阅读说明：本技术 防空导弹飞行监测系统 (Air defense missile flight monitoring system ) 是由 宋祥君 韩宁 耿斌 方乐 刘海涛 郭晓冉 马飒飒 高润冬 康科 孙晶 于 2020-12-25 设计创作，主要内容包括：本发明适用于防空导弹技术领域,公开了一种防空导弹飞行监测系统,包括主站和从站；主站包括第一探测跟踪子系统和第一电子操控子系统；从站包括第二探测跟踪子系统和第二电子操控子系统；第一电子操控子系统分别与第一探测跟踪子系统和第二电子操控子系统连接,第二探测跟踪子系统与第二电子操控子系统连接；第一探测跟踪子用于实时监测目标,获取第一监测信息,并将第一监测信息发送至第一电子操控子系统；第二探测跟踪子系统实时监测目标,获取第二监测信息,并将第二监测信息通过第二电子操控子系统发送至第一电子操控子系统；第一电子操控子系统根据第一监测信息和第二监测信息确定目标的位置。本发明可以提高目标位置监测的准确度。(The invention is suitable for the technical field of air-defense missiles, and discloses an air-defense missile flight monitoring system which comprises a master station and a slave station; the master station comprises a first detection tracking subsystem and a first electronic control subsystem; the slave station comprises a second detection and tracking subsystem and a second electronic control subsystem; the first electronic control subsystem is respectively connected with the first detection tracking subsystem and the second electronic control subsystem, and the second detection tracking subsystem is connected with the second electronic control subsystem; the first detection tracker is used for monitoring a target in real time, acquiring first monitoring information and sending the first monitoring information to the first electronic control subsystem; the second detection tracking subsystem monitors the target in real time, acquires second monitoring information and sends the second monitoring information to the first electronic control subsystem through the second electronic control subsystem; and the first electronic control subsystem determines the position of the target according to the first monitoring information and the second monitoring information. The invention can improve the accuracy of target position monitoring.)

1. An air defense missile flight monitoring system, comprising: a master station and a slave station;

the master station comprises a first detection tracking subsystem and a first electronic control subsystem; the slave station comprises a second detection and tracking subsystem and a second electronic control subsystem;

the first electronic control subsystem is respectively connected with the first detection tracking subsystem and the second electronic control subsystem, and the second detection tracking subsystem is connected with the second electronic control subsystem;

the first detection tracker is used for monitoring a target in real time, acquiring first monitoring information and sending the first monitoring information to the first electronic control subsystem; the second detection tracking subsystem monitors a target in real time, acquires second monitoring information and sends the second monitoring information to the first electronic control subsystem through the second electronic control subsystem;

and the first electronic control subsystem determines the position of a target according to the first monitoring information and the second monitoring information.

2. The air defense missile flight monitoring system of claim 1, wherein the first detection and tracking subsystem comprises a thermal infrared imager, a visible light imager, a signal processor, and a servo module;

the thermal infrared imager and the visible light imager are respectively connected with the signal processor and the first electronic control subsystem, the signal processor is connected with the servo module, and the signal processor and the servo module are both connected with the first electronic control subsystem;

the thermal infrared imager collects first infrared information of the target and sends the first infrared information to the signal processor and the first electronic control subsystem;

the visible light imager collects first visible light information of the target and sends the first visible light information to the signal processor and the first electronic control subsystem;

the signal processor determines an angular deviation signal of the target according to the first infrared information and the first visible light information, and sends the angular deviation signal of the target to the servo module;

the servo module controls the angles of the thermal infrared imager and the visible light imager according to the angular deviation signal of the target, detects first angle information of the target in real time, and sends the first angle information to the first electronic control subsystem;

the first electronic control subsystem displays the first infrared information, the first visible light information and the first angle information in real time;

the first electronic control subsystem receives an external operation instruction and sends the external operation instruction to the servo module through the signal processor, and the servo module controls the angles of the thermal infrared imager and the visible light imager according to the external operation instruction.

3. The air defense missile flight monitoring system of claim 2, the first probe tracking subsystem further comprising a first power source;

the first power supply supplies power to the thermal infrared imager, the visible light imager, the signal processor and the servo module.

4. The air defense missile flight monitoring system of claim 1, wherein the first monitoring information comprises first angle information and the second monitoring information comprises second angle information;

and the first electronic control subsystem determines the position of a target according to the first angle information and the second angle information.

