A panoramic radar photoelectric integrated machine and target detection method

Abstract

The application provides a panoramic radar photoelectric integrated machine and a target detection method, and belongs to the technical field of radar and infrared detection.The integrated machine comprises an azimuth servo turntable, a radar detection module, an infrared imaging module and an integrated processing module.The radar detection module and the infrared imaging module are both installed on the upper side of the azimuth servo turntable.The azimuth servo turntable is used for driving the radar detection module and the infrared imaging module to rotate synchronously.The radar processing unit in the radar detection module and the infrared processing unit in the infrared imaging module are connected through an internal data bus.The integrated processing module is connected with the radar detection module and the infrared imaging module.The application has the beneficial effects that the radar detection module and the infrared imaging module are integrated on the same azimuth servo turntable, synchronous rotation scanning with the same turntable and angular velocity is realized, false alarms are effectively suppressed, bidirectional interaction is directly realized through the internal data bus, system response delay is reduced, and the detection, identification and tracking capability for black flying unmanned aerial vehicles is significantly improved.

Description

Technical Field

[0001] This invention belongs to the field of radar and infrared detection technology, and in particular relates to a panoramic radar optoelectronic integrated machine and target detection method. Background Technology

[0002] In the field of low-altitude security, the current common practice is to deploy radar and optoelectronic equipment separately and operate in a time-sharing manner. Radar, as an active detection method, has a long detection range and can directly obtain target distance and speed information. However, in complex urban environments, radar is susceptible to interference and has a high false alarm rate. At the same time, radar waves can cause some interference to surrounding communication facilities (such as when aircraft take off and land at airports, radar needs to be turned off). Optoelectronic systems are passive detection systems that can achieve target imaging and high-precision angle measurement, but they have a narrow field of view and are inefficient and have a high false detection rate when conducting large-scale searches alone.

[0003] Existing radar and optoelectronic collaborative systems typically employ two independent servo turntables, each carrying a separate component. Data relay and command scheduling are handled by a host computer. The workflow usually involves the radar first detecting the target, then guiding the optoelectronic turntable to the corresponding area for observation. This approach suffers from problems such as large system response delays, complex structures, and low integration. Furthermore, because radar and optoelectronic data are asynchronous in time and space, the accuracy of target data fusion is low, and false alarms are difficult to suppress, failing to meet the real-time, accurate, and integrated detection requirements for unauthorized drone flights (i.e., drones flying in violation of the "Interim Regulations on the Management of Unmanned Aerial Vehicle Flights"). Summary of the Invention

[0004] In view of this, the present invention aims to overcome the shortcomings of the above-mentioned problems in the prior art and proposes a panoramic radar optoelectronic integrated machine and target detection method.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows: The first aspect of this invention provides a panoramic radar-optoelectronic integrated machine, including an azimuth servo turntable, a radar detection module, an infrared imaging module, and an integrated processing module. Both the radar detection module and the infrared imaging module are mounted on the upper part of the azimuth servo turntable. The azimuth servo turntable is used to control and drive the radar detection module and the infrared imaging module to perform synchronous rotation scanning at the same angular velocity. The radar processing unit within the radar detection module and the infrared processing unit within the infrared imaging module are directly connected via an internal data bus to enable real-time bidirectional data exchange between the two. The integrated processing module is communicatively connected to the radar detection module and the infrared imaging module, respectively. It is used to acquire the radar confirmation information output by the radar detection module and the infrared identification information output by the infrared imaging module, and perform correlation and fusion processing to output a comprehensive target trajectory.

[0006] Furthermore, the radar detection module and the infrared imaging module maintain a preset phase difference and perform synchronous rotation scanning on the azimuth servo turntable.

[0007] Furthermore, the infrared imaging module also includes an infrared camera, a pitch servo unit, and a tilting mirror. The infrared camera and the tilting mirror are mounted together on the pitch servo unit, and the optical axis of the infrared camera is perpendicular to the normal of the reflective surface of the tilting mirror. The tilting mirror and the infrared camera are driven to rotate synchronously through the pitch servo unit.

[0008] Furthermore, the radar detection module is fixed to the upper side of the azimuth servo turntable at a preset elevation angle, and the normal of the radar detection module's array surface coincides with the rotation center axis of the azimuth servo turntable.

