Tracking aiming control equipment and tracking aiming system

Abstract

The utility model relates to tracking and aiming control equipment and a tracking and aiming system. According to the tracking and aiming control equipment, the first video tracking device and the second video tracking device are controlled by the servo control device to process multiple paths of initial guide video data and fine guide video data so as to realize accurate positioning and tracking, and a positioning and tracking result is obtained through the servo control device in combination with positioning attitude data of inertial navigation equipment. Control parameters of the control rotary table are obtained, the control rotary table is controlled to rotate, and the tracking and aiming functions are achieved; 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 control device and a tracking and aiming system. Background Art

[0002] In real-time video image-based tracking and targeting technology, real-time video data is analyzed and processed to track and locate the target's position, which is then output to control the turntable's aiming position. Because it needs to process multiple channels of input video data, existing tracking control boards struggle to quickly process multiple different video channels, resulting in the system's inability to accurately track and target. 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 control device to improve the video data processing efficiency of the tracking and aiming control device.

[0004] A tracking and aiming control device comprises: a servo control device, and a first video tracking device and a second video tracking device respectively connected to the servo control device;

[0005] The servo control device is also connected to the inertial navigation device and is used to receive positioning attitude data of the inertial navigation device;

[0006] The first video tracking device is connected to the initial guide detection control circuit and receives the initial guide video data transmitted by the initial guide detection control circuit for positioning tracking;

[0007] The second video tracking device is connected to the primary guide detection control circuit and the fine guide detection control circuit respectively, and receives the primary guide video data transmitted by the primary guide detection control circuit and the fine guide video data of the fine guide detection control circuit for positioning tracking;

[0008] The servo control device is also connected to the turntable and is used to control the turntable to rotate.

[0009] In one embodiment, the first video tracking device includes: a first initial data processing unit and a second initial data processing unit;

[0010] The second video tracking device includes: a third preliminary guidance data processing unit and a fine guidance data processing unit.

[0011] In one embodiment, the servo control device includes: a preliminary guidance controller and a fine guidance controller connected to each other;

[0012] 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;

[0013] The precision guidance controller is connected to the precision guidance data processing unit.

[0014] In one embodiment, the preliminary guidance controller is connected to the turntable driving circuit of the turntable, and the fine guidance controller is connected to the compensator driving circuit of the turntable.

[0015] In one embodiment, the first initial pilot data processing unit receives a channel of initial pilot video signal of a television camera in Camera Link Base mode transmitted by the first initial pilot detection control circuit;

[0016] The second initial guidance data processing unit receives a channel of initial guidance video signal of an infrared array camera in Camera LinkBase mode transmitted by the second initial guidance detection control circuit;

[0017] The third initial pilot data processing unit receives a channel of initial pilot video signal of a television camera in Camera LinkBase mode transmitted by the second initial pilot detection control circuit;

[0018] The precision guidance data processing unit is connected to a precision guidance aiming camera video signal in Camera Link Base mode transmitted by the precision guidance detection control circuit.

[0019] In one embodiment, the first video tracking device further outputs a first composite video;

[0020] The second video tracking device also outputs a second composite video.

[0021] In one embodiment, the first initial data processing unit, the second initial data processing unit and the third initial data processing unit further output the initial image and video to the image storage device respectively;

[0022] The precision guidance data processing unit also outputs the precision guidance image storage video to the image storage device.

[0023] In one embodiment, the initial pilot controller is further connected to a first test interface and a first upgrade interface;

[0024] The precision guidance controller is also connected to a second test interface and a second upgrade interface.

[0025] In one embodiment, the tracking and aiming control device further includes: a power supply module connected to the servo control device, the first video tracking device and the second video tracking device respectively, for providing power to each module.

[0026] A tracking and aiming system is characterized by comprising: a turntable and the tracking and aiming control device.

[0027] The technical solution of this application has the following technical effects:

[0028] The servo control device is used to control the first video tracking device and the second video tracking device to process multiple channels of preliminary guidance video data and fine guidance video data to achieve precise positioning and tracking. The positioning and tracking results are passed through the servo control device and combined with the positioning attitude data of the inertial navigation device to obtain the control parameters of the control turntable, which controls the rotation of the turntable to achieve the tracking and aiming functions. This technical solution improves the response speed and accuracy of tracking and aiming.

