Method for detecting unmanned boats using optical-electronic and radar systems

Abstract

FIELD: radar technology.SUBSTANCE: invention relates to methods for monitoring water areas using radar systems and optical-electronic systems. The claimed method for detecting unmanned boats includes: radar scanning of the water area, obtaining radar marks, aiming the optoelectronic system at the radar mark's sector, obtaining an image of the said sector, and generating a detection signal based on the results of combined processing of the radar and optoelectronic data. Moreover, during combined processing, the observation time, coordinates or direction to the object, the speed of movement, and the contour of the object are compared. Additionally, the presence of a wake or trajectory indicator on the water surface is taken into account, and the operator is shown an electronic map of the water area with a mark of the object and a confirmation frame received by the optical-electronic system, and in the absence of optical-electronic confirmation, the radar mark is saved as unconfirmed until repeated observation.EFFECT: increase in the probability of detecting an unmanned boat.1 cl, 4 dwg

Description

[0001] The invention relates to methods for monitoring water areas, port zones, fairways and coastal infrastructure using radar systems and optical-electronic systems.

[0002] A patent for invention No. 2,780,086 is known, which contains an unmanned boat - a carrier of an interchangeable payload, including a rigid hull, a remote control system and removable modules of an interchangeable payload, wherein on the longitudinal axis of the UBC there are bow and stern universal structural units for fastening the modules of the interchangeable payload, each of which contains a universal landing flange, characterized in that the UBC is additionally equipped with a removable universal safety device that simultaneously performs three functions - increases the stability of the boat at large angles of inclination; keeps the UBC afloat in the event of a hole in the hull and increases the safety of the UBC during mooring, containing two shelves on the left and right sides, attached to the hull of the boat, between which cylinders made of elastic polyurethane foam are rigidly installed, which are attached to the hull using studs and bolts passing through both shelves and cylinders.

[0003] A patent for invention No. 2852988 is known, which contains a multi-medium unmanned robotic controlled boat, made in the form of a rigid hull, which houses a satellite communication system with an autonomous remote control and storage of information with the GLONASS / GPS system, an auxiliary power system with ballast, a communication unit with a shore operator complex, speed sensors, pressure sensors, sensors that control the operation of the engine, the boat propeller is made in the form of a water jet, a rear vertical fin and horizontal control rudders, a video camera and snorkels, characterized in that the control of the boat's movement is made with the possibility of transmitting commands by the operator through a video camera to an autonomous remote control and storage of information with the GLONASS / GPS system, while the video camera and snorkels are located in the upper part of the vertical fin, while the propeller engine can be: gasoline in the form of an internal combustion engine,an electric motor or a hybrid power plant, and the propeller's water jet is made double, the thrust vector of which passes in a horizontal plane under the waterline, coinciding with the center of gravity and lateral resistance of the boat's hull, the air intake is equipped with closing and opening valves, and is also equipped with a place for placing cargo, mainly in the upper part of the hull, in the form of launch shafts with covers.

[0004] Current methods of water surveillance often utilize separate radar systems or video cameras. Radar systems can detect objects on the water surface, but can produce false signals due to waves, small vessels, and coastal reflections. Optoelectronic systems can refine an object's appearance, but their effectiveness depends on lighting, weather, and range. Rapid detection requires combining radar and optoelectronic channels.

[0005] The technical objective is to increase the reliability of detecting unmanned boats during water monitoring through the coordinated processing of radar marks and images obtained by optical-electronic systems.

[0006] The solution to the technical problem is ensured by the fact that the Method of detecting unmanned boats using optical-electronic systems and radar systems, including radar scanning of a water area, obtaining radar marks, guiding the optical-electronic system to the sector of the radar mark, obtaining an image of the said sector and generating a detection signal based on the results of joint processing of radar and optical-electronic data, wherein during joint processing the time of observation, coordinates or direction to the object, speed of movement and contour of the object are compared, additionally taking into account the presence of a wake or trajectory feature on the water surface, wherein the operator is displayed an electronic map of the water area with a mark of the object and a confirmation frame received by the optical-electronic system, and in the absence of optical-electronic confirmation, the radar mark is saved as unconfirmed until repeated observation.

[0007] The technical result consists in increasing the probability of detecting an unmanned boat based on a combination of features: radar mark, trajectory, visual contour, thermal contrast and trace on the water surface, and reducing the number of false detections.

[0008] The method includes radar scanning of a water area, obtaining radar marks, directing an optical-electronic system to the sector of a suspected object, obtaining images in the visible and / or infrared ranges, comparing the marks and images, and generating a detection signal.

[0009] When comparing, the observation time, direction, range or coordinates, rate of change of position, shape of the object's outline and the presence of a wake are taken into account.

[0010] The decision on the presence of an unmanned boat is made when radar indicators match optical-electronic indicators above a specified reliability threshold.