5. The air defense missile flight monitoring system of claim 4, wherein the first angle information comprises a first azimuth angle and a first pitch angle and the second angle information comprises a second azimuth angle and a second pitch angle;

the first electronic control subsystem determines the position of the target according to the first angle information and the second angle information, and the method comprises the following steps:

the first electronic control subsystem respectively establishes a first coordinate system by taking the position of the master station as an origin and a second coordinate system by taking the slave station as the origin, and the first coordinate system and the second coordinate system are parallel coordinate systems;

coordinates (x) of the object in the first coordinate system_Tb1，y_Tb1，z_Tb1) Comprises the following steps:

coordinates (x) of the target in the second coordinate system_Tb2，y_Tb2，z_Tb2) Comprises the following steps:

and there is:

the first electronic control subsystem calculates the coordinates of the target in the first coordinate system according to the formula;

wherein R is₁Is a first parameter to be solved; r₂Is the second parameter to be solved; the coordinates of the slave station in the first coordinate system are (x1, 0, z 1); a. the₁Is the actual azimuth of the master station; a. the₂Is the actual orientation of the slave stationAn angle; e₁Is the actual pitch angle of the master station; e₂Is the actual pitch angle of the slave station; a. the₁₁Is the first azimuth angle; a. the₂₁Is the second azimuth; e₁₁Is the first pitch angle; e₂₁Is the second pitch angle; a. the₁₂Is the azimuth deviation angle of the target from the center of the field of view of the master station; a. the₂₂An azimuth deviation angle of the target from the center of the field of view of the secondary station; e₁₂A pitch deviation angle of the target from a center of a field of view of the master station; e₂₂Is the angle of the elevation deviation of the target from the centre of the field of view of the slave station.

6. The air defense missile flight monitoring system of claim 1, the first electronic steering subsystem further configured to calculate the centroid coordinates of the target according to a sub-pel centroid calculation method.

7. The air-defense missile flight monitoring system of claim 6, wherein the first electronic steering subsystem is further configured to calculate the centroid coordinates of the target according to a sub-pel centroid calculation method, comprising:

the first electronic control subsystem windows according to the target size counted in the target identification stage, and calculates the sub-pixel position of the target in the image plane by using a centroid algorithm, wherein the calculation formula is as follows:

wherein the centroid coordinate of the target is (x)_c，y_c)；C_mFor the column sum signal values of the M x N sub-array,C_icolumn sum signal values for the leftmost column of the M x N sub-array; r_nFor the row and signal values of the M x N sub-array,R_jthe uppermost row of M x N subarrays and the signal value; g_mnGray signal values output for the picture elements; b is the average gray value of the background; m × N is the size of the window.

8. The air defense missile flight monitoring system of any one of claims 1 to 7, wherein when the target is a missile, the first electronic steering subsystem obtains the position of the missile; when the target is a drone, the first electronic control subsystem obtains the position of the drone;

and the first electronic control subsystem calculates the shot-to-eye distance according to the position of the missile and the position of the target drone, and takes the minimum value of the shot-to-eye distance as the miss distance.

9. The air defense missile flight monitoring system of any one of claims 1 to 7, wherein the first electronic control subsystem comprises a main control computer, a display control station, a communication module and a time system module;

the display control console, the communication module and the time system module are all connected with the main control computer, and the main control computer is also connected with the first detection tracking subsystem;

the display control console displays the first monitoring information and the second monitoring information, receives an external operation instruction, and sends the external operation instruction to the main control computer;

the main control computer sends the external operation instruction to the first detection tracking subsystem, and the main control computer also determines the position of a target according to the first monitoring information and the second monitoring information;

the main control computer is communicated with the second electronic control subsystem through the communication module;

the time system module is used for keeping time synchronization with the slave station.

10. The air defense missile flight monitoring system of claim 9, the first electronic steering subsystem further comprising a laser rangefinder and a second power source;

the laser range finder is used for measuring the distance between the master station and the slave station and sending the distance between the master station and the slave station to the master control computer;

the second power supply is used for supplying power to the main control computer, the display control console, the communication module, the timing module and the laser range finder.

Technical Field

The invention belongs to the technical field of air-defense missiles, and particularly relates to an air-defense missile flight monitoring system.

