CN109738163A

CN109738163A - A method for obtaining the amount of deimaged spin off-target applied in optoelectronic tracking equipment

Info

Publication number: CN109738163A
Application number: CN201910041940.8A
Authority: CN
Inventors: 史建亮; 王强; 杨涛; 于伟
Original assignee: Institute of Optics and Electronics of CAS
Current assignee: Institute of Optics and Electronics of CAS
Priority date: 2019-01-16
Filing date: 2019-01-16
Publication date: 2019-05-10
Anticipated expiration: 2039-01-16
Also published as: CN109738163B

Abstract

The invention proposes a method for acquiring the off-target amount of deimage rotation applied in photoelectric tracking equipment. The system image rotation angle is obtained by introducing the reference laser into the photoelectric tracking device, and the position of the reference light spot image is extracted in the detector. The missed target amount can be used as the tracking error control amount of the photoelectric tracking system. The angle measuring device that does not require a rotating platform provides the angle information in real time, and only needs to detect the relative rotation angle β between the reference light image point and the reference light image point at the reference zero point in real time on the detector. The rotation angle includes the rotation amount information of the multi-dimensional motion platform and the relative rotation amount between the mirrors in the optical path of the system. The rotation matrix is generated by the rotation angle β, and the matrix is multiplied by the original miss amount (γ _y , γ _z ), and finally get The amount of off-target racemization (γ _y1 , γ _z1 ). The method is simple and has high precision of racemic off-target amount.

Description

One kind being applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device

Technical field

The invention belongs to the technical fields such as optical engineering, tracing control, and in particular to one kind is applied to electro-optical tracking device In disappear image rotation miss distance acquisition methods.

Background technique

The image rotation that disappears miss distance acquisition methods are applied to electro-optical tracking device system to the tracing control of target.Target light passes through The Multi-dimension Motion Platform, which reaches detector imaging, can generate rotation, and extracted target picture point miss distance is caused to contain motion platform Rotational motion information, the not real motion feature of reflection target, the miss distance information without racemization cannot function as system Error is controlled, system tracking failure is otherwise caused.Previous light beam racemization generally uses hardware light beam despinner or software motion flat Two methods of platform Angle Information, wherein containing transmission mechanisms such as gears inside light beam despinner, the movement of transmission mechanism is uneven It surely will affect the stability of target picture point；And the Angle Information method of motion platform is used to will receive angular measurement sensor angle measurement accuracy Influence, and only include that the rotation angle information of motion platform should comprising the rotation information between internal mirror Method is also influenced by system equipment motion platform orthogonality to a certain extent, has very high requirement to system adjustment precision.And The image rotation processing that disappears is carried out to miss distance using method of the invention, it is simple and easy, do not need the angle measurement letter of motion platform sensor Breath, it is only necessary to which detector provides location information, and reliability is further promoted, and angle measurement accuracy is also above previous side Method.

Summary of the invention

For above disappear image rotation method the technical issues of, propose it is a kind of be easier to realize be applied to electro-optical tracking device in disappear The miss distance acquisition methods of image rotation, this method can fundamentally solve the above problems.

In order to achieve the object of the present invention, the present invention provide it is a kind of be easier to realize be applied to disappear picture in electro-optical tracking device Miss distance acquisition methods are revolved, solving technical solution used by its technical problem includes: transmitting beam of laser as reference light, Laser beam coupling after collimation is introduced electro-optical tracking device by laser, beam collimation mirror and pyramid mirror by the entrance pupil front end of system System；Tracking equipment starts before tracking target, image point position of the calibration record reference laser beam on detector target surface coordinate system Information forms a vector OP with detector target surface zero point of reference frame₀；When target picture enters system detector, by image procossing system System obtains the original miss distance information (γ of the target with image rotation under detector target surface coordinate system_y,γ_z), the detection base from the moment The position of quasi- laser picture point forms vector OP with detector target surface zero point of reference frame₁, calculate vector OP₀With vector OP₁Angle β.Coordinate spin matrix R is formed by angle β_β, the original miss distance information (γ of premultiplication target_y,γ_z), obtain the image rotation miss distance that disappears Information (γ_y1,γ_z1)。

Wherein, the laser beam of introducing needs to adjust the angle of light beam and the system optical axis according to the visual field ω of device systems, makes The image point position P of reference laser on the detector₀(y, z) range finder co-ordinate zero point O (0,0) is greater than 2/3rds visual fields.