[0011] The detection result is displayed to the operator in the form of a mark on the electronic map and a confirmation frame received by the optical-electronic system.

[0012] Figures 1, 2, 3, 4 show diagrams of the invention. Explanations of the figure: 1 - optical-electronic post; 2 - radar system; 3 - image of a visible or IR channel; 4 - radar mark; 5 - joint processing unit; 6 - detectable unmanned boat; 7 - wake or trajectory feature.

[0013] Figure 2, 3 – Wake trace from a surface BEC in the visible

[0014] and mid-IR range.

[0015] Figure 4 – Radar image generated by a multifunctional airborne radar system

[0016] A surveillance optoelectronic system with a visible-range camera and a thermal imager is installed on a UAV or shore post, and a compact water-surface radar is placed on another UAV, a nearby outpost, or at the same outpost. The radar system generates marks of small moving objects. For each mark, the optoelectronic system's targeting sector is calculated. After targeting, the camera captures an image of the object, and the software unit highlights the hull's contour, thermal contrast, and water trail. If the radar mark and optoelectronic confirmation match in time and coordinates, the operator receives a notification indicating the detection confidence level.

[0017] When processing together, the observation time, coordinates or direction to the object, the speed of movement and the contour of the object are compared, and the presence of a wake or trajectory feature on the water surface is additionally taken into account.

[0018] The operator is shown an electronic map of the water area with a mark of the object and a confirmation frame received by the optical-electronic system, and in the absence of optical-electronic confirmation, the radar mark is saved as unconfirmed until repeated observation.

[0019] The technical solution can be manufactured using off-the-shelf housing, electronics, navigation, optoelectronics, sewing, composite, and fastening components. Specific dimensions, materials, power, and communication channels are selected during the design process based on the product's intended use, operating conditions, and safety requirements.

[0020] Example.

[0021] For a typical OES matrix with a resolution of 1024×768 pixels, the required spatial resolution of the GSD image of 0.25 m / pixel will be obtained at the following maximum range:

[0022] for narrow field of view (2°) – 7.35 km,

[0023] medium field of view (10°) – 1.46 km,

[0024] Wide field of view (20°) – 0.72 km.

[0025] The size of the area on the ground that falls within the field of view of the OES in the case of the nadir position of the camera, for the specified GSD and matrix resolution, will be constant (regardless of the selected field of view) and will be 256x192 meters.

[0026] To solve the problem of detecting an enemy at a given line when a UAV is moving perpendicular to the UAV's motion vector and the OES is oriented with the wide side of the frame along the course of motion, at a UAV speed of 12 m / s (MAGURA V5), it is necessary to organize a cycle of repeating the scan of the area of ​​the UAV's possible passage at a rate of at least 21 seconds. Taking into account the specified required scan rate for a UAV with an average speed of 40 m / s, the longitudinal size of the "snake" patrol zone, excluding turn time, should be no more than (40 * 21) / 2 = 420 meters, which is technically unrealistic. A schematic representation of the UAV and UAV movement trajectories, as well as the OES's scan zone, is shown in Fig. 7.

[0027] . Considering that the critical BEC size of 6 pixels in a narrow field of view can be achieved at a range of 7.35 km, to ensure detection of an object of 2 pixels on a relatively uniform background, the detection range can be up to 22 km.

[0028] For the case of using the OES in the perspective view mode in a narrow field (the vertical field of view, taking into account the aspect ratio, will be 1.5°) and setting the near boundary of the zone at a distance of 7.35 km, the following dependencies of the required flight altitude and the distance between the front and rear boundaries of the frame can be obtained, presented in Fig. 8.

[0029] At extremely small viewing angles to the horizon (starting from 3°), it is possible to obtain a fairly large spatial viewing area (flight altitude is about 400 m, the far border of the frame is at a distance of 14.6 km, and the depth of the viewing zone will be about 7 km).

[0030] If the specified UAV flight modes and OES operation modes are selected, the MAGURA V5 class UAV will require 580 seconds to traverse the surveillance zone, and the corresponding UAV patrol zone in a snaking pattern will be approximately 6 km. Schematic representation of the UAV and UAV trajectories, as well as the prospective OES surveillance zone.

[0031] In the search mode in a certain specified area intersecting the expected area of ​​movement of the UAV groups, taking into account the above characteristics of the OES, UAV and the specified GSD with high detection reliability, for a continuous survey of an area measuring, for example, 60x30 km, approximately 48 hours of carrier flight will be required.

[0032] The use of multifunctional airborne radar systems (MARS) with long-range UAV detection modes (range 57 km, flight altitude 2,500 m) enables image acquisition with a 15x15 km field of view (1024x1024 pixels), with a radar acquisition rate of 14 seconds and the detection of small surface objects. To scan an area measuring, for example, 60x30 km, the MARS, taking into account the carrier's flight time and mode changes, requires less than 15 minutes of flight time.

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