[0009] Furthermore, the rotational speed fluctuation rate of the azimuth servo turntable is less than 1%, where the rotational speed fluctuation rate refers to the ratio of the deviation between the actual rotational speed and the preset rotational speed of the azimuth servo turntable to the preset rotational speed.

[0010] Furthermore, the panoramic radar-optical integrated machine has two working modes: radar-optical synchronous detection mode and optical detection mode. In the optical detection mode, the radar detection module is turned off, and the infrared imaging module independently completes the panoramic detection under the drive of the azimuth servo turntable.

[0011] A second aspect of the present invention provides a target detection method applied to the aforementioned panoramic radar optoelectronic integrated machine, comprising the following steps: S1. Control the azimuth servo turntable to rotate at a preset speed, driving the radar detection module and the infrared imaging module to maintain a preset phase difference and perform synchronous rotation scanning, generating a radar spot data stream and infrared image sequence with a unified spatiotemporal reference. S2. Real-time bidirectional data exchange is performed between the radar processing unit and the infrared processing unit via the internal data bus, and the exchange process is as follows: When the radar processing unit detects a target from the radar spot data stream, it sends the target's range, azimuth, and velocity to the infrared processing unit. The infrared processing unit performs local target detection in the infrared image sequence corresponding to the azimuth and generates infrared identification information. When the infrared processing unit detects a target from the infrared image sequence, it sends the target's azimuth and elevation angles to the radar processing unit. The radar processing unit adjusts its detection resources based on these azimuth and elevation angles, enhances detection and tracking of the corresponding azimuth sector, and generates radar confirmation information. The azimuth sector is a preset angle range centered on the corresponding azimuth angle. S3. The integrated processing module acquires radar confirmation information and infrared identification information, performs correlation and fusion processing, and generates and outputs a comprehensive target track.

[0012] Furthermore, in step S1, the process of generating the radar spot data stream and infrared image sequence with a unified spatiotemporal reference is as follows: The azimuth angle of the azimuth servo turntable is fed back in real time by an azimuth encoder installed on the azimuth servo turntable. The infrared imaging module performs step-by-step pitch scanning via a pitch servo unit, and the pitch angle of the infrared imaging module is fed back in real time by a pitch encoder mounted on the pitch servo unit. Each radar point in the radar point data stream is bound to a timestamp and the azimuth angle of the azimuth servo turntable to generate a radar point data stream with a unified spatiotemporal reference. By binding a timestamp, the azimuth angle of the azimuth servo turntable, and the elevation angle of the infrared imaging module to each image frame in the infrared image sequence, an infrared image sequence with a unified spatiotemporal reference is generated.

[0013] Furthermore, in step S1, the radar spot data stream includes the target's range, azimuth, velocity, timestamp, and azimuth of the azimuth servo turntable. Each image frame in the infrared image sequence includes a corresponding timestamp, the azimuth angle of the azimuth servo turntable, and the elevation angle of the infrared imaging module.

[0014] Furthermore, in step S2, the radar processing unit also sends the target's timestamp to the infrared processing unit; the infrared processing unit corrects the target's azimuth angle based on the preset phase difference between the infrared imaging module and the radar detection module, and starts a local target detection algorithm in the azimuth sector corresponding to the corrected azimuth angle.

[0015] Furthermore, the local target detection algorithm executed by the infrared processing unit includes: The region of interest (ROI) of the multi-scale detection algorithm is narrowed down, and detection is performed only within the corresponding azimuth sector indicated by the radar processing unit. The infrared image sequence is preprocessed, non-uniformity corrected, and filtered to obtain the processed image; The processed images are fed in parallel into three detection channels for point targets, medium targets, and large targets for multi-scale processing. Single-frame false alarm removal based on multi-feature fusion; By combining the target prior information provided by the radar processing unit, a higher initial confidence level is given to the target during track association, thus completing target confirmation.

[0016] Furthermore, in step S3, the integrated processing module performs target localization, converts the target pixel coordinates in the infrared identification information into geodetic angles in the azimuth servo turntable coordinate system, and compensates for angle errors through an online self-calibration algorithm, outputting the corrected target angle, which includes the target's azimuth and elevation angles.

