Rapid electronic axis alignment control method and control system for photoelectric pod

Abstract

A rapid electronic axis alignment control method and control system for a photoelectric pod, relating to the technical field of automatic control. After electronic axis alignment in the minimum field of view of a continuous zoom television of a photoelectric pod is completed, aiming line center coordinates can be automatically fitted after axis alignment in other fields of view of the continuous zoom television and all fields of view of an infrared continuous zoom system is completed, thereby realizing rapid axis alignment of the photoelectric pod in all fields of view, and thus helping an unmanned aerial vehicle to achieve precise strikes on targets in all fields of view. The present application has the advantages of short time consumption, strong transportability, and low cost-effectiveness ratio.

Description

A fast electronic axis alignment control method and control system for an optoelectronic pod Technical Field

[0001] The present application relates to the field of automatic control, and in particular to a fast electronic axis alignment control method and control system for an optoelectronic pod. Background Art

[0002] During an electro-optical pod mission, the pixel percentage of the target in the video changes in real time as the distance between the aircraft and the target changes. To achieve optimal observation and long-term stable tracking of the target, the optical sensor must be switched and the field of view adjusted accordingly, allowing the image processing unit to accurately capture the target. To ensure strike accuracy, the center of the aiming line must be aligned with the center of the laser spot, requiring electronic alignment to achieve "aim for the target."

[0003] There are two main methods for electronic axis alignment control of existing optoelectronic pods:

[0004] Method 1: Electronic alignment is performed only in the minimum field of view of the zoom TV and zoom infrared. This method limits the operator to laser guidance only in the minimum field of view.

[0005] Method 2: Electronically align the axis of each zoom TV and zoom infrared camera in each field of view. While this method addresses the shortcomings of Method 1, it is cumbersome. For example, for a zoom TV and zoom infrared camera with 20x optical zoom, this method requires 40 electronic alignments to ensure laser guidance across the entire field of view. This is time-consuming and labor-intensive, significantly increasing the cost of electronic alignment.

[0006] Summary of the Invention

[0007] In view of this, the present application provides a rapid electronic axis calibration control method and control system for an optoelectronic pod, which solves the problems in the prior art, realizes rapid axis calibration of the optoelectronic pod, saves time and effort, and significantly reduces the cost of electronic axis calibration.

[0008] On the one hand, the present application provides a method for rapid electronic axis alignment control for an optoelectronic pod, which adopts the following technical solutions:

[0009] A fast electronic axis alignment control method for an optoelectronic pod, comprising:

[0010] Step 1: In the minimum field of view of the continuous zoom TV, control the electro-optical pod to aim at any target T1;

[0011] Step 2: Control the optoelectronic pod laser rangefinder to irradiate the target T1 with laser;

[0012] Step 3: Identify the center position of the laser spot through the optoelectronic pod image processing unit;

[0013] Step 4: Use the photoelectric pod image processing unit to adjust the center coordinates (x, y) of the aiming line of sight of the minimum field of view of the continuous zoom TV to coincide with the center of the laser spot in step 3, and calculate the electronic azimuth calibration value YawTV of the minimum field of view of the continuous zoom TV. long and PitchTV long The azimuth calibration amount is equal to x minus the azimuth coordinate of the center of the laser spot in step 3, and the elevation calibration amount is equal to y minus the elevation coordinate of the center of the laser spot in step 3.

[0014] Step 5: Based on the electronic axis calibration value calculated in step 4, calculate the electronic axis calibration value Δyaw of other azimuth directions of the continuous zoom TV. TV Electronic axis calibration Δpitch of other fields of view of continuous zoom TV TV ;

[0015] Step 6: Based on the electronic axis calibration values ​​of other fields of view calculated in step 5, calculate the coordinates TV of the center of the aiming line of sight of other fields of view of the continuous zoom TV in the azimuth direction using the following formula: yaw and the coordinate TV in the pitch direction pitch , TV yaw =x-Δyaw TV , TV pitch =y-Δpitch TV ;

[0016] Step 7: Based on step 4, in the minimum field of view of the continuous zoom TV, control the center of the electro-optical pod's sight line to aim at any target T2;

