Tracking and aiming system based on multi-channel video

Abstract

The utility model relates to a tracking and aiming system based on multi-channel videos, which is characterized in that an initial guiding video output by an initial guiding video camera is transmitted to a tracking and aiming control device through an initial guiding detection control device, and a fine guiding video output by a fine guiding and aiming camera is transmitted to the tracking and aiming control device through a fine guiding detection control device; the tracking and aiming control device is combined with the initial guide video, the fine guide video and the positioning attitude data of the inertial navigation equipment to control the rotary table to rotate for tracking and aiming; according to the technical scheme, the response speed and accuracy of tracking aiming are improved.

Description

Technical Field

[0001] The present application relates to the field of visual positioning technology, and in particular to a tracking and aiming system based on multi-channel video. Background Art

[0002] In real-time video image-based tracking and aiming technology, real-time video data is used for analysis and processing to track and locate the target's position, thereby controlling the turntable to aim at the target's position. Due to the need to process multiple channels of input video data, the existing tracking and aiming system has a slow response speed for video processing, making it difficult for the system to perform fast and accurate tracking and aiming. Utility Model Content

[0003] The purpose of this application is to solve one of the above-mentioned technical defects and provide a tracking and aiming system based on multi-channel video to achieve fast and accurate tracking and aiming.

[0004] A tracking and aiming system based on multi-channel video includes: an initial guidance detection control device, a fine guidance detection control device, a tracking and aiming control device, an inertial navigation device and a turntable;

[0005] The initial guidance detection control device and the fine guidance detection control device are respectively connected to the tracking and aiming control device, and the tracking and aiming control device is respectively connected to the inertial navigation device and the turntable;

[0006] The initial guidance detection control device is also connected to the initial guidance video camera, and is used to transmit the initial guidance video output by the initial guidance video camera to the tracking and aiming control device;

[0007] The precision guidance detection control device is connected to the precision guidance aiming camera and is used to transmit the precision guidance video output by the precision guidance aiming camera to the tracking and aiming control device;

[0008] The tracking and aiming control device receives the positioning attitude data of the inertial navigation device and controls the turntable to rotate and track and aim.

[0009] In one embodiment, the multi-channel video-based tracking and aiming system further includes: a data information processing device respectively connected to the tracking and aiming control device, the preliminary guidance detection control device and the fine guidance detection control device.

[0010] In one embodiment, the initial pilot detection control device includes: a first initial pilot detection control module and a second initial pilot detection control module.

[0011] In one embodiment, the initial video camera includes: two sets of television cameras and one set of infrared external array cameras;

[0012] The first initial detection control module is connected to a group of television cameras, and the infrared external array camera is connected to a group of television cameras and infrared external array cameras.

[0013] In one embodiment, the multi-channel video-based tracking and aiming system further includes: an image storage device connected to the tracking and aiming control device, for storing the preliminary map storage video and the refined map storage video output by the tracking and aiming control device.

[0014] In one embodiment, the tracking and aiming control device includes: a servo control device, and a first video tracking device and a second video tracking device respectively connected to the servo control device;

[0015] The first video tracking device is connected to the initial guide detection control device;

[0016] The second video tracking device is connected to the preliminary guidance detection control device and the fine guidance detection control device respectively;

[0017] The servo control device is connected to the inertial navigation device and the turntable respectively;

[0018] The first video tracking device and the second video tracking device are respectively connected to a data information processing device.

[0019] In one embodiment, the first video tracking device includes: a first initial data processing unit and a second initial data processing unit;

[0020] The second video tracking device includes: a third preliminary guidance data processing unit and a fine guidance data processing unit;

[0021] The first initial pilot data processing unit is connected to the first initial pilot detection control module;

[0022] The second initial pilot data processing unit and the third initial pilot data processing unit are respectively connected to the first initial pilot detection control module;

[0023] The precision guidance data processing unit is connected to the precision guidance detection control device.