[0017] Furthermore, in step S3, the correlation fusion process includes: Based on a unified spatiotemporal reference, the distance and velocity of the target detected by the radar detection module are spatially correlated with the azimuth and elevation angles of the target calculated by the infrared imaging module. For data matched to the same target, a comprehensive target track is formed, which includes the target's three-dimensional coordinates, velocity, heading, and infrared image features. The three-dimensional coordinates include distance, azimuth, and pitch.

[0018] Furthermore, in step S1, when generating the infrared image sequence, the pitch servo unit of the infrared imaging module drives the tilting mirror to perform a movement that matches the rotation of the azimuth servo turntable, and performs real-time optical compensation for the image shift caused by the rotation of the azimuth servo turntable through the tilting mirror.

[0019] Furthermore, it also includes the following steps: S4. In photoelectric detection mode, the radar detection module is turned off, the azimuth servo turntable is controlled to rotate, and the infrared imaging module independently completes panoramic detection; the infrared imaging module independently performs target detection and track association, and outputs the target's azimuth angle, elevation angle and panoramic situation map.

[0020] Compared with the prior art, the present invention has the following advantages: (1) The panoramic radar optoelectronic integrated machine described in this invention integrates the radar detection module and the infrared imaging module on the same azimuth servo turntable, realizing synchronous rotation scanning with the same turntable, the same angular velocity, and the same turntable. It ensures the spatiotemporal reference of radar and infrared data from the hardware level, greatly improves the accuracy of target association fusion, and effectively suppresses false alarms. It directly interacts bidirectionally through the internal data bus, eliminating the upper computer relay link, reducing the system response delay, and realizing autonomous real-time guidance of radar and infrared. The structure is simpler, the integration is higher, and the reliability is stronger. This integrated machine significantly improves the detection, identification, and tracking capabilities of unauthorized UAVs.

[0021] (2) The panoramic radar-optical integrated machine described in this invention supports dual modes of radar-optical synchronous detection and optical detection. It can give full play to the advantages of radar in long distance and speed measurement, and can also turn off the radar and use infrared independently to complete panoramic detection in special scenarios (such as aircraft take-off and landing, urban environment, etc.), taking into account both detection efficiency and usage environment requirements. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the panoramic radar optoelectronic integrated machine structure according to an embodiment of the present invention; Figure 2This is a flowchart of the target detection method according to an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures: 1. Azimuth servo turntable; 2. Radar detection module; 3. Infrared imaging module; 4. Pitch servo unit. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0025] In the description of this invention, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0026] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0027] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] Example 1 like Figure 1 As shown, a panoramic radar-optoelectronic integrated machine includes an azimuth servo turntable 1, a radar detection module 2, an infrared imaging module 3, and an integrated processing module. Both the radar detection module and the infrared imaging module are mounted on the upper part of the azimuth servo turntable. The azimuth servo turntable is used to control and drive the radar detection module and the infrared imaging module to perform synchronous rotation scanning at the same angular velocity. The radar processing unit within the radar detection module and the infrared processing unit within the infrared imaging module are directly connected via an internal data bus to enable real-time bidirectional data exchange between them. The radar processing unit can send the target's position information to the infrared processing unit, while the infrared processing unit can send the target's azimuth and elevation angles to the radar processing unit. The integrated processing module is communicatively connected to both the radar detection module and the infrared imaging module. It acquires radar confirmation information from the radar detection module and infrared identification information from the infrared imaging module, performs correlation and fusion processing, and generates and outputs a comprehensive target trajectory. In this embodiment, after power-on, the azimuth servo turntable serves as the sole power source, driving the radar detection module and the infrared imaging module to rotate at the same speed. The radar processing unit and the infrared processing unit exchange data via an internal data bus. The integrated processing module simultaneously receives and packages the processing results from both. This allows radar detection and infrared detection to achieve a minimalist structure and a significant reduction in size and weight through a shared platform. The direct connection via the internal data bus eliminates the communication bottleneck caused by the host computer's scheduling.