[0017] Step 8: Control the optoelectronic pod to switch to the minimum field of view of the continuous zoom infrared, identify the position of the target T2 in step 7 in the minimum field of view of the continuous zoom infrared through the image, and mark the coordinates (IRT 2yaw ,IRT 2pitch );

[0018] Step 9: The photoelectric pod image processing unit adjusts the center coordinates (x, y) of the aiming line of sight of the continuous zoom infrared minimum field of view to coincide with the target T2 in step 8 through feature point recognition, and calculates the electronic axis calibration value (YawIR long , PitchIR long ): YawIR long =x-IRT 2yaw , PitchIR long =y-IRT 2pitch ;

[0019] Step 10: Use the electronic axis calibration value (YawIR long , PitchIR long ) as the benchmark, calculate the electronic axis calibration value (Δyaw IR , Δpitch IR );

[0020] Step 11: Based on the electronic axis calibration values ​​of other fields of view calculated in step 10, calculate the center coordinates of the aiming line of sight of other fields of view of the continuous zoom infrared (IR yaw , IR pitch ):IR yaw =x-Δyaw IR , IR pitch =y-Δpitch IR ;

[0021] Step 12: Based on step 6 and step 11, the image processing unit stores the center coordinates of the sight line of sight of the full optical sensor and the full field of view to achieve axis calibration.

[0022] The calculation method of the minimum field of view electronic axis calibration in steps 5 and 10 is as follows: Δyaw TV =YawTV long *f TV / F TV-long ; Δpitch TV =PitchTV long *f TV / F TV-long ; Δyaw IR =YawIR long *f IR / F IR-long ; Δpitch IR =PitchIR long *f IR / F IR-long ;

[0023] Among them, f TV is the focal length of the current field of view of the continuous zoom TV, F TV-long f is the focal length of the minimum field of view of the continuous zoom TV; IR F is the focal length of the current field of view of the continuous zoom infrared camera. IR-long The focal length of the minimum field of view of the continuous zoom infrared camera.

[0024] On the other hand, the present application provides a fast electronic axis alignment control system for an optoelectronic pod, which adopts the following technical solutions:

[0025] A fast electronic axis alignment control system for an optoelectronic pod, the control system being used to execute the above-mentioned control method, comprising a central control system and an optoelectronic pod; the central control system being located at a ground control console and being used to issue control commands; and the optoelectronic pod being carried on an aircraft;

[0026] The optoelectronic pod includes an optical sensor, an image processing unit, a stable platform and a controller. The optical sensors include a continuous zoom television, a continuous zoom infrared and a laser rangefinder, which are installed on the stable platform to control the field of view switching and perform laser ranging on the target; the image processing unit realizes image recognition, video output, video switching and character overlay, and the controller realizes the distribution of instructions from the central control system and completes the search, tracking and positioning of the optoelectronic pod on the target; the image processing unit completes the recognition of the laser spot center and image feature points, the automatic axis calibration of the continuous zoom television, the continuous zoom infrared minimum field of view aiming line center, and the automatic fitting of the continuous zoom television, the continuous zoom infrared other field of view electronic axis calibration.

[0027] Optionally, the continuous zoom TV band includes a near infrared band.

[0028] Optionally, the image processing unit is a TMS320C6657CZH chip, which can be used to programmatically control the automatic fitting processing and storage of electronic axis calibration of all optical sensors in all fields of view.

[0029] On the other hand, the present application provides a fast electronic axis alignment control system for an optoelectronic pod, which adopts the following technical solutions:

[0030] A fast electronic axis alignment control system for an optoelectronic pod comprises a control system processor, a memory and an application program. The application program is stored in the memory and configured to be executed by the processor. The application program is configured to execute the above-mentioned control method.

[0031] In summary, this application has the following beneficial technical effects:

[0032] The electronic axis calibration control method of the present application only needs to complete the axis calibration of the aiming line center and the laser spot center in the minimum field of view of the optoelectronic pod continuous zoom TV, and then the axis calibration amount of the aiming line of other fields of view of the continuous zoom TV and all fields of view of the continuous zoom infrared can be automatically fitted, thereby realizing the rapid axis calibration of the optoelectronic pod, saving time and effort, and greatly reducing the cost of electronic axis calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] FIG1 is a schematic diagram of the electronic axis alignment of the optoelectronic pod of the present application.