[0024] In one embodiment, the servo control device includes: a preliminary guidance controller and a fine guidance controller connected to each other;

[0025] The initial pilot controller is connected to the first initial pilot data processing unit, the second initial pilot data processing unit and the third initial pilot data processing unit respectively;

[0026] The precision guidance controller is connected to the precision guidance data processing unit;

[0027] The preliminary guidance controller and the fine guidance controller are respectively connected to a data information processing device.

[0028] In one embodiment, the precision guidance controller is connected to an inertial navigation device;

[0029] The primary guide controller is connected to the turntable drive circuit of the turntable;

[0030] The precision guidance controller is connected to the compensator driving circuit of the turntable.

[0031] In one embodiment, the initial pilot controller is further connected to a first test interface and a first upgrade interface;

[0032] The precision guidance controller is also connected to a second test interface and a second upgrade interface.

[0033] The above-mentioned tracking and aiming system based on multi-channel video transmits the initial guidance video output by the initial guidance video camera to the tracking and aiming control device through the initial guidance detection control device, and the fine guidance detection control device transmits the fine guidance video output by the fine guidance aiming camera to the tracking and aiming control device. The tracking and aiming control device combines the initial guidance video, fine guidance video and the positioning attitude data of the inertial navigation device to control the turntable to rotate and track and aim; this technical solution improves the response speed and accuracy of tracking and aiming.

[0034] Additional aspects and advantages of the present application will be given in part in the following description, which will become apparent from the following description, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0036] Figure 1 is a schematic structural diagram of a multi-channel video-based tracking and aiming system according to an embodiment;

[0037] Figure 2 is a schematic structural diagram of a multi-channel video-based tracking and aiming system according to another embodiment;

[0038] Figure 3 It is a structural diagram of a tracking and aiming system based on multi-channel video according to another embodiment. DETAILED DESCRIPTION

[0039] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and are not to be construed as limiting the present application.

[0040] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "the," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of the stated features, integers, steps, and operations, but does not preclude the presence or addition of one or more other features, integers, steps, and operations.

[0041] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0042] refer to Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a multi-channel video-based tracking and aiming system, which includes: an initial guidance detection control device, a precision guidance detection control device, a tracking and aiming control device, an inertial navigation device, and a turntable.

[0043] Among them, the initial guidance detection control device and the fine guidance detection control device are respectively connected to the tracking and aiming control device, and the tracking and aiming control device are respectively connected to the inertial navigation equipment and the turntable; the initial guidance detection control device is also connected to the initial guidance video camera, for transmitting the initial guidance video output by the initial guidance video camera to the tracking and aiming control device; the fine guidance detection control device is connected to the fine guidance aiming camera, for transmitting the fine guidance video output by the fine guidance aiming camera to the tracking and aiming control device; the tracking and aiming control device receives the positioning attitude data of the inertial navigation equipment, and controls the turntable to rotate for tracking and aiming.

[0044] As mentioned above, in the tracking and aiming system based on multiple videos, the initial guidance detection control device transmits the original video of the multiple initial guidance videos to the tracking and aiming control device, and at the same time the fine guidance detection control device transmits the original video data of the fine guidance video to the tracking and aiming control device; the tracking and aiming control device uses the positioning posture data input by the inertial navigation device, combined with the initial guidance video and the fine guidance video to perform tracking and positioning, and rotates the turntable according to the tracking and positioning control to achieve tracking and aiming, quickly respond to the needs of tracking and aiming, and can obtain more accurate tracking and aiming effects.

[0045] refer to Figure 2 As shown, Figure 2It is a structural diagram of a tracking and aiming system based on multi-channel video in another embodiment. The tracking and aiming system based on multi-channel video in this embodiment also includes: a data information processing device respectively connected to the tracking and aiming control device, the initial guidance detection control device and the fine guidance detection control device; wherein the tracking and aiming control device outputs a composite video to the data information processing system, and the data information processing system is a comprehensive information processing system running on the comprehensive information processing equipment of the tracking and aiming control system.