[0030] In this embodiment, the internal data bus adopts an LVDS (Low Voltage Differential Signaling) high-speed serial bus, which is a communication network independent of the integrated processing module and the external host computer. It is used to realize millisecond-level, low-latency direct interaction between radar and infrared information, and support autonomous bidirectional guidance between the two.

[0031] The radar detection module and the infrared imaging module maintain a preset phase difference while synchronously rotating and scanning on the azimuth servo turntable. In this embodiment, the preset phase difference between the two is 180°. Specifically, the radar detection module and the infrared imaging module are mounted back-to-back symmetrically on the azimuth servo turntable, so that a 180° phase difference is maintained between the normal of the radar array and the horizontal projection of the optical axis of the infrared camera.

[0032] The infrared imaging module also includes a long-wave infrared camera, a pitch servo unit 4, and a tilting mirror. The infrared camera and the tilting mirror are mounted together on the pitch servo unit, and the optical axis of the infrared camera is perpendicular to the normal of the reflective surface of the tilting mirror. The tilting mirror and the infrared camera are driven to rotate synchronously by the pitch servo unit. In this embodiment, the tilting mirror is used to compensate for image shift during synchronous rotation scanning with the infrared camera, thereby achieving object-side scanning imaging. Specifically, in this embodiment, the pitch servo unit includes a first motor, a first reducer, a rotating shaft, and a U-shaped bracket. The bracket is fixed to the upper side of the rotating platform, and a rotating shaft is rotatably connected between the two side walls of the bracket. The infrared camera and the tilting mirror are both fixed to the rotating shaft. On one side of the bracket, corresponding to the rotating shaft, a first reducer and a first motor connected to the rotating shaft are sequentially provided. The first motor drives the rotating shaft to rotate, thereby driving the infrared camera and the tilting mirror to rotate.

[0033] The radar detection module is fixed to the upper part of the azimuth servo turntable at a preset elevation angle, and the normal of the radar detection module's array surface coincides with the rotation center axis of the azimuth servo turntable. In this embodiment, the preset elevation angle of the radar detection module is 0°~5°, which can be adjusted and maintained according to actual needs. Furthermore, in this embodiment, the radar beam emitted by the radar detection module performs a 360° scan in the horizontal plane, and its detection airspace is a conical surface or fan-shaped ring formed by scanning around the rotation center axis at the preset elevation angle.

[0034] The azimuth servo turntable is driven by a second motor, and its rotational speed fluctuation rate is less than 1%. The rotational speed fluctuation rate refers to the ratio of the deviation between the actual rotational speed and the preset rotational speed to the preset rotational speed, i.e., the deviation divided by the preset rotational speed. In this embodiment, a second reducer and a second motor are sequentially connected to the bottom of the azimuth servo turntable. A fixed platform is fixed to the bottom of the second motor, supporting and mounting the integrated machine. The second motor drives the azimuth servo turntable to rotate. In this embodiment, both the first and second motors are electrically connected to a servo control unit, which controls their operating states.

[0035] The panoramic radar-optoelectronic integrated unit has two operating modes: radar-optoelectronic synchronous detection mode and optoelectronic detection mode. In optoelectronic detection mode, the radar detection module is turned off, and the infrared imaging module independently completes panoramic detection under the drive of the azimuth servo turntable. In this embodiment, the same set of mechanical hardware can seamlessly switch between active detection (radar + infrared) and passive detection (pure infrared) through software commands, taking into account both daily detection and detection capabilities in specific scenarios, thus broadening the applicability of the equipment. In specific usage scenarios, it is necessary to turn off the radar to avoid interfering with other equipment, and only optoelectronic detection is used, i.e., the optoelectronic detection mode is executed. For example, in civil airport security, the radar of the panoramic radar-optoelectronic integrated unit needs to be turned off during aircraft takeoff and landing to avoid interfering with aircraft; in urban low-altitude security, the radar is often turned off to avoid interfering with other communication equipment, and only optoelectronic detection is used; and when the radar is interfered with by solar storms, ground clutter, urban buildings, etc., the radar cannot work and switches to pure optoelectronic operating mode.