[0029] 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

[0030] 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:

[0031] Figure 1 is a schematic structural diagram of a tracking and aiming control device according to an embodiment;

[0032] Figure 2 It is a schematic structural diagram of a tracking and aiming control device according to another embodiment. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] 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.

[0036] refer to Figure 1 As shown, Figure 1The present invention is a structural diagram of a tracking and aiming control device according to an embodiment, wherein the video data processing device comprises: 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 servo control device is also connected to an inertial navigation device for receiving positioning attitude data of the inertial navigation device; the first video tracking device is connected to an initial guidance detection control circuit, and receives initial guidance video data transmitted by the initial guidance detection control circuit for positioning tracking; the second video tracking device is respectively connected to the initial guidance detection control circuit and the fine guidance detection control circuit, and receives initial guidance video data transmitted by the initial guidance detection control circuit and fine guidance video data of the fine guidance detection control circuit for positioning tracking; the servo control device is also connected to a turntable for controlling the turntable to rotate.

[0037] Specifically, the function of the preliminary detection control circuit is to transmit multiple channels of original video signals to the tracking and aiming control device, and the function of the fine detection control circuit is to transmit one channel of imaging sensor image data to the tracking and aiming control device.

[0038] The tracking and aiming control device of this embodiment further includes a power supply module, which is connected to the servo control device, the first video tracking device, and the second video tracking device respectively, and is used to provide power to each module.

[0039] The above-mentioned tracking and aiming control device can control the first video tracking device and the second video tracking device through the 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, combined with the positioning posture data of the inertial navigation device, to obtain the control parameters of the control turntable, and control the turntable to rotate to achieve the tracking and aiming functions; the processing efficiency of the video data of the tracking and aiming control device is improved, and the response speed and accuracy of tracking and aiming are improved.

[0040] In order to make the technical solution of the present application clearer, more embodiments are described below with reference to the accompanying drawings.

[0041] refer to Figure 2 As shown, Figure 2 It is a schematic structural diagram of a tracking and aiming control device according to another embodiment.

[0042] In one embodiment, the first video tracking device includes: a first preliminary data processing unit and a second preliminary data processing unit; the second video tracking device includes: a third preliminary data processing unit and a refined data processing unit.

[0043] Illustratively, each of the initial guidance data processing units and the fine guidance data processing units in the above embodiments may use a DSP (Digital Signal Processing) chip to perform tracking and positioning operations. For example, the first initial guidance data processing unit may use a DSP0 chip, and the second initial guidance data processing unit may use a DSP1 chip; the third initial guidance data processing unit may use a DSP2 chip, and the fine guidance data processing unit may use a DSP3 chip.

[0044] 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.

[0045] In one embodiment, the servo control device includes: a primary guide controller and a fine guide controller connected to each other; the primary guide controller is respectively connected to a first primary guide data processing unit, a second primary guide data processing unit and a third primary guide data processing unit; and the fine guide controller is connected to the fine guide data processing unit.

[0046] Exemplarily, the preliminary guidance controller includes a first FPGA chip, and the fine guidance controller includes a second 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 realizing input and output interfaces, general digital logic, memory, digital signal processing, clock management and other functions, and provides rich dedicated clock and wiring resources, which is suitable for realizing complex and high-speed digital logic circuits, with 326k logic units, 840 DSP Slices, and support for a maximum of 16Mbit Block RAM; with 10 clock management CMTs, 16 GTX, support for DDR3 DRAM and other performance and features.

[0047] Exemplarily, an RS-422 communication interface is used between the primary guide controller, the fine guide controller and each primary guide data processing unit and the fine guide data processing unit.

[0048] In one embodiment, the first initial guidance data processing unit is connected to a TV camera video signal TV1 in Camera Link Base mode transmitted by the first initial guidance detection control circuit; the second initial guidance data processing unit is connected to an infrared array camera video signal TR2 in Camera Link Base mode transmitted by the second initial guidance detection control circuit; the third initial guidance data processing unit is connected to a TV camera video signal TV3 in Camera Link Base mode transmitted by the first initial guidance detection control circuit; and 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 circuit.