Background

The air-defense missile flight monitoring system can monitor the air-defense missile in real time, can monitor the dynamic state of the air-defense missile in real time, confirms the flight track of the air-defense missile, and monitors whether the air-defense missile flies at a preset trajectory or not.

In the prior art, an air defense missile flight monitoring system generally uses a station to monitor the real-time position of a missile, and the accuracy is low.

Disclosure of Invention

In view of this, the embodiment of the invention provides an air defense missile flight monitoring system, so as to solve the problem that in the prior art, a station is usually used for monitoring the real-time position of a missile, and the accuracy is low.

The embodiment of the invention provides an air defense missile flight monitoring system, which comprises: a master station and a slave station;

the master station comprises a first detection tracking subsystem and a first electronic control subsystem; the slave station comprises a second detection and tracking subsystem and a second electronic control subsystem;

the first electronic control subsystem is respectively connected with the first detection tracking subsystem and the second electronic control subsystem, and the second detection tracking subsystem is connected with the second electronic control subsystem;

the first detection tracker is used for monitoring a target in real time, acquiring first monitoring information and sending the first monitoring information to the first electronic control subsystem; the second detection tracking subsystem monitors the target in real time, acquires second monitoring information and sends the second monitoring information to the first electronic control subsystem through the second electronic control subsystem;

and the first electronic control subsystem determines the position of the target according to the first monitoring information and the second monitoring information.

Compared with the prior art, the embodiment of the invention has the following beneficial effects: the air-defense missile flight monitoring system provided by the embodiment of the invention comprises the master station and the slave station, the target is monitored by the master station and the slave station at the same time, and the position of the target is determined by the first monitoring information and the second monitoring information, so that the accuracy of monitoring the position of the target can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of an air defense missile flight monitoring system provided by an embodiment of the invention;

FIG. 2 is a schematic structural diagram of an air defense missile flight monitoring system provided by another embodiment of the invention;

fig. 3 is a schematic gray scale diagram of a spherical object imaged on an image plane and subtracted by a background according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

Fig. 1 is a schematic flow chart of an implementation of an air defense missile flight monitoring system according to an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown.

As shown in fig. 1, the air defense missile flight monitoring system may include: a master station 10 and a slave station 20;

the master station 10 comprises a first detection and tracking subsystem 11 and a first electronic control subsystem 12; the slave station 20 comprises a second probe tracking subsystem 21 and a second electronic steering subsystem 22;

the first electronic control subsystem 12 is respectively connected with the first detection tracking subsystem 11 and the second electronic control subsystem 22, and the second detection tracking subsystem 21 is connected with the second electronic control subsystem 22;

the first detection tracker is used for monitoring a target in real time, acquiring first monitoring information and sending the first monitoring information to the first electronic control subsystem 12; the second detection tracking subsystem 21 monitors the target in real time, acquires second monitoring information, and sends the second monitoring information to the first electronic control subsystem 12 through the second electronic control subsystem 22;

the first electronic control subsystem 12 determines the position of the target according to the first monitoring information and the second monitoring information.

Alternatively, the master station 10 and the slave station 20 are not only in a security zone in front of the transmission zone side; when the distance between the station and the junction is 6-10 kilometers, the distance between the master station 10 and the slave station 20 is not less than 2.5 kilometers; when the station is no more than 6 km from the junction, the distance between the master station 10 and the slave station 20 is no less than 2 km.

The first probe tracking subsystem 11 is identical in structure to the second probe tracking subsystem 21, and the first electronic steering subsystem 12 is identical in structure to the second electronic steering subsystem 22. The slave station 20 transmits the monitoring information to the master station 10, and the master station 10 calculates the target position. Alternatively, in special cases, the target position may be calculated by the slave station 20.

The air-defense missile flight monitoring system provided by the embodiment of the invention comprises the master station 10 and the slave station 20, the target is monitored by the master station 10 and the slave station 20 at the same time, and the position of the target is determined by the first monitoring information and the second monitoring information, so that the accuracy of the position of the target can be improved.