[0036] In this embodiment, the optimal field of view for the optoelectronic system (i.e., the optimal range visible to the infrared camera) is 9°, while the radar's elevation angle is approximately 45°. For the optoelectronic system to cover a 45° field of view, the panoramic radar optoelectronic integrated unit needs to rotate 5 times (i.e., the azimuth servo turntable rotates 5 times, and with each rotation, the elevation servo unit controls the infrared camera to adjust its angle by 9° each time). Each rotation takes 2 seconds. Therefore, the time required for the optoelectronic system to cover a 45° field of view is 10 seconds. Furthermore, based on industry experience, for low-speed, small targets, the detection distance is approximately 10,000 times the focal length of the detection system. With a 9° field of view, the focal length of this panoramic radar optoelectronic integrated unit is 75mm, and the detection distance is approximately 750m. This panoramic radar optoelectronic integrated unit is mainly used for detecting unauthorized drones flying around civilian areas such as airports, urban perimeters, and power facilities.

[0037] In this embodiment, the installation methods of the azimuth servo turntable, the infrared imaging module, and the radar detection module on the azimuth servo turntable are all conventional technical means that can be mastered by those skilled in the art. The installation structure is only briefly described in the above embodiment, and the innovation of this invention is not in this respect. Therefore, the specific installation structure will not be described in detail here.

[0038] Example 2 like Figure 2 As shown, a target detection method, applied to the aforementioned panoramic radar optoelectronic integrated machine, includes the following steps: S1. Control the azimuth servo turntable to rotate at a preset speed, driving the radar detection module and the infrared imaging module to maintain a preset phase difference and perform 360° continuous synchronous rotation scanning, generating radar spot data stream and infrared image sequence with a unified spatiotemporal reference. S2. Real-time bidirectional data exchange is performed between the radar processing unit and the infrared processing unit via an internal data bus independent of the external host computer network, and the exchange process is as follows: When the radar processing unit detects a target from the radar spot data stream generated in step S1, it sends the target's range, azimuth, and velocity to the infrared processing unit. The infrared processing unit performs local target detection in the infrared image sequence corresponding to the azimuth and generates infrared identification information. When the infrared processing unit detects a target from the infrared image sequence generated in step S1, it sends the target's azimuth and elevation angles to the radar processing unit. The radar processing unit adjusts the detection resources according to the azimuth and elevation angles, enhances the detection and tracking of the corresponding azimuth sector, and generates radar confirmation information. The azimuth sector is a preset angle range centered on the corresponding azimuth angle. S3. The integrated processing module acquires radar confirmation information and infrared identification information, performs correlation and fusion processing, and generates and outputs a comprehensive target track. In this embodiment, the integrated processing module outputs the generated comprehensive target track via a wired or wireless network. In practical applications, this track data can be sent to an external display and control terminal (or host computer) for situational awareness display and operational interaction.

[0039] In step S1, the process of generating radar spot data streams and infrared image sequences with a unified spatiotemporal reference is as follows: The azimuth angle of the azimuth servo turntable is fed back in real time by an azimuth encoder installed on the azimuth servo turntable. The infrared imaging module performs step-by-step pitch scanning via a pitch servo unit, and the pitch angle of the infrared imaging module is fed back in real time by a pitch encoder mounted on the pitch servo unit. Each radar point (i.e., a single target detection point) in the radar point data stream is bound to a timestamp and the azimuth angle of the azimuth servo turntable to generate a radar point data stream with a unified spatiotemporal reference. Each image frame in the infrared image sequence is bound to a timestamp, the azimuth angle of the azimuth servo turntable, and the elevation angle of the infrared imaging module to generate an infrared image sequence with a unified spatiotemporal reference. During this process, the radar detection module continuously transmits and receives electromagnetic waves, generating a radar spot data stream with precise spatiotemporal information (including timestamps and the azimuth angle of the azimuth servo turntable) under the unified spatiotemporal reference. Simultaneously, the infrared imaging module performs exposure imaging during synchronous rotation. During this process, the elevation servo unit of the infrared imaging module drives a tilting mirror to swing in a manner matching the rotation of the azimuth servo turntable. The movement of the tilting mirror provides real-time optical compensation for the image shift caused by the rotation of the azimuth servo turntable, generating a clear, trail-free infrared image, and thus an infrared image sequence with a unified spatiotemporal reference and corresponding spatial orientation. This combination of synchronous rotation and image shift compensation ensures that each frame of radar data and each frame of infrared image strictly corresponds to the unified spatiotemporal reference, and that the quality of each single frame meets the requirements for high-precision detection. In this embodiment, the image shift caused by the rotation of the infrared imaging module is optically compensated in real time by a tilting mirror to generate a clear, trail-free infrared image. This is a very mature and conventional technique in the field of infrared detection, and this invention does not improve upon it. Therefore, the specific processing procedure and principle will not be described in detail here.

