar relative to the anti-interceptor, the coordinates are transformed to the anti-interceptor's body coordinate system to obtain the intermediate point cloud coordinate data. ,in .

[0046] Next, construct the inverse matrix of the second coordinate transformation matrix. According to the rules of matrix operations, its inverse matrix describes the transformation from the anti-interceptor body coordinate system to the electro-optical pod coordinate system. Therefore, multiplying the intermediate point cloud coordinate data by this inverse matrix maps the intermediate point cloud coordinate data to the electro-optical pod coordinate system, thus obtaining the first point cloud coordinate data. ,in .

[0047] Step 140: Based on the guidance angle range, select the second point cloud coordinate data from the first point cloud coordinate data, cluster the second point cloud coordinate data to obtain multiple point cloud clusters, and determine the relative azimuth of the aerial target based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters.

[0048] It should be noted that traditional full point cloud processing is computationally intensive and difficult to run in real time on airborne embedded platforms. Therefore, in this embodiment, the guidance angle range is used as a spatial filter to traverse the first point cloud coordinate data and retain only the point cloud coordinate data within the guidance angle range, which is then used as the second point cloud coordinate data. This process eliminates background noise and irrelevant point clouds, reducing the amount of data processing.

[0049] Since multiple objects may exist within the guidance angle range, such as aerial targets, trees, or buildings in the background, clustering processing is performed on the selected second point cloud coordinate data. Specifically, the second point cloud coordinate data is divided into several independent point cloud clusters using a clustering algorithm, such as the DBSCAN density clustering algorithm.

[0050] To pinpoint the true aerial target, this embodiment uses the nearest neighbor principle. Typically, in anti-drone interception scenarios, the aerial target is the object closest to the anti-drone interceptor, while background trees or buildings are often located further away. Therefore, this embodiment calculates the distance from the center of each point cloud cluster to the electro-optical pod and selects the closest point cloud cluster as the target point cloud cluster. Since the distance between the optical pod and the lidar is usually much smaller than the distance between the aerial target and the anti-drone interceptor, it can be assumed that the line connecting the aerial target to the optical pod and the line connecting the aerial target to the lidar largely overlaps at long distances. Therefore, the target point cloud cluster closest to the electro-optical pod is the target point cloud cluster closest to the anti-drone interceptor, and the center position of this target point cloud cluster represents the relative position of the aerial target to the electro-optical pod.

[0051] Step 150: Obtain the absolute position data collected by the GNSS locator deployed on the anti-interceptor, and determine the target position data of the airborne target based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

[0052] Specifically, the anti-interceptor acquires its absolute position data in the Earth coordinate system via an onboard GNSS locator, and simultaneously acquires its attitude data via an inertial measurement unit. Then, based on the anti-interceptor's attitude data, a third coordinate transformation matrix is ​​constructed from the anti-interceptor's body coordinate system to the Earth coordinate system.

[0053] After determining the absolute position data of the anti-interceptor in the Earth coordinate system and the third coordinate transformation matrix from the anti-interceptor's body coordinate system to the Earth coordinate system, the relative position of the air target with respect to the anti-interceptor is first transformed from the anti-interceptor's body coordinate system to the Earth coordinate system using the third coordinate transformation matrix. This yields the position data of the air target relative to the anti-interceptor in the Earth coordinate system. Then, the position data of the air target relative to the anti-interceptor in the Earth coordinate system is superimposed with the absolute position data of the anti-interceptor in the Earth coordinate system to obtain the target position data of the air target in the Earth coordinate system.

[0054] The anti-interceptor-less airborne target localization method provided in this invention obtains the first coordinate transformation matrix of the lidar relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor. This transforms the original point cloud coordinate data collected by the lidar into the coordinate system of the electro-optical pod to obtain the first point cloud coordinate data. This not only unifies the data from different sensors on a spatial reference but also avoids the computational burden caused by complex point cloud matching, meeting the real-time requirements of the anti-interceptor. Furthermore, the second point cloud coordinate data is filtered from the first point cloud coordinate data using the guidance angle range of the airborne target identified by the electro-optical pod, improving localization efficiency. Finally, the relative azimuth of the airborne target is determined based on the target point cloud cluster closest to the electro-optical pod. Combined with the attitude data and absolute position data of the anti-interceptor, the target position data of the airborne target is accurately calculated, achieving accurate differentiation between friendly and enemy targets, thereby avoiding task allocation confusion and coordination failure.