The invention has the following advantages over the prior art:

1. simply by virtue of reference laser and detector as angle measurement tool, just it is capable of measuring to obtain system equipment multi-dimensional movement flat The motion information of platform, compared to existing use light beam despinner and using for the angle measurement of angle measurement device, this method is simple and easy, And good economy performance；

2. passing through whole system optical path using reference laser beam, the motion information of the Multi-dimension Motion Platform is not only contained, also Internal system image rotation noise as caused by external environmental interference is contained, the image rotation angle precision and tracking accuracy measured wants high In existing method；

3. comparing the method for using the angle measurement of angle measurement device to disappear image rotation, this method is using the preceding picture for only needing calibration system equipment Revolve zero point, be not required to demarcate influence of the direction of motion to image rotation of each motion platform, can greatly save in use time cost and High reliablity.

Detailed description of the invention

Fig. 1 is the layout signal of the miss distance acquisition methods proposed by the present invention applied to the image rotation that disappears in electro-optical tracking device Figure, wherein 1 is primary mirror, and 2 be laser, and 3 be beam collimation mirror, and 4 be benchmark source of parallel light, and 5 be pyramid mirror, and 6 be secondary mirror, and 7 are Detection system.

Fig. 2 is telescope (pitching shafting) and detector coordinates system schematic diagram.

Fig. 3 is the image rotation miss distance coordinate rotation solution schematic diagram that disappears.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference Attached drawing, the present invention is described in more detail.

Miss distance acquisition methods proposed by the present invention applied to the image rotation that disappears in electro-optical tracking device, comprising: in system Laser beam coupling after collimation is introduced electro-optical tracking device system by laser 2, beam collimation mirror 3 and pyramid mirror 5 by entrance pupil front end System；Benchmark source of parallel light 4 is formed by laser 2 and beam collimation mirror 3, tracking equipment starts before tracking target, calibration record base Image point position information of the quasi- laser beam on the detector target surface coordinate system of detection system 7, with detector target surface zero point of reference frame Form vector OP₀；When target picture enters the detector of detection system 7, by image processing system acquisition in detector target surface coordinate The original miss distance information of target under system with image rotation detects the position of reference laser picture point, with detector target surface from the moment Zero point of reference frame forms vector OP₁, calculate vector OP₀With vector OP₁Angle β.Coordinate spin matrix R is formed by angle β_β, The original miss distance information (γ of premultiplication target_y,γ_z), obtain the image rotation miss distance information (γ that disappears_y1,γ_z1)。

Specific step is as follows:

Step 1: the miss distance for providing the image rotation that is applied to disappear in electro-optical tracking device of the invention according to Fig. 1 and Fig. 2 obtains The schematic layout pattern and telescope (i.e. pitching shafting) and detector coordinates system schematic diagram of the reference laser optical path of method, by small-sized The benchmark source of parallel light 4 that laser 2 and beam collimation mirror 3 form is installed on the front end of electro-optical tracking device, and installation site is such as Shown in Fig. 2；Collimation laser original direction is backed into tracking system by being installed on the pyramid mirror 5 above electro-optical tracking device, such as Shown in Fig. 1.Fig. 1 shows the integral layout of reference laser optical path.Fig. 2 shows the coordinate system of telescope and detector, two A coordinate system all uses right-handed coordinate system.

Step 2: providing telescope of the invention (i.e. pitching shafting) and detector coordinates system schematic diagram according to fig. 2, rotate The motion platform of device systems, such as azimuth axle and pitching shafting make telescope coordinate system and detector coordinates system keep one It causes.The angle in initial adjustment collimation laser source and the system optical axis, makes the picture point of collimation laser be located at 1 position, i.e. detector is sat The dead-center position for marking system, shows that collimated laser beam is consistent with the system optical axis at this time；Adjust collimation laser source and the system optical axis Angle, make the picture point of collimation laser be moved to 2 points or 2 ' point positions.Wherein 2 points and 2 ' points setting in 2/3 visual field of system with Outer position avoids the extraction to target imaging and miss distance from impacting on the one hand far from target picture point, on the other hand remote Vector OP can be improved from detector coordinates zero point O₀With vector OP₁Calculation accuracy.