[0040] In step S1, the radar spot data stream includes the target's range, azimuth, velocity, timestamp, and azimuth of the azimuth servo turntable; Each image frame in the infrared image sequence includes a corresponding timestamp, the azimuth angle of the azimuth servo turntable, and the elevation angle of the infrared imaging module, which are used for subsequent panoramic image stitching and high-precision angle calculation of the target.

[0041] In step S2, the radar processing unit also sends the target's timestamp to the infrared processing unit; the infrared processing unit corrects the target's azimuth angle based on the preset phase difference between the infrared imaging module and the radar detection module, and starts a local target detection algorithm in the azimuth sector corresponding to the corrected azimuth angle.

[0042] The local target detection algorithms executed by the infrared processing unit include: The region of interest (ROI) of the multi-scale detection algorithm is narrowed down, and detection is performed only within the corresponding azimuth sector indicated by the radar processing unit. The infrared image sequence is preprocessed, non-uniformity corrected, and filtered to obtain the processed image; The processed images are fed in parallel into three detection channels for point targets, medium targets, and large targets for multi-scale processing. Single-frame false alarm removal based on multi-feature fusion; By combining the target prior information provided by the radar processing unit, a higher initial confidence level is given to the target during track association, thus completing target confirmation. Specifically, the target prior information includes the target's range, azimuth, velocity, and timestamp, transmitted by the radar processing unit via its internal data bus. During multi-frame track association, the infrared processing unit uses this prior information as a constraint. For example, it cross-validates the motion trend calculated from the displacement of suspected target pixels in the infrared image sequence with the velocity provided in the prior information. If the motion characteristics match, the probability of the suspected target being a real target is extremely high, thus directly assigning it a higher initial confidence level than the conventional detection threshold. This effectively eliminates false alarms in a single frame caused by background clutter, birds, etc. In this embodiment, the processing of infrared image sequences, multi-scale detection, false alarm rejection, and track association confirmation are routine operations in the field of infrared target detection and are conventional technical means that can be mastered by those skilled in the art. However, this invention only combines the prior information provided by the radar processing unit to give a higher initial confidence level when associating tracks. Therefore, the specific process and principle of infrared image sequence processing, multi-scale detection, false alarm rejection, and track association confirmation will not be described in detail here.

[0043] In this embodiment, a point target refers to the image of a target formed on the infrared focal plane, whose effective energy is concentrated in a 1×1 to 3×3 pixel area. It usually does not show obvious structural details and appears as a bright or dark spot in the image that contrasts with the background. A medium target refers to a target whose effective energy is distributed between a 4×4 and 15×15 pixel area after imaging, and begins to show a simple geometric outline containing only aspect ratio, area and shape information, without complex texture and structural features. A large target refers to a target whose effective energy distribution area exceeds 15×15 pixels after imaging, and has a complete outline and structural features, including aspect ratio parameters, edge gradient information and internal energy distribution differences.

[0044] In step S2, the infrared processing unit sends the target's azimuth and elevation angles to the radar processing unit.

[0045] In step S3, the integrated processing module is set inside the infrared imaging module, or integrated with the infrared processing unit as an independent functional module; the integrated processing module performs target positioning, converts the target pixel coordinates in the infrared identification information into the geodetic angle in the azimuth servo turntable coordinate system, and compensates for the angle error through an online self-calibration algorithm, outputting the corrected target angle, and the target angle includes the target's azimuth and elevation angles.