[0035] FIG2 is a schematic diagram of the automatic fitting control algorithm for the electronic axis alignment of the optoelectronic pod of the present application. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0037] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0038] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0039] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0040] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

[0041] An embodiment of the present application provides a fast electronic axis alignment control method for an optoelectronic pod.

[0042] As shown, a fast electronic axis alignment control method for an optoelectronic pod includes:

[0043] As shown in Figure 1, step 1: in the minimum field of view of the continuous zoom TV, control the electro-optical pod to aim at any target T1;

[0044] Step 2: Control the optoelectronic pod laser rangefinder to irradiate the target T1 with laser;

[0045] Step 3: Identify the center position of the laser spot through the optoelectronic pod image processing unit;

[0046] Step 4: Use the photoelectric pod image processing unit to adjust the center coordinates (x, y) of the aiming line of sight of the minimum field of view of the continuous zoom TV to coincide with the center of the laser spot in step 3, and calculate the electronic azimuth calibration value YawTV of the minimum field of view of the continuous zoom TV. long and PitchTV long The azimuth calibration amount is equal to x minus the azimuth coordinate of the center of the laser spot in step 3, and the elevation calibration amount is equal to y minus the elevation coordinate of the center of the laser spot in step 3. In one embodiment, the coordinates of the center of the line of sight of the minimum field of view of the continuous zoom television can be (960, 540);

[0047] As shown in FIG2 , step 5: using the electronic axis calibration value calculated in step 4 as a reference, calculate the electronic axis calibration value Δyaw of other azimuth directions of the continuous zoom TV. TV Electronic axis calibration Δpitch of other fields of view of continuous zoom TV TV ;

[0048] Step 6: Based on the electronic axis calibration values ​​of other fields of view calculated in step 5, calculate the coordinates TV of the center of the aiming line of sight of other fields of view of the continuous zoom TV in the azimuth direction using the following formula: yaw and the coordinate TV in the pitch direction pitch , TV yaw =x-Δyaw TV , TV pitch =y-Δpitch TV ;

[0049] Step 7: Based on step 4, in the minimum field of view of the continuous zoom TV, control the center of the electro-optical pod's sight line to aim at any target T2;

[0050] Step 8: Control the optoelectronic pod to switch to the minimum field of view of the continuous zoom infrared, identify the position of the target T2 in step 7 in the minimum field of view of the continuous zoom infrared through the image, and mark the coordinates (IRT 2yaw ,IRT 2pitch );

[0051] Step 9: The photoelectric pod image processing unit adjusts the center coordinates (x, y) of the aiming line of sight of the continuous zoom infrared minimum field of view to coincide with the target T2 in step 8 through feature point recognition, and calculates the electronic axis calibration value (YawIR long , PitchIR long ): YawIR long =x-IRT 2yaw , PitchIR long =y-IRT 2pitch ;

[0052] Step 10: Use the electronic axis calibration value (YawIR long , PitchIR long ) as the benchmark, calculate the electronic axis calibration value (Δyaw IR , Δpitch IR );

[0053] Step 11: Based on the electronic axis calibration values ​​of other fields of view calculated in step 10, calculate the center coordinates of the aiming line of sight of other fields of view of the continuous zoom infrared (IR yaw , IR pitch ):IR yaw =x-Δyaw IR , IR pitch =y-Δpitch IR ;

[0054] Step 12: Based on step 6 and step 11, the image processing unit stores the center coordinates of the sight line of sight of the full optical sensor and the full field of view to achieve rapid axis calibration.

[0055] The electro-optical pod is controlled to illuminate the target within the minimum field of view of the zoom television. The image processing unit adjusts the coordinates of the center of the line of sight to the location with the highest grayscale value based on the image grayscale (the center of the laser spot is brightest and has the highest grayscale value), completing the electronic alignment of the minimum field of view of the zoom television. The electronic alignment corrections for the remaining fields of view are automatically fitted based on the electronic alignment corrections for the minimum field of view of the zoom television, the focal lengths of the remaining fields of view, and the focal length of the minimum field of view, obtaining the coordinates of the line of sight center for the remaining fields of view. After aiming at the target within the minimum field of view of the zoom television, the electro-optical pod switches to the minimum field of view of the zoom infrared camera. Image feature point recognition is used to determine the coordinates of the line of sight center after alignment with the minimum field of view of the zoom infrared camera. The coordinates of the line of sight center for the remaining fields of view of the zoom infrared camera are then determined based on the electronic alignment corrections for the minimum field of view of the zoom infrared camera, the focal lengths of the remaining fields of view, and the focal length of the minimum field of view. This allows for rapid alignment of the electro-optical pod across all fields of view.