In one embodiment of the present invention, referring to fig. 2, the first detection and tracking subsystem 11 includes a thermal infrared imager 111, a visible light imager 112, a signal processor 113 and a servo module 114;

the thermal infrared imager 111 and the visible light imager 112 are respectively connected with the signal processor 113 and the first electronic control subsystem 12, the signal processor 113 is connected with the servo module 114, and the signal processor 113 and the servo module 114 are both connected with the first electronic control subsystem 12;

the thermal infrared imager 111 collects first infrared information of the target and sends the first infrared information to the signal processor 113 and the first electronic control subsystem 12;

the visible light imager 112 collects first visible light information of the target and sends the first visible light information to the signal processor 113 and the first electronic control subsystem 12;

the signal processor 113 determines an angular deviation signal of the target according to the first infrared information and the first visible light information, and sends the angular deviation signal of the target to the servo module 114;

the servo module 114 controls the angles of the thermal infrared imager 111 and the visible light imager 112 according to the angular deviation signal of the target, detects first angle information of the target in real time, and sends the first angle information to the first electronic control subsystem 12;

the first electronic control subsystem 12 displays first infrared information, first visible light information and first angle information in real time;

the first electronic manipulation subsystem 12 receives an external operation instruction, and sends the external operation instruction to the servo module 114 through the signal processor 113, and the servo module 114 controls the angles of the thermal infrared imager 111 and the visible light imager 112 according to the external operation instruction.

The first infrared information can comprise an infrared image and/or an infrared video; the first visible light information may include a visible light image and/or a visible light video.

The thermal infrared imager 111 has the characteristics of large field of view and stable detection and tracking, so that the detection output data of the thermal infrared imager is used for controlling a servo system to perform closed-loop tracking. The target detection is carried out by adopting a self-adaptive threshold value, the ejection part is tracked before the missile leaves the barrel, and after the missile is ejected out of the barrel, due to the fact that the temperature of the tail flame of the missile is higher, the tracking point can be automatically switched to the tail flame part of the missile through an algorithm, and the missile is stably tracked.

Taking a red tassel missile as an example, the missile speed of the missile before 1.6s exits the barrel is about 30m/s, the field of view of the thermal infrared imager 111 is 4.5 degrees multiplied by 3.4 degrees, when the distance between the measuring station and the launching point is 1.5km, the observable range of the thermal infrared imager 111 is 120 multiplied by 90m, and the missile can exist in the field of view for more than 2 s. Under the condition that a target signal is strong (the signal-to-noise ratio is greater than 5), the signal processing software can capture a target within 5 frames generally, and the time for capturing the target by the thermal infrared imager 111 at 50Hz is within 0.1 s. Therefore, the designed station arrangement distance and the size of the view field can meet the requirement of stable capture.

The infrared imager has the characteristics of strong weather adaptability and stable detection and tracking, so that the servo system can be controlled by adopting angle measurement data of an infrared system to form a closed loop; the visible light imager 112 has high resolution and high measurement accuracy, and thus can be used for high-accuracy off-target measurement.

The infrared imager can be a non-refrigeration thermal infrared imager, the non-refrigeration thermal infrared imager can finish the acquisition, imaging and processing of background and target infrared radiation, and output a digital image of a scene for the signal processor 113 to detect and track the target; and meanwhile, a standard analog video is output for an operator to observe.

The thermal infrared imager 111 adopts staring focal plane array imaging, and the working principle is as follows: the infrared radiation of the background and the target is converged by an infrared optical system and focused on an infrared detector; the detector completes photoelectric conversion of scene radiation; then, the signal is amplified by an amplifier, the direct current component is subtracted by a background subtraction circuit, and analog-to-digital conversion is carried out by A/D to become a digital signal; the image processing circuit completes non-uniformity correction and video synthesis, and standard video signals are output externally for subsequent processing such as imaging display or signal detection.

The visible light imager 112 uses a high-definition camera, and improves the measurement accuracy of the miss distance by using the high resolution of the visible light camera. During quantitative measurement, the optical system adopts a fixed focal length (500mm) to avoid introducing errors.

The signal processor 113 processes the image output signals of the thermal infrared imager 111 and/or the visible light imager 112 in real time, and performs automatic target detection and tracking, or detects and tracks a target in a specified area in a human-in-loop mode; under the condition of the background of objects or the background of the sky in the field of view and photoelectric interference, the target in the field of view can be intercepted and stably tracked, and meanwhile, a target angular deviation signal is output.