[0046] The online self-calibration algorithm includes the following processes: a. Based on the reference self-correction of the periodic mechanical homing of the azimuth servo turntable, when the azimuth servo turntable performs the periodic mechanical homing action, an image containing a preset physical reference is acquired by the infrared imaging module. By comparing the deviation between the actual image point position of the physical reference in the image and the theoretical image center position, the installation error matrix between the optical axis and the mechanical axis is dynamically calculated and updated in real time to compensate for the angle error online and ensure the long-term stability of the basic angle reference. b. Based on cross-calibration through data verification between the radar detection module and the infrared imaging module, when the radar detection module and the infrared imaging module simultaneously detect the same target, the target distance output by the radar processing unit is obtained, along with the preliminary target angle calculated using the updated base angle reference in step a. Using the target distance as a reference, the preliminary angle is used for back-verification and error model fitting. The pitch cosine error in the preliminary angle is identified and compensated online, and the corrected target angle is output. In this embodiment, through the mechanism in step a, the system can track and compensate online in real time for slow time-varying errors caused by factors such as temperature drift, mechanical vibration, or stress deformation during equipment operation, ensuring the long-term stability of the base angle reference. Through closed-loop feedback verification of the photoelectric detection angle in step b, the spatial cross-linking error of the composite detection system is significantly suppressed.

[0047] In this embodiment, in step S3, the coordinate transformation process is as follows: the image pixel coordinates of the target are converted into a viewing angle offset relative to the optical axis of the image center through the infrared camera intrinsic parameter model; under a unified azimuth servo turntable coordinate system, the viewing angle offset and the turntable center pointing angle of the corresponding frame are geometrically vector synthesized to calculate the initial angle of the target in the azimuth servo turntable coordinate system; then, the initial angle is input into the online self-calibration algorithm for error correction, and the final corrected target angle is output.

[0048] In step S3, the correlation fusion process includes: Based on a unified spatiotemporal reference, the distance and velocity of the target detected by the radar detection module are spatially correlated with the azimuth and elevation angles of the target calculated by the infrared imaging module. For data matched to the same target, a comprehensive target track is formed, which includes the target's three-dimensional coordinates, velocity, heading, and infrared image features. The three-dimensional coordinates include distance, azimuth, and pitch.

[0049] The method further includes the following steps: S4. In photoelectric detection mode, the radar detection module is turned off, and the infrared imaging module independently completes panoramic detection under the drive of the azimuth servo turntable; the infrared imaging module independently performs target detection and track association, and outputs the target's azimuth angle, elevation angle and panoramic situation map.

[0050] In this embodiment, in step S2, the real-time bidirectional data interaction between the radar processing unit and the infrared processing unit adopts a simplified real-time communication protocol based on the internal physical interface, and the data is pushed instantly by interruption or direct memory writing, without the need to go through the upper command and control unit.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A panoramic radar optoelectronic integrated machine, characterized in that: Includes an azimuth servo turntable, radar detection module, infrared imaging module, and integrated processing module. Both the radar detection module and the infrared imaging module are mounted on the upper part of the azimuth servo turntable. The azimuth servo turntable is used to control and drive the radar detection module and the infrared imaging module to perform synchronous rotation scanning at the same angular velocity. The radar processing unit within the radar detection module and the infrared processing unit within the infrared imaging module are directly connected via an internal data bus to enable real-time bidirectional data exchange between the two. The integrated processing module is communicatively connected to the radar detection module and the infrared imaging module, respectively. It is used to acquire the radar confirmation information output by the radar detection module and the infrared identification information output by the infrared imaging module, and perform correlation and fusion processing to output a comprehensive target trajectory.

2. The panoramic radar optoelectronic integrated machine according to claim 1, characterized in that: The radar detection module and the infrared imaging module maintain a preset phase difference and perform synchronous rotation scanning on the azimuth servo turntable.

3. The panoramic radar optoelectronic integrated machine according to claim 1, characterized in that: The rotational speed fluctuation rate of the azimuth servo turntable is less than 1%. The rotational speed fluctuation rate refers to the ratio of the deviation between the actual rotational speed and the preset rotational speed of the azimuth servo turntable to the preset rotational speed.

4. The panoramic radar optoelectronic integrated machine according to claim 1, characterized in that: The panoramic radar-optical integrated machine has two working modes: radar-optical synchronous detection mode and optical detection mode. In the optical detection mode, the radar detection module is turned off, and the infrared imaging module independently completes the panoramic detection under the drive of the azimuth servo turntable.