[0056] After completing electronic alignment of the minimum field of view of an optoelectronic pod's continuous zoom television, this application automatically calculates the alignment center coordinates for all other fields of view of the continuous zoom television and all fields of view of the continuous zoom infrared system. This enables rapid alignment of the optoelectronic pod across all fields of view, enabling drones to achieve precise strikes on targets in all fields of view. This system offers the advantages of reduced time consumption, strong portability, and low cost-effectiveness.

[0057] The calculation method of the minimum field of view electronic axis calibration in steps 5 and 10 is as follows: Δyaw TV =YawTV long *f TV / F TV-long ; Δpitch TV =PitchTV long *f TV / F TV-long ; Δyaw IR =YawIR long *f IR / F IR-long ; Δpitch IR =PitchIR long *f IR / F IR-long ;

[0058] Among them, f TV is the focal length of the current field of view of the continuous zoom TV, F TV-long f is the focal length of the minimum field of view of the continuous zoom TV; IR F is the focal length of the current field of view of the continuous zoom infrared camera. IR-long The focal length of the minimum field of view of the continuous zoom infrared camera.

[0059] The present application also discloses a rapid electronic axis alignment control system for an optoelectronic pod, which is used to execute the above control method.

[0060] The control system includes a central control system and an optoelectronic pod; the central control system is located on the ground control console and is used to issue control commands; the optoelectronic pod is carried on the aircraft;

[0061] The optoelectronic pod includes an optical sensor, an image processing unit, a stable platform and a controller. The optical sensors include a continuous zoom television, a continuous zoom infrared and a laser rangefinder, which are installed on the stable platform to control the field of view switching and perform laser ranging on the target; the image processing unit realizes image recognition, video output, video switching and character overlay, and the controller realizes the distribution of instructions from the central control system and completes the search, tracking and positioning of the optoelectronic pod on the target; the image processing unit completes the recognition of the laser spot center and image feature points, the automatic axis calibration of the continuous zoom television, the continuous zoom infrared minimum field of view aiming line center, and the automatic fitting of the continuous zoom television, the continuous zoom infrared other field of view electronic axis calibration.

[0062] Among them, the continuous zoom TV band includes the near-infrared band.

[0063] The image processing unit is a TMS320C6657CZH chip, which can control the automatic fitting processing and storage of electronic axis calibration of all optical sensors in all fields of view through program control.

[0064] The control system further includes a processor, a memory, and an application program. The application program is stored in the memory and configured to be executed by the processor. The application program is configured to execute the above-mentioned fast electronic axis alignment control method for the optoelectronic pod.