[0055] It should be noted that each implementation method of the present invention can be freely combined, rearranged, or executed individually, and does not need to rely on or depend on a fixed execution order.

[0056] In some embodiments, the guidance angle range includes a lateral guidance angle range and a longitudinal guidance angle range; determining the guidance angle range of the airborne target in the electro-optical pod coordinate system includes: Obtain the target detection box of the aerial target on the imaging plane of the optoelectronic pod, and determine the horizontal and vertical corner pixel coordinates of the target detection box; Obtain the horizontal and vertical pixel sizes of the optoelectronic pod; Based on the lateral corner pixel coordinates and the lateral cell size, the lateral turning angle range corresponding to the aerial target is determined; and based on the longitudinal corner pixel coordinates and the longitudinal cell size, the longitudinal pitch angle range corresponding to the aerial target is determined. Determine the lateral and longitudinal deflection angles of the optoelectronic pod; Based on the lateral deflection angle and the lateral turning angle range, the lateral guidance angle range of the air target in the electro-optical pod coordinate system is determined; and based on the longitudinal deflection angle and the longitudinal pitch angle range, the longitudinal guidance angle range of the air target in the electro-optical pod coordinate system is determined.

[0057] like Figure 3 As shown, in front of the anti-interceptor There is an enemy drone at the location. The target detection bounding box of the enemy drone on the imaging plane of the electro-optical pod is... Here, the horizontal corner pixel coordinates include the minimum horizontal corner pixel coordinates. and the maximum coordinates of the horizontal corner pixels The vertical corner pixel coordinates include the minimum vertical corner pixel coordinates. and the maximum coordinates of vertical corner pixels Then the pixel coordinates of the center point of the image of the aerial target are .

[0058] Furthermore, the CMOS width of this optoelectronic pod is Height is The screen width is Height is The focal length of the camera lens is Then the lateral pixel size of the optical pod is The vertical imaging pixel size is The optical projection center of the camera is Then the lateral guidance angle of the center point of the image of the aerial target relative to the electro-optical pod is: The longitudinal guidance angle of the aerial target relative to the imaging center of the electro-optical pod is [value missing]. .

[0059] Similarly, based on the minimum coordinates of the horizontal corner pixels... and horizontal pixel size The minimum lateral turning angle of the target detection box can be calculated as follows: And based on the maximum coordinates of the horizontal corner pixels and horizontal pixel size The maximum lateral turning angle of the target detection box can be calculated as follows: Based on the minimum pixel coordinates of the vertical corner points. and vertical pixel size The minimum vertical pitch angle of the target detection box can be calculated as follows: And based on the maximum coordinates of the vertical corner pixels and vertical pixel size The maximum vertical pitch angle of the target detection box can be calculated as follows: .

[0060] In this embodiment, considering that the motor of the optoelectronic pod will drive the optical head to deflect when tracking and identifying aerial targets, this embodiment also needs to introduce the lateral deflection angle of the current optoelectronic pod. and longitudinal deflection angle This allows us to obtain the true lateral guidance angle of the center point of the aerial target in the electro-optical pod coordinate system. and the actual longitudinal guidance angle Among them, the lateral guidance angle The range is Longitudinal guidance angle The range is .

[0061] The anti-interceptorless air target localization method provided in this invention accurately calculates the lateral guidance angle range and longitudinal guidance angle range of the air target in the electro-optical pod coordinate system by combining the pixel coordinates of the target detection box on the imaging plane, the pixel size of the electro-optical pod, and the deflection angle of the electro-optical pod.

[0062] In some embodiments, the step of filtering the second point cloud coordinate data from the first point cloud coordinate data based on the guidance angle range includes: Traverse each point cloud coordinate in the first point cloud coordinate data to determine the lateral guidance angle and longitudinal guidance angle of the point cloud coordinate; The second point cloud coordinate data is selected from the first point cloud coordinate data, where the lateral guidance angle is within the range of the lateral guidance angle and the longitudinal guidance angle is within the range of the longitudinal guidance angle.

[0063] Specifically, iterate through each point cloud coordinate in the first point cloud coordinate data ( , , Based on geometric relationships, the angle of each point cloud coordinate relative to the origin of the optoelectronic pod coordinate system can be calculated; that is, the lateral guidance angle of each point cloud coordinate relative to the origin of the optoelectronic pod coordinate system. Longitudinal guidance angle .