5. A target detection method, implemented based on a panoramic radar optoelectronic integrated machine as described in any one of claims 1-4, comprising the following steps: S1. Control the azimuth servo turntable to rotate at a preset speed, driving the radar detection module and infrared imaging module to rotate and scan synchronously according to a preset phase difference, generating a radar spot data stream and an infrared image sequence with a unified spatiotemporal reference; wherein, the radar spot data stream includes the target's range, azimuth angle, velocity, as well as a timestamp and the azimuth angle of the azimuth servo turntable; each image frame in the infrared image sequence includes the corresponding timestamp, the azimuth angle of the azimuth servo turntable, and the elevation angle of the infrared imaging module; S2. Real-time bidirectional data exchange is performed between the radar processing unit and the infrared processing unit via an internal data bus, and the exchange process is as follows: When the radar processing unit detects a target from the radar spot data stream, it sends the target's range, azimuth, and velocity to the infrared processing unit. The infrared processing unit performs local target detection in the infrared image sequence corresponding to the azimuth and generates infrared identification information. When the infrared processing unit detects a target from the infrared image sequence, it sends the target's azimuth and elevation angles to the radar processing unit. The radar processing unit adjusts its detection resources, enhances detection and tracking of the corresponding azimuth sector, and generates radar confirmation information. S3. The integrated processing module acquires radar confirmation information and infrared identification information, performs correlation and fusion processing, and generates and outputs a comprehensive target track.

6. The target detection method according to claim 5, characterized in that, In step S1, the process of generating radar spot data streams and infrared image sequences with a unified spatiotemporal reference is as follows: The azimuth angle of the azimuth servo turntable is fed back in real time by an azimuth encoder installed on the azimuth servo turntable. The infrared imaging module performs step-by-step pitch scanning via a pitch servo unit, and the pitch angle of the infrared imaging module is fed back in real time by a pitch encoder mounted on the pitch servo unit. Each radar point in the radar point data stream is bound to a timestamp and the azimuth angle of the azimuth servo turntable to generate a radar point data stream with a unified spatiotemporal reference. By binding a timestamp, the azimuth angle of the azimuth servo turntable, and the elevation angle of the infrared imaging module to each image frame in the infrared image sequence, an infrared image sequence with a unified spatiotemporal reference is generated.

7. The target detection method according to claim 5, characterized in that, In step S2, the radar processing unit also sends the target's timestamp to the infrared processing unit; the infrared processing unit corrects the target's azimuth angle based on the preset phase difference between the infrared imaging module and the radar detection module, and starts a local target detection algorithm in the azimuth sector corresponding to the corrected azimuth angle.

8. The target detection method according to claim 5, characterized in that, In step S3, the integrated processing module performs target localization, converts the target pixel coordinates in the infrared identification information into the geodetic angle in the azimuth servo turntable coordinate system, and compensates for the angle error through an online self-calibration algorithm, outputting the corrected target angle, which includes the target's azimuth and elevation angles. Furthermore, in step S3, the correlation fusion process includes: Based on a unified spatiotemporal reference, the distance and velocity of the target detected by the radar detection module are spatially correlated with the azimuth and elevation angles of the target calculated by the infrared imaging module. For data matched to the same target, a comprehensive target track is formed, which includes the target's three-dimensional coordinates, velocity, heading, and infrared image features. The three-dimensional coordinates include distance, azimuth, and pitch.

9. A target detection method according to claim 5 or 6, characterized in that: In step S1, when generating the infrared image sequence, the pitch servo unit of the infrared imaging module drives the tilting mirror to perform a movement that matches the rotation of the azimuth servo turntable, and performs real-time optical compensation for the image shift caused by the rotation of the azimuth servo turntable through the tilting mirror.

10. A target detection method according to claim 5, characterized in that, It also includes the following steps: S4. In photoelectric detection mode, the radar detection module is turned off, and the infrared imaging module independently completes panoramic detection under the drive of the azimuth servo turntable; the infrared imaging module independently performs target detection and track association, and outputs the target's azimuth angle, elevation angle and panoramic situation map.

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