Step 3: providing telescope of the invention (i.e. pitching shafting) respectively with Fig. 3 according to fig. 2 and detector coordinates system shows The image rotation miss distance coordinate that is intended to and disappears rotation solves schematic diagram, is extracted to demarcate and record to collimate by detector image processing system and be swashed 2 points of light image or 2 ' points position (shown in Fig. 2), the picture point are equal to collimation laser picture point P in Fig. 3₀(y, z), as shown in figure 3, with Detector target surface zero point of reference frame O (0,0) forms vector OP₀.Fig. 3 shows reference laser and mesh on system detector target surface Mark the position miss distance information of picture point.

Step 4: providing the image rotation miss distance coordinate rotation that disappears of the invention according to Fig. 3 solves schematic diagram, when target picture enters System detector obtains the original miss distance information of the target with image rotation under detector target surface coordinate system by image processing system (γ_y,γ_z), the position P of reference laser picture point is detected from the moment₁(y ', z '), with detector target surface zero point of reference frame O shape At vector OP₁。

Step 5: providing the image rotation miss distance coordinate rotation that disappears of the invention according to Fig. 3 solves schematic diagram, by angle formulae β =acos (OP₀,OP₁)=(OP₀·OP₁)/(|OP₀|·|OP₁|) calculate vector OP₀With vector OP₁Angle β.By two vectors Multiplication cross judges that angle β is clockwise or counterclockwise, if vector OP₀In two elements be (y, z), vector OP₁In two elements be (y ', Z '), seeking the cross product of two vectors is OP₀×OP₁=(yz ')-(y ' z).If cross product OP₀×OP₁> 0, indicate that angle β is inverse Hour hands, then coordinate spin matrix is R_β=[cos β, sin β；-sinβ,cosβ].If cross product OP₀×OP₁< 0, indicate that angle β is Clockwise, then coordinate spin matrix is R_β=[cos (- β), sin (- β)；-sin(-β),cos(-β)].

Step 6: providing the image rotation miss distance coordinate rotation that disappears of the invention according to Fig. 3 solves schematic diagram, coordinate spin matrix R_βThe original miss distance information (γ of premultiplication target_y,γ_z) to get to the miss distance information (γ for the image rotation that disappears_y1,γ_z1)=R_β·(γ_y, γ_z)。

Embodiment described above is only limitted to explain that the present invention, protection scope of the present invention should include the whole of claim Content, and the full content of the claims in the present invention can be thus achieved by embodiment person skilled in art.

Claims

1. one kind is applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device characterized by comprising transmitting is a branch of to swash Light is coupled the laser beam after collimation by laser, beam collimation mirror and pyramid mirror in the entrance pupil front end of system as reference light Introduce electro-optical tracking device system；Tracking equipment starts before tracking target, and calibration record reference laser beam is sat in detector target surface Mark the image point position information P fastened₀(y, z) forms vector OP with detector target surface zero point of reference frame O (0,0)₀；Target picture enters System detector obtains the original miss distance information of the target with image rotation under detector target surface coordinate system by image processing system (γ_y,γ_z), the position P of reference laser picture point is detected from the moment₁(y ', z '), with detector target surface zero point of reference frame O shape At vector OP₁, calculate vector OP₀With vector OP₁Angle β；Coordinate spin matrix R is formed by angle β_β, by matrix R_βPremultiplication The original miss distance information (γ of target_y,γ_z), obtain the image rotation miss distance information (γ that disappears_y1,γ_z1)。

2. according to claim 1 be applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device, it is characterised in that: The laser beam of introducing needs to adjust the angle of light beam and the system optical axis according to the visual field ω of device systems, is detecting reference laser Image point position P on device₀(y, z) range finder co-ordinate zero point O (0,0) is greater than 2/3rds visual fields.