The load of the servo module 114 is an uncooled thermal infrared imager and a visible light imager 112, and the main functions performed by the servo module 114 are as follows:

presetting/guiding the load to a specified direction under the control of an electronic control system within a specified time and meeting a specified precision requirement; and closing the information processor, and driving the load to finish accurate tracking of the target.

Alternatively, the servo module 114 may include a servo controller, an azimuth drive motor, a pitch drive motor, an azimuth follow frame, a pitch follow frame, an azimuth position sensor, and a pitch position sensor.

The servo controller generates a driving signal according to the angular deviation signal and sends the driving signal value to the azimuth driving motor and the pitch driving motor; the azimuth driving motor drives the azimuth follow-up frame, and the pitching driving motor drives the pitching follow-up frame; the azimuth follow-up frame is connected with an azimuth position sensor, and the azimuth position sensor is used for measuring an azimuth and sending the measured azimuth to the first electronic control subsystem 12; the pitch follow-up frame is connected to a pitch position sensor for measuring the pitch angle and sending the measured pitch angle to the first electronic steering subsystem 12. The orientation follow-up frame and the pitch follow-up frame can also drive the thermal infrared imager 111 and the visible light imager 112 to move.

The first detection tracking subsystem 11 can automatically complete the closed-loop tracking of the target, and the tracking process is as follows: imaging the target by the thermal infrared imager 111 and/or the visible light imager 112 to obtain image data; the image data is processed by the signal processor 113, and the image data is used to determine the target and obtain the angular offset (i.e., angular deviation signal) of the target; the angular offset of the target is amplified through a power amplifier combination and then drives a servo mechanism; the servo mechanism servo framework drives the imaging system to enable the target visual axis to coincide with the imaging system visual axis, and the target image returns to the center of the image, so that the automatic tracking of the target is completed.

In one embodiment of the present invention, the first probe tracking subsystem 11 further comprises a first power supply;

the first power supply supplies power to the thermal infrared imager 111, the visible light imager 112, the signal processor 113 and the servo module 114.

Optionally, the first power supply is a secondary power supply.

In one embodiment of the present invention, the first monitoring information includes first angle information, and the second monitoring information includes second angle information;

the first electronic steering subsystem 12 determines the position of the target based on the first angular information and the second angular information.

In one embodiment of the invention, the first angle information comprises a first azimuth angle and a first pitch angle, and the second angle information comprises a second azimuth angle and a second pitch angle;

the first electronic steering subsystem 12 determines the position of the target based on the first angle information and the second angle information, including:

the first electronic control subsystem 12 respectively establishes a first coordinate system by taking the position of the master station 10 as an origin and a second coordinate system by taking the slave station 20 as the origin, wherein the first coordinate system and the second coordinate system are parallel coordinate systems;

coordinates (x) of the object in a first coordinate system_Tb1，y_Tb1，z_Tb1) Comprises the following steps:

coordinates (x) of the object in a second coordinate system_Tb2，yTb2，z_Tb2) Comprises the following steps:

and there is:

the first electronic control subsystem 12 calculates the coordinates of the target in the first coordinate system according to the formula;

wherein R is₁Is a first parameter to be solved; r₂Is the second parameter to be solved; the coordinates of the slave station 20 in the first coordinate system are (x1, 0, z 1); a. the₁Is the actual azimuth of the master station 10; a. the₂Is the actual azimuth of the slave station 20; e₁Is the actual pitch angle of the master station 10; e₂Is the actual pitch angle of the slave station 20; a. the₁₁Is a first azimuth angle; a. the₂₁Is the second azimuth; e₁₁Is a first pitch angle; e₂₁A second pitch angle; a. the₁₂Is the azimuth deviation angle of the target from the center of the field of view of the master station 10; a. the₂₂Is the azimuth deviation angle of the target from the centre of the field of view of the slave station 20; e₁₂Is the angle of pitch deviation of the target from the centre of the field of view of the master station 10; e₂₂Is the angle of pitch deviation of the target from the centre of the field of view of the slave 20.

The first coordinate system is a dextrorotation coordinate system which is established by taking the position of the master station 10 as an origin, taking a projection of a connecting line between the master station 10 and the slave station 20 in the horizontal direction as an X axis, and taking a vertical horizontal plane upwards as a Y axis. The distance between the master station 10 and the slave station 20 is x 1. The second coordinate system is a coordinate system parallel to the first coordinate system, which is established with the position of the slave station 20 as the origin.