[0046] In one embodiment, Figure 2 As shown, the tracking and aiming control device includes: a servo control device, and a first video tracking device and a second video tracking device respectively connected to the servo control device; wherein, the first video tracking device is connected to the initial guidance detection control device, the second video tracking device is respectively connected to the initial guidance detection control device and the fine guidance detection control device, the servo control device is respectively connected to the inertial navigation equipment and the turntable, and the first video tracking device and the second video tracking device are respectively connected to the data information processing device.

[0047] Furthermore, the servo control device includes: an initial guidance controller and a fine guidance controller connected to each other; wherein, the initial guidance controller is connected to the first video tracking device and the second video tracking device, and the fine guidance controller is connected to the second video tracking device; further, the fine guidance controller is connected to the inertial navigation device; the initial guidance controller is connected to the turntable drive circuit of the turntable, and the fine guidance controller is connected to the compensator drive circuit of the turntable.

[0048] Furthermore, the tracking and aiming control device further includes a power supply module for providing power to the servo control device, and the first video tracking device and the second video tracking device respectively connected to the servo control device;

[0049] refer to Figure 3 As shown, Figure 3 It is a structural diagram of a tracking and aiming system based on multi-channel video according to another embodiment.

[0050] In one embodiment, Figure 3 As shown, the initial guidance detection control device includes a first initial guidance detection control module and a second initial guidance detection control module; the initial guidance video camera includes two groups of television cameras and a group of infrared external array cameras; wherein, the first initial guidance detection control module is connected to a group of television cameras, and the infrared external array camera is connected to a group of television cameras and infrared external array cameras.

[0051] In one embodiment, Figure 3As shown, the first video tracking device includes: a first preliminary guide data processing unit and a second preliminary guide data processing unit; the second video tracking device includes: a third preliminary guide data processing unit and a fine guide data processing unit; wherein, the first preliminary guide data processing unit is connected to the first preliminary guide detection control module; the second preliminary guide data processing unit and the third preliminary guide data processing unit are respectively connected to the first preliminary guide detection control module; and the fine guide data processing unit is connected to the fine guide detection control device.

[0052] Furthermore, the initial guide controller is connected to the first initial guide data processing unit, the second initial guide data processing unit and the third initial guide data processing unit respectively, the fine guide controller is connected to the fine guide data processing unit, and the initial guide controller and the fine guide controller are respectively connected to the data information processing device.

[0053] For the initial launch detection control device, the first initial launch detection control module and the second initial launch detection control module are both composed of circuit boards with the same hardware requirements to realize the transmission of the original video TV1, TV3 of the TV camera and the original video IR2 of the infrared external array camera; wherein, the first initial launch detection control module supports receiving 1-channel Camera Link original video signal TV1, and the second initial launch detection control module supports receiving 2-channel Camera Link original video signals, 1-channel is the original video TV3 of the TV camera in Camera Link Base mode, and 1-channel is the original video IR2 of the infrared external array camera in Camera Link Base mode; illustratively, the single-board hardware parameters of the initial launch detection control module can be as follows: support receiving 2-channel Camera Link video signals, support 2-channel RS422, support 2-channel Gigabit Ethernet, support 1-channel 100M Ethernet, realize protocol conversion between Camera Link video signals and Gigabit Ethernet signals, the data transmission function can use FPGA architecture, and support 2-channel CAN bus interfaces.

[0054] For example, the SOC (System on Chip, SoC for short) of the two initial detection control modules can adopt Xilinix's Zynq7045 series FPGA chip, with a maximum main frequency of 667MHz, internal support for L1 and L2 two-level cache, including 256KB on-chip storage space, and integrated multiple multiplexed controller interfaces.

[0055] For the precision detection control device, it receives one-way Camera Link Base mode video signal and implements the package encoding of one-way imaging sensor image data. The interfaces include: two-way Camera Link interfaces, one Gigabit Ethernet interface, one optical fiber interface, one 100M Ethernet interface, two RS422 interfaces and two CAN 2.0B interfaces.

[0056] For example, the SOC (System on Chip, SoC for short) of the precision detection control device can adopt Xilinix's Zynq7045 series FPGA chip, with a maximum main frequency of 667MHz, internal support for L1 and L2 two-level cache, including 256KB on-chip storage space, and integrated multiple multiplexed controller interfaces.