[0064] After determining the lateral and longitudinal guidance angles of each point cloud coordinate relative to the origin of the electro-optical pod coordinate system, these angles are compared with their respective ranges. Only when both the lateral and longitudinal guidance angles fall within their ranges are the point cloud coordinates retained. Based on this, the second point cloud coordinate data is obtained. .

[0065] The anti-interceptor-less airborne target localization method provided in this embodiment of the invention accurately eliminates background noise and irrelevant point clouds by filtering point clouds based on lateral and longitudinal guidance angles, thereby reducing the amount of data processing.

[0066] In some embodiments, determining the relative azimuth of the aerial target based on the target point cloud cluster closest to the electro-optical pod among the plurality of point cloud clusters includes: For each of the multiple point cloud clusters, the distance between the center point coordinates of the point cloud cluster and the origin of the photoelectric pod coordinate system is obtained, and the point cloud cluster with the smallest distance is determined as the target point cloud cluster closest to the photoelectric pod. Obtain the target point cloud coordinate data of the target point cloud cluster in the anti-interceptor body coordinate system; The relative orientation of the aerial target is determined based on the center point coordinates of the target point cloud coordinate data.

[0067] Specifically, for multiple point cloud clusters For each point cloud cluster, first calculate the coordinates of the center point of each point cloud cluster. ,in, , , Based on this, the distance between the center point coordinates of the point cloud cluster and the origin of the photoelectric pod coordinate system can be further calculated. Based on this, the point cloud cluster with the smallest distance from multiple point cloud clusters is selected as the target point cloud cluster closest to the optoelectronic pod. .

[0068] In determining the target point cloud cluster Next, acquire the target point cloud cluster. Target point cloud coordinate data in the anti-interceptor body coordinate system Specifically, the target point cloud cluster can be transformed based on the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor. Converting point cloud coordinate data in the coordinate system of the optoelectronic pod into target point cloud coordinate data In addition, you can also query the cloud cluster of this target point. The cluster index is then used, followed by the previously calculated intermediate point cloud coordinates in the anti-interceptor-free body coordinate system. Extract all point cloud coordinate data under this cluster number to obtain the target point cloud coordinate data. .

[0069] Acquire target point cloud coordinate data in the anti-interceptor body coordinate system of the target point cloud cluster. Next, the target point cloud coordinate data is obtained. center point coordinates This refers to the relative position of the aerial target with respect to the anti-interceptor.

[0070] The anti-interceptor-less airborne target positioning method provided in this embodiment of the invention calculates the distance from each point cloud cluster to the electro-optical pod, selects the closest target point cloud cluster, and uses the coordinates of the center point of the target point cloud cluster in the anti-interceptor-less aircraft coordinate system as the relative orientation of the airborne target, thereby achieving precise positioning of the airborne target.

[0071] The anti-interceptorless air target positioning device provided in the embodiments of the present invention is described below. The anti-interceptorless air target positioning device described below can be referred to in correspondence with the anti-interceptorless air target positioning method described above.

[0072] The anti-interceptorless airborne target positioning device of the present invention, such as Figure 4 As shown, it includes the following modules: The acquisition module 410 is used to acquire the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor. The identification and tracking module 420 is used to identify and track aerial targets based on the optoelectronic pod, and determine the guidance angle range of the aerial target in the optoelectronic pod coordinate system. The coordinate transformation module 430 is used to acquire the original point cloud coordinate data collected by the lidar, and transform the original point cloud coordinate data to the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. The orientation determination module 440 is used to filter out the second point cloud coordinate data from the first point cloud coordinate data based on the guidance angle range, cluster the second point cloud coordinate data to obtain multiple point cloud clusters, and determine the relative orientation of the aerial target based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The position positioning module 450 is used to acquire the absolute position data collected by the GNSS locator deployed on the anti-interceptor, and determine the target position data of the airborne target based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

[0073] The anti-interceptor-less airborne target positioning device provided in this invention acquires the first coordinate transformation matrix of the lidar relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor. This transforms the original point cloud coordinate data collected by the lidar into the coordinate system of the electro-optical pod to obtain the first point cloud coordinate data. This not only unifies the data from different sensors on a spatial reference but also avoids the computational burden caused by complex point cloud matching, meeting the real-time requirements of the anti-interceptor. Furthermore, the device uses the guidance angle range of the airborne target identified by the electro-optical pod to filter out the second point cloud coordinate data from the first point cloud coordinate data, improving positioning efficiency. Finally, the device determines the relative azimuth of the airborne target based on the target point cloud cluster closest to the electro-optical pod, and accurately calculates the target position data of the airborne target by combining the attitude data and absolute position data of the anti-interceptor, achieving accurate differentiation between friendly and enemy targets, thereby avoiding task allocation confusion and coordination failure.