Specifically, R can be solved by the above formula₁And R₂And then the coordinates of the target can be calculated according to a coordinate calculation formula.

In one embodiment of the present invention, the first electronic steering subsystem 12 is further configured to calculate the centroid coordinates of the target according to a subpixel centroid calculation method.

In one embodiment of the present invention, the first electronic steering subsystem 12 is further configured to calculate centroid coordinates of the target according to a subpixel centroid calculation method, comprising:

the first electronic control subsystem 12 windows according to the target size counted in the target identification stage, and calculates the sub-pixel position of the target in the image plane by using the centroid algorithm, wherein the calculation formula is as follows:

wherein the centroid coordinate of the target is (x)_c，y_c)；C_mFor the column sum signal values of the M x N sub-array,C_icolumn sum signal values for the leftmost column of the M x N sub-array; r_nFor the row and signal values of the M x N sub-array,R_jthe uppermost row of M x N subarrays and the signal value; g_mnGray signal values output for the picture elements; b is a background average gray value which is obtained by statistics in a target identification stage; m × N is the size of the window.

When the target is tracked, the tracking point is deviated, generally, the main tracking point is at the tail flame part of an engine or a missile of a target drone, and the tracking point is corrected to the target mass center position through a fitting method during post-processing so as to improve the measurement accuracy.

By adopting a centroid weighting algorithm, the target detection result can reach a sub-pixel level, so that the measurement precision can be effectively improved.

Taking a spherical target as an example, assuming that the gray scale of the spherical target imaged on an image plane and subtracted by a background is shown in fig. 3, the centroid coordinates of the target can be calculated to be (2.1, 1.9) by using the sub-pixel centroid calculation method, and thus it can be seen that the pixel resolution can be guaranteed to be improved by 3 times by using the sub-pixel centroid algorithm.

In one embodiment of the invention, when the target is a missile, the first electronic steering subsystem 12 obtains the position of the missile; when the target is a drone, the first electronic control subsystem 12 obtains the position of the drone;

the first electronic control subsystem 12 calculates the shot-to-eye distance according to the position of the missile and the position of the target drone, and takes the minimum value of the shot-to-eye distance as the miss distance.

Suppose the position of the missile is (x)_Db1,y_Db1,z_Db1) The position of the target drone is (x)_Tb1,y_Tb1,z_Tb1) The distance between the eyes isd is a time function, and the minimum value near the crossing time is taken as the miss distance.

In one embodiment of the present invention, referring to fig. 2, the first electronic control subsystem 12 includes a host computer 121, a display console 122, a communication module 123 and a timing module 124;

the display control console 122, the communication module 123 and the timing module 124 are all connected with the main control computer 121, and the main control computer 121 is also connected with the first detection tracking subsystem 11;

the display and control console 122 displays the first monitoring information and the second monitoring information, receives an external operation instruction, and sends the external operation instruction to the host computer 121;

the main control computer 121 sends the external operation instruction to the first detection tracking subsystem 11, and the main control computer 121 determines the position of the target according to the first monitoring information and the second monitoring information;

the main control computer 121 communicates with the second electronic control subsystem 22 through a communication module 123;

the timing module 124 is used to maintain time synchronization with the slave station 20.

The electronic control system completes human-computer operation interaction, including motion control of the detection tracking system, data information acquisition, processing, display and the like of the detection tracking system and external equipment, and has the characteristics of high integration level, small volume and light weight. The main functions are as follows:

a. the control of the azimuth and the pitching motion of the detection tracking system is realized through the control lever;

b. the functions of zooming, focusing, tracking and the like are completed through function keys on an operation panel of the display console 122:

c. the functions of interface switching, image storage, image playback, etc. are accomplished through the peripheral keys of the main display of the display console 122.

d. The high-definition visible light video and standard-definition infrared video signals can be displayed, stored and played back;

e. the current interface can be stored by screen capture, the image format is stored, and the current system state parameter data is recorded for later analysis and processing.

f. The state parameter information of the detection tracking system can be displayed;

g. and calculating the miss distance and estimating and displaying the target track.

Optionally, the master station 10 and the slave station 20 are synchronized by a big dipper timing system, receive a big dipper timing signal, an IRIG-b (dc) code timing signal, demodulate accurate time data, and provide a high-precision time synchronization signal to the measurement station by using a high-performance time service module.