[0057] For the first video tracking device and the second video tracking device, illustratively, the first initial guidance data processing unit, the second initial guidance data processing unit, the third initial guidance data processing unit and the fine guidance data processing unit can use DSP (Digital Signal Processing, digital signal processing technology) chips to perform tracking and positioning operations. For example, the first initial guidance data processing unit can use DSP0 chip, the second initial guidance data processing unit can use DSP1 chip; the third initial guidance data processing unit can use DSP2 chip, and the fine guidance data processing unit can use DSP3 chip.

[0058] Optionally, the DSP chips in the above embodiments can all adopt the multi-core floating-point FT-M6678N chip, which has fixed-point and floating-point computing capabilities, for example, fixed-point computing performance: 256GMAC / s@1GHz, 320GMAC / s@1.25GHz; floating-point computing performance: 128GFLOPS@1GHz, 160GFLOPS@1.25GHz; a single chip contains 8 high-performance DSP cores; has 2 Serial RapidIO high-speed serial links and 1 SGMII Ethernet interface.

[0059] For the servo control device, the primary guidance controller and the fine guidance controller each include an FPGA chip, such as FPGA① and FPGA② in the figure; optionally, the FPGA chip can be a JFM7K325T FPGA chip, which integrates flexibly configurable programmable resources for implementing multiple functions such as input and output interfaces, general digital logic, memory, digital signal processing, and clock management. At the same time, it provides abundant dedicated clock and wiring resources, suitable for implementing complex and high-speed digital logic circuits, with 326k logic units, 840 DSP slices, and support for a maximum of 16Mbit Block RAM; it has 10 clock management CMTs, 16 GTX, and supports DDR3 DRAM and other performance and features.

[0060] In one embodiment, Figure 3As shown, the first preliminary guidance data processing unit is connected to a TV camera video signal TV1 in Camera Link Base mode transmitted by the first preliminary guidance detection control module; the second preliminary guidance data processing unit is connected to a TV camera video signal TR2 in Camera Link Base mode transmitted by the second preliminary guidance detection control module; the third preliminary guidance data processing unit is connected to a TV camera video signal TV3 in Camera Link Base mode transmitted by the first preliminary guidance detection control module; the fine guidance data processing unit is connected to a fine guidance aiming camera video signal V4 in Camera Link Base mode transmitted by the fine guidance detection control device; the first preliminary guidance detection control module receives a Camera Link TV camera video signal and transmits it to the first preliminary guidance data processing unit; the second preliminary guidance detection control module supports receiving two Camera Link video signals, one for a TV camera in Camera Link Base mode and the other for an infrared array camera in Camera Link Base mode, which are transmitted to the second preliminary guidance data processing unit and the third preliminary guidance data processing unit respectively; the fine guidance detection control device receives a Camera Link video signal output from the digital camera of the optoelectronic device link digital signal is transmitted to the precision data processing unit; preferably, when transmitting the video signal, the Gigabit Ethernet protocol can be used to facilitate data transmission and acquisition.

[0061] In one embodiment, the multi-channel video-based tracking and aiming system of the present application further includes an image storage device connected to the tracking and aiming control device, for storing the preliminary map storage video and the refined map storage video output by the tracking and aiming control device.

[0062] In one embodiment, in the multi-channel video-based tracking and aiming system of the present application, the initial guide controller is also connected to a first test interface and a first upgrade interface; the fine guide controller is also connected to a second test interface and a second upgrade interface; specifically, the software of the initial guide controller and the fine guide controller can be tested through the test interface, and the software of the initial guide controller and the fine guide controller can be upgraded through the upgrade interface.

[0063] The above-mentioned tracking and aiming control system can, for example, control the first video tracking device and the second video tracking device through a servo control device to process multiple channels of preliminary guide video data and fine guide video data to achieve precise positioning and tracking. The positioning and tracking results are obtained through the servo control device in combination with the positioning attitude data of the inertial navigation device to obtain the control parameters of the control turntable, and the turntable is controlled to rotate to achieve the tracking and aiming functions; the processing efficiency of the video data of the tracking and aiming control system is improved, and the response speed and accuracy of tracking and aiming are improved.