[0074] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communications interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute an anti-interceptor-less airborne target localization method, which includes: Obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor; Based on the identification and tracking of aerial targets using an optoelectronic pod, the guidance angle range of the aerial targets in the optoelectronic pod coordinate system is determined; The original point cloud coordinate data collected by the lidar is acquired, and the original point cloud coordinate data is transformed into the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. Based on the guidance angle range, second point cloud coordinate data is selected from the first point cloud coordinate data, the second point cloud coordinate data is clustered to obtain multiple point cloud clusters, and the relative azimuth of the aerial target is determined based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The absolute position data collected by the GNSS locator deployed on the anti-interceptor is obtained, and the target position data of the airborne target is determined based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

[0075] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the conventional, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., each of which can store program code.

[0076] On the other hand, embodiments of the present invention also provide a computer program product, the computer program product including a computer program, the computer program being able to be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is able to execute the anti-interceptorless airborne target localization method provided in each of the above embodiments, the method including: Obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor; Based on the identification and tracking of aerial targets using an optoelectronic pod, the guidance angle range of the aerial targets in the optoelectronic pod coordinate system is determined; The original point cloud coordinate data collected by the lidar is acquired, and the original point cloud coordinate data is transformed into the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. Based on the guidance angle range, second point cloud coordinate data is selected from the first point cloud coordinate data, the second point cloud coordinate data is clustered to obtain multiple point cloud clusters, and the relative azimuth of the aerial target is determined based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The absolute position data collected by the GNSS locator deployed on the anti-interceptor is obtained, and the target position data of the airborne target is determined based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

[0077] In another aspect, embodiments of the present invention also provide a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the anti-interceptor-less airborne target localization method provided in each of the above embodiments, the method comprising: Obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor; Based on the identification and tracking of aerial targets using an optoelectronic pod, the guidance angle range of the aerial targets in the optoelectronic pod coordinate system is determined; The original point cloud coordinate data collected by the lidar is acquired, and the original point cloud coordinate data is transformed into the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. Based on the guidance angle range, second point cloud coordinate data is selected from the first point cloud coordinate data, the second point cloud coordinate data is clustered to obtain multiple point cloud clusters, and the relative azimuth of the aerial target is determined based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The absolute position data collected by the GNSS locator deployed on the anti-interceptor is obtained, and the target position data of the airborne target is determined based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

[0078] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0079] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the conventional, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in each of the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these 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 each embodiment of the present invention.

Claims

1. A method for locating uninterceptor-free aerial targets, characterized in that, include: Obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor; Based on the identification and tracking of aerial targets using an optoelectronic pod, the guidance angle range of the aerial targets in the optoelectronic pod coordinate system is determined; The original point cloud coordinate data collected by the lidar is acquired, and the original point cloud coordinate data is transformed into the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. Based on the guidance angle range, second point cloud coordinate data is selected from the first point cloud coordinate data, the second point cloud coordinate data is clustered to obtain multiple point cloud clusters, and the relative azimuth of the aerial target is determined based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The absolute position data collected by the GNSS locator deployed on the anti-interceptor is obtained, and the target position data of the airborne target is determined based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

2. The method for locating uninterceptor-free aerial targets according to claim 1, characterized in that, The process of transforming the original point cloud coordinate data to the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data includes: Based on the first coordinate transformation matrix, the original point cloud coordinate data is transformed from the lidar coordinate system to the anti-interceptor body coordinate system to obtain intermediate point cloud coordinate data; Construct the inverse matrix of the second coordinate transformation matrix, and based on the inverse matrix, transform the intermediate point cloud coordinate data from the anti-interceptor body coordinate system to the photoelectric pod coordinate system to obtain the first point cloud coordinate data.