The communication module 123 is a wireless data transmission module, and the flexibility of station arrangement can be greatly improved through wireless transmission.

In order to prevent electromagnetic interference, the following measures can be taken for wireless data transmission:

1) a specific wave band selected for transmission is not overlapped with other wireless equipment, so that interference and interfered can be effectively prevented;

2) the directional antenna is adopted, and is aligned to a specific direction when in use, so that the interference to other directions can be effectively reduced;

3) the transmitting power is adjustable, and corresponding gears are selected according to the actual station distribution distance, so that mutual interference is reduced as much as possible.

In one embodiment of the present invention, the first electronic steering subsystem 12 further comprises a laser rangefinder and a second power supply;

the laser range finder is used for measuring the distance between the master station 10 and the slave station 20 and sending the distance between the master station 10 and the slave station 20 to the master control computer 121;

the second power supply is used for supplying power to the main control computer 121, the display control console 122, the communication module 123, the timing module 124 and the laser range finder.

The portable laser rangefinder may be used to accomplish site targeting. The second power supply may employ AC 220V/50Hz or DC 24V. The power of the AC/DC module is not less than 300W.

The workflow of flight monitoring may be as follows:

a) station arrangement: the master station 10 and the slave stations 20 are distributed in a secure area on both sides of the transmission site. To ensure accuracy, the angle between the two stations and the target should be no less than 30 ° (90 ° is the best). After the equipment is in place, the hard ground is selected, the tripod is supported, and the height of the support legs is adjusted to enable the installation surface to be approximately horizontal. The detection tracking mechanism is arranged on the mounting surface of the tripod, the leveling handle is adjusted, the bubble is observed, and the handle is locked when the bubble is level. Then the portable packing box with the electronic control system is opened, and the work can be carried out after the corresponding cables are connected.

b) Starting: starting a power supply of the measuring station, checking the working state of each combination, and electrifying the measuring station;

c) calibration: and establishing a relative coordinate system by adopting a method of double-station mutual aiming and distance measurement of a laser distance measuring machine.

Due to the relatively close distance, the influence of the curvature of the earth is neglected. In the dual-station cross-pointing mode, the angle at which the master station 10 is aligned with the slave station 20 is its azimuth zero point, and the angle at which the slave station 20 is aligned with the master station 10 is its azimuth 180 °. The distance between the two stations is measured by a laser distance measuring machine, when measuring the distance, the target plate needs to be placed on the secondary station 20, and the distance can be measured after the laser beam irradiates on the target plate and reflects. And binding the measured parameters into the electronic control system. By the time this device deployment is complete, approximately 10 minutes per 2 people. When the electronic equipment cabinet is removed, the operation is reversed, the power is cut off, the line is pulled out, the detection tracking mechanism is detached and arranged in the packaging box, and the auxiliary equipment is collected into the portable box of the electronic equipment cabinet. Approximately withdrawal time 5 minutes/2 persons.

d) Presetting: guiding the visual axis of the detection tracking mechanism to a (automatic or manual) missile launching position, and setting the system state in an automatic detection state;

e) target detection and closed-loop tracking: missile launching, obvious infrared target characteristics, automatic detection of the system, rapid target locking and automatic tracking. The visible light has the characteristics of high resolution and high precision, so that the detection output data of the visible light is used for carrying out target positioning, off-target measurement and the like.

f) Target angular position calculation: calculating target angular position information according to the angular position sensor of the servo module 114 and the target angular deviation signal, recording the target angular position information together with the acquisition time scale, and transmitting the target angular position information to the master station 10 through wireless transmission;

g) calculating ballistic and miss distance: the master station 10 compares target data acquired by the two stations, calculates the trajectory position and the miss distance in real time through a double-station intersection calculation algorithm, and displays the trajectory position and the miss distance on a display screen;

h) and (3) post-processing: and deeply analyzing the recorded test data to obtain a more accurate result.

It is clearly understood by those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the foregoing functions may be distributed to different functional units and modules as needed, that is, the internal structure of the air defense missile flight monitoring system is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed air defense missile flight monitoring system and method can be implemented in other ways. For example, the above-described embodiments of the air defense missile flight monitoring system are merely illustrative, for example, the division of the modules or units is only one logical function division, and other division manners may be available in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.