[0064] As in the solution of the above embodiment, the main control chip, the first digital processing chip and the second digital processing chip of the image data processing device can be used to perform calculations on the video image, and the positioning target position can be quickly calculated, and the tracking video data and position deviation can be output, thereby improving the processing efficiency of the video image data and improving the accuracy of the visual positioning system.

[0065] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A tracking and aiming system based on multi-channel video, characterized in that: include: Initial guidance detection control device, precision guidance detection control device, tracking and aiming control device, inertial navigation equipment and turntable; The initial guidance detection control device and the fine guidance detection control device are respectively connected to the tracking and aiming control device, and the tracking and aiming control device is respectively connected to the inertial navigation device and the turntable; The initial guidance detection control device is also connected to the initial guidance video camera, and is used to transmit the initial guidance video output by the initial guidance video camera to the tracking and aiming control device; The precision guidance detection control device is connected to the precision guidance aiming camera and is used to transmit the precision guidance video output by the precision guidance aiming camera to the tracking and aiming control device; The tracking and aiming control device receives the positioning attitude data of the inertial navigation device and controls the turntable to rotate and track and aim.

2. The tracking and aiming system based on multi-channel video according to claim 1, characterized in that: Also includes: A data information processing device is respectively connected to the tracking and aiming control device, the initial guidance detection control device and the fine guidance detection control device.

3. The tracking and aiming system based on multi-channel video according to claim 2, characterized in that: The initial pilot detection control device includes: a first initial pilot detection control module and a second initial pilot detection control module.

4. The tracking and aiming system based on multi-channel video according to claim 3, characterized in that: The primary video camera includes: two sets of television cameras and one set of infrared external array cameras; The first initial detection control module is connected to a group of television cameras, and the infrared external array camera is connected to a group of television cameras and infrared external array cameras.

5. The tracking and aiming system based on multi-channel video according to claim 1, characterized in that: Also includes: An image storage device connected to the tracking and aiming control device is used to store the preliminary map storage video and the refined map storage video output by the tracking and aiming control device.

6. The multi-channel video-based tracking and aiming system according to any one of claims 1 to 5, characterized in that: The tracking and aiming control device includes: a servo control device, and a first video tracking device and a second video tracking device respectively connected to the servo control device; The first video tracking device is connected to the initial guide detection control device; The second video tracking device is connected to the preliminary guidance detection control device and the fine guidance detection control device respectively; The servo control device is connected to the inertial navigation device and the turntable respectively; The first video tracking device and the second video tracking device are respectively connected to a data information processing device.

7. The tracking and aiming system based on multi-channel video according to claim 6, characterized in that: The first video tracking device includes: a first initial guide data processing unit and a second initial guide data processing unit; The second video tracking device includes: a third preliminary guidance data processing unit and a fine guidance data processing unit; The first initial pilot data processing unit is connected to the first initial pilot detection control module; The second initial pilot data processing unit and the third initial pilot data processing unit are respectively connected to the first initial pilot detection control module; The precision guidance data processing unit is connected to the precision guidance detection control device.

8. The tracking and aiming system based on multi-channel video according to claim 7, characterized in that: The servo control device includes: a primary guide controller and a fine guide controller connected to each other; The initial pilot controller is connected to the first initial pilot data processing unit, the second initial pilot data processing unit and the third initial pilot data processing unit respectively; The precision guidance controller is connected to the precision guidance data processing unit; The preliminary guidance controller and the fine guidance controller are respectively connected to a data information processing device.

9. The tracking and aiming system based on multi-channel video according to claim 8, characterized in that: The precision guidance controller is connected to an inertial navigation device; The primary guide controller is connected to the turntable drive circuit of the turntable; The precision guidance controller is connected to the compensator driving circuit of the turntable.

10. The tracking and aiming system based on multi-channel video according to claim 8, characterized in that: The initial pilot controller is also connected to a first test interface and a first upgrade interface; The precision guidance controller is also connected to a second test interface and a second upgrade interface.

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