3. The method for locating uninterceptor-free aerial targets according to claim 1, characterized in that, The guidance angle range includes a lateral guidance angle range and a longitudinal guidance angle range; determining the guidance angle range of the aerial target in the electro-optical pod coordinate system includes: Obtain the target detection box of the aerial target on the imaging plane of the optoelectronic pod, and determine the horizontal and vertical corner pixel coordinates of the target detection box; Obtain the horizontal and vertical pixel sizes of the optoelectronic pod; Based on the lateral corner pixel coordinates and the lateral cell size, the lateral turning angle range corresponding to the aerial target is determined; and based on the longitudinal corner pixel coordinates and the longitudinal cell size, the longitudinal pitch angle range corresponding to the aerial target is determined. Determine the lateral and longitudinal deflection angles of the optoelectronic pod; Based on the lateral deflection angle and the lateral turning angle range, the lateral guidance angle range of the air target in the electro-optical pod coordinate system is determined; and based on the longitudinal deflection angle and the longitudinal pitch angle range, the longitudinal guidance angle range of the air target in the electro-optical pod coordinate system is determined.

4. The anti-interceptorless aerial target localization method according to claim 3, characterized in that, The step of filtering the second point cloud coordinate data from the first point cloud coordinate data based on the guidance angle range includes: Traverse each point cloud coordinate in the first point cloud coordinate data to determine the lateral guidance angle and longitudinal guidance angle of the point cloud coordinate; The second point cloud coordinate data is selected from the first point cloud coordinate data, where the lateral guidance angle is within the range of the lateral guidance angle and the longitudinal guidance angle is within the range of the longitudinal guidance angle.

5. The method for locating uninterceptor-free aerial targets according to claim 1, characterized in that, Determining the relative azimuth of the aerial target based on the target point cloud cluster closest to the electro-optical pod among the plurality of point cloud clusters includes: For each of the multiple point cloud clusters, the distance between the center point coordinates of the point cloud cluster and the origin of the photoelectric pod coordinate system is obtained, and the point cloud cluster with the smallest distance is determined as the target point cloud cluster closest to the photoelectric pod. Obtain the target point cloud coordinate data of the target point cloud cluster in the anti-interceptor body coordinate system; The relative orientation of the aerial target is determined based on the center point coordinates of the target point cloud coordinate data.

6. The method for locating uninterceptor-free aerial targets according to any one of claims 1 to 5, characterized in that, The acquisition of the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor includes: Obtain the first origin translation vector and the first rotation vector of the lidar coordinate system relative to the anti-interceptorless aircraft coordinate system; and obtain the second origin translation vector and the second rotation vector of the optoelectronic pod coordinate system relative to the anti-interceptorless aircraft coordinate system; Based on the first origin translation vector and the first rotation vector, obtain the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor. Based on the second origin translation vector and the second rotation vector, obtain the second coordinate transformation matrix of the electro-optical pod deployed on the anti-interceptor relative to the anti-interceptor.

7. A device for locating uninterceptor-free aerial targets, characterized in that, include: The acquisition module is used to acquire the first coordinate transformation matrix of the lidar deployed on the anti-interceptor relative to the anti-interceptor and the second coordinate transformation matrix of the electro-optical pod relative to the anti-interceptor. The identification and tracking module is used to identify and track aerial targets based on the optoelectronic pod, and determine the guidance angle range of the aerial target in the optoelectronic pod coordinate system; The coordinate transformation module is used to acquire the original point cloud coordinate data collected by the lidar, and transform the original point cloud coordinate data to the photoelectric pod coordinate system based on the first coordinate transformation matrix and the second coordinate transformation matrix to obtain the first point cloud coordinate data. The orientation determination module is used to filter out second point cloud coordinate data from the first point cloud coordinate data based on the guidance angle range, cluster the second point cloud coordinate data to obtain multiple point cloud clusters, and determine the relative orientation of the aerial target based on the target point cloud cluster that is closest to the electro-optical pod among the multiple point cloud clusters. The position positioning module is used to acquire absolute position data collected by a GNSS locator deployed on the anti-interceptor, and determine the target position data of the airborne target based on the attitude data of the anti-interceptor, the relative azimuth and the absolute position data.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the anti-interceptor-less airborne target localization method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the anti-interceptor-less airborne target localization method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the anti-interceptor-less airborne target localization method as described in any one of claims 1 to 6.

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