[0049] Specifically, the initial guide detection control circuit may include a first initial guide detection control circuit and a second initial guide detection control circuit, wherein the first initial guide detection control circuit receives a Camera Link television camera video signal and transmits it to the first initial guide data processing unit; the second initial guide detection control circuit supports receiving two Camera Link video signals, one for a Camera Link Base mode television camera and the other for a Camera Link Base mode infrared array camera, and transmits them to the second initial guide data processing unit and the third initial guide data processing unit respectively; the fine guide detection control circuit receives a Camera Link digital signal output from the digital camera of the optoelectronic device and transmits it to the fine guide data processing unit; preferably, when transmitting the video signal, the Gigabit Ethernet protocol can be used to facilitate data transmission and acquisition.

[0050] In one embodiment, Figure 2 As shown, the first preliminary data processing unit, the second preliminary data processing unit and the third preliminary data processing unit also output preliminary image storage videos to the image storage device respectively; the refined data processing unit also outputs refined image storage videos to the image storage device.

[0051] In one embodiment, Figure 2 As shown, the first video tracking device also outputs a first composite video to a data information processing system, and the second video tracking device also outputs a second composite video to a data information processing system; wherein the data information processing system is a data processing system running on a comprehensive information processing device of the tracking and aiming control device.

[0052] In one embodiment, Figure 2 As shown, the primary guide controller is also connected to a first test interface and a first upgrade interface, and the fine guide controller is also connected to a second test interface and a second upgrade interface; specifically, the software of the primary guide controller and the fine guide controller can be tested through the test interface, and the software of the primary guide controller and the fine guide controller can be upgraded through the upgrade interface.

[0053] An embodiment of the tracking and targeting system is described below.

[0054] The tracking and aiming system of the present application mainly includes a turntable and the tracking and aiming control device of any of the above-mentioned embodiments; in addition, it can also include components such as a primary guidance detection control circuit, a fine guidance detection control circuit, an image storage device, an inertial navigation device, and a data information processing system; illustratively, it can further include video cameras such as a television camera, an infrared array camera, and a fine guidance aiming camera; as in the scheme of the above-mentioned embodiment, the turntable can be controlled by the tracking and aiming control device to perform tracking rotation and aiming.

[0055] 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 control device, characterized in that: include: a servo control device, and a first video tracking device and a second video tracking device respectively connected to the servo control device; The servo control device is also connected to the inertial navigation device and is used to receive positioning attitude data of the inertial navigation device; The first video tracking device is connected to the initial guide detection control circuit and receives the initial guide video data transmitted by the initial guide detection control circuit for positioning tracking; The second video tracking device is connected to the primary guide detection control circuit and the fine guide detection control circuit respectively, and receives the primary guide video data transmitted by the primary guide detection control circuit and the fine guide video data of the fine guide detection control circuit for positioning tracking; The servo control device is also connected to the turntable and is used to control the turntable to rotate.

2. The tracking and aiming control device according to claim 1, 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.

3. The tracking and aiming control device according to claim 2, 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.

4. The tracking and aiming control device according to claim 3, characterized in that: The preliminary guide controller is connected to the turntable drive circuit of the turntable, and the fine guide controller is connected to the compensator drive circuit of the turntable.

5. The tracking and aiming control device according to claim 3, characterized in that: The first initial pilot data processing unit receives a TV camera initial pilot video signal in Camera Link Base mode transmitted by the first initial pilot detection control circuit; The second initial guidance data processing unit receives a channel of initial guidance video signal of an infrared array camera in Camera LinkBase mode transmitted by the second initial guidance detection control circuit; The third initial pilot data processing unit receives a channel of initial pilot video signal of a television camera in Camera LinkBase mode transmitted by the second initial pilot detection control circuit; The precision guidance data processing unit is connected to a precision guidance aiming camera video signal in Camera Link Base mode transmitted by the precision guidance detection control circuit.

6. The tracking and aiming control device according to claim 5, characterized in that: The first video tracking device also outputs a first composite video; The second video tracking device also outputs a second composite video.

7. The tracking and aiming control device according to claim 5, characterized in that: The first initial data processing unit, the second initial data processing unit and the third initial data processing unit further output the initial image and video to the image storage device respectively; The precision guidance data processing unit also outputs the precision guidance image storage video to the image storage device.

8. The tracking and aiming control device according to claim 5, 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.

9. The tracking and aiming control device according to claim 1, characterized in that: Also includes: The power supply modules are respectively connected to the servo control device, the first video tracking device and the second video tracking device, and are used to provide power to each module.

10. A tracking and aiming system, characterized in that: include: A turntable and the tracking and aiming control device according to any one of claims 1 to 9.

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