[0065] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A fast electronic axis alignment control method for an optoelectronic pod, characterized in that: include: Step 1: In the minimum field of view of the continuous zoom TV, control the electro-optical pod to aim at any target T1; Step 2: Control the optoelectronic pod laser rangefinder to irradiate the target T1 with laser; Step 3: Identify the center position of the laser spot through the optoelectronic pod image processing unit; Step 4: Use the photoelectric pod image processing unit to adjust the center coordinates (x, y) of the aiming line of sight of the minimum field of view of the continuous zoom TV to coincide with the center of the laser spot in step 3, and calculate the electronic azimuth calibration value YawTV of the minimum field of view of the continuous zoom TV long And the pitch axis calibration PitchTV long The calibration amount in azimuth is equal to x minus the coordinate of the center of the laser spot in azimuth in step 3, and the calibration amount in elevation is equal to y minus the coordinate of the center of the laser spot in elevation in step 3; Step 5: Based on the electronic axis calibration value calculated in step 4, calculate the electronic axis calibration value Δyaw in the azimuth direction of other fields of view of the continuous zoom TV. TV Electronic axis calibration Δpitch of other fields of view of continuous zoom TV TV ; Step 6: Based on the electronic axis calibration of other fields of view calculated in step 5, calculate the coordinates TV of the center of the aiming line of sight of other fields of view of the continuous zoom TV in the azimuth direction by the following formula: yaw and the coordinate TV in pitch direction pitch , TV yaw =x-Δyaw TV , TV pitch =y-Δpitch TV ; Step 7: Based on step 4, control the electro-optical pod aiming line at the minimum field of view of the continuous zoom TV Center aim at any target T2; Step 8: Control the optoelectronic pod to switch to the minimum field of view of the continuous zoom infrared, identify the position of the target T2 in step 7 in the minimum field of view of the continuous zoom infrared through the image, and mark the coordinates (IRT 2yaw ,IRT 2pitch ); Step 9: The photoelectric pod image processing unit adjusts the center coordinates (xx, yy) of the aiming line of sight of the continuous zoom infrared minimum field of view to coincide with the target T2 in step 8 through feature point recognition, and calculates the electronic axis calibration value (YawIR long , PitchIR long ): YawIR long =x-IRT 2yaw , PitchIR long =y-IRT 2pitch ; Step 10: Use the electronic axis calibration value (YawIR long , PitchIR long ) as the benchmark, the electronic axis calibration value (Δyaw IR , Δpitch IR ); Step 11: According to the electronic axis calibration of other fields of view calculated in step 10, calculate the center coordinates of the aiming line of sight of other fields of view of continuous zoom infrared (IR yaw , IR pitch ):IR yaw =x-Δyaw IR , IR pitch =y-Δpitch IR ; Step 12: Based on step 6 and step 11, the image processing unit stores the center coordinates of the aiming line of sight of the full optical sensor and the full field of view to achieve axis calibration.

2. The fast electronic axis alignment control method for an optoelectronic pod according to claim 1, characterized in that: The calculation method of the minimum field of view electronic axis calibration in step 5 and step 10 is as follows: Δyaw TV =YawTV long *f TV / F TV-long ; Δpitch TV =PitchTV long *f TV / F TV-long ; Δyaw IR =YawIR long *f IR / F IR-long ; Δpitch IR =PitchIR long *f IR / F IR-long ; Among them, f TV is the focal length of the current field of view of the continuous zoom TV, F TV-long f is the focal length of the minimum field of view of the continuous zoom TV; IR F is the focal length of the current field of view of the continuous zoom infrared IR-long It is the focal length of the minimum field of view of the continuous zoom infrared.

3. A fast electronic axis alignment control system for an optoelectronic pod, characterized in that: The control system is used to execute the control method in claim 1 or 2, and the control system includes a central control system and an optoelectronic pod; the central control system is located at a ground control console and is used to issue control commands; the optoelectronic pod is carried on an aircraft; The optoelectronic pod includes an optical sensor, an image processing unit, a stable platform and a controller. The optical sensor includes a continuous zoom television, a continuous zoom infrared and a laser rangefinder, which are installed on the stable platform to control the field of view switching and perform laser ranging on the target; the image processing unit realizes image recognition, video output, video switching and character overlay, and the controller realizes the distribution of central control system instructions and completes the search, tracking and positioning of the optoelectronic pod for the target; the image processing unit completes the recognition of the laser spot center and image feature points, the automatic axis calibration of the continuous zoom television, the continuous zoom infrared minimum field of view aiming line center, and the automatic fitting of the continuous zoom television, the continuous zoom infrared other field of view electronic axis calibration.

4. The fast electronic axis alignment control system for an optoelectronic pod according to claim 3 is characterized in that: The continuous zoom TV band includes the near infrared band.

5. The fast electronic axis alignment control system for an optoelectronic pod according to claim 3 is characterized in that: The image processing unit is a TMS320C6657CZH chip, which can programmatically control the automatic fitting processing and storage of electronic axis calibration of all optical sensors in all fields of view.

6. A fast electronic axis alignment control system for an optoelectronic pod, characterized in that: The control system comprises a processor, a memory and an application program, wherein the application program is stored in the memory and configured to be executed by the processor, and the application program is configured to execute the control method according to claim 1 or 2.

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