阅读说明：本技术 一种基于光电跟踪的低空慢小目标监测方法及系统 (Low-altitude slow small target monitoring method and system based on photoelectric tracking ) 是由 张波 鲍剑飞 杜雷 于 2020-12-25 设计创作，主要内容包括：本发明提出的一种基于光电跟踪的低空慢小目标监测方法及系统,包括：低空慢小目标进入雷达监控区域后,通过雷达数据上报或光电巡航方式,引导光电设备跟踪低空慢小目标；通过光电设备识别低空慢小目标,并完成目标的跟踪锁定；根据光电设备的视场和实时采集的目标尺寸,使用第一预设算法计算出光电设备到低空慢小目标的距离,作为目标距离；根据当前的目标距离和光电设备的方位信息,使用第二预设算法计算得出低空慢小目标的GPS位置数据。本发明能够实现低空慢小目标GPS位置计算,实时进行低空慢小目标的位置监测。(The invention provides a low-altitude slow small target monitoring method and system based on photoelectric tracking, which comprises the following steps: after the low-altitude slow small target enters a radar monitoring area, guiding the photoelectric equipment to track the low-altitude slow small target in a radar data reporting or photoelectric cruising mode; identifying a low-altitude slow small target through photoelectric equipment, and completing tracking and locking of the target; calculating the distance from the photoelectric equipment to a low-altitude slow small target by using a first preset algorithm according to the field of view of the photoelectric equipment and the size of the target acquired in real time, and taking the distance as a target distance; and calculating the GPS position data of the low-altitude slow small target by using a second preset algorithm according to the current target distance and the azimuth information of the photoelectric equipment. The invention can realize the low-altitude slow small target GPS position calculation and carry out the position monitoring of the low-altitude slow small target in real time.)

1. A low-altitude slow small target monitoring method based on photoelectric tracking is characterized by comprising the following steps:

s1: after the low-altitude slow small target enters a radar monitoring area, guiding the photoelectric equipment to track the low-altitude slow small target in a radar data reporting or photoelectric cruising mode;

s2: identifying a low-altitude slow small target through photoelectric equipment, and completing tracking and locking of the target;

s3: calculating the distance from the photoelectric equipment to a low-altitude slow small target by using a first preset algorithm according to the field of view of the photoelectric equipment and the size of the target acquired in real time, and taking the distance as a target distance;

s4: and calculating the GPS position data of the low-altitude slow small target by using a second preset algorithm according to the current target distance and the azimuth information of the photoelectric equipment.

2. The method for monitoring the slow small target in the low altitude based on the photoelectric tracking as claimed in claim 1, wherein the step S1 includes:

under a built-in guiding mode, the radar calculates the azimuth and elevation data of a low-altitude slow small target relative to the photoelectric equipment by utilizing the longitude and latitude height of the photoelectric equipment and the longitude and latitude height information of a target reported by the radar, and then controls the photoelectric equipment to face the target for analysis;

the photoelectric equipment monitors a specific area according to a set cruise rule in a built-in photoelectric cruise mode.

3. The method for monitoring the slow small target in the low altitude based on the photoelectric tracking as claimed in claim 1, wherein the step S2 includes:

analyzing whether a low-altitude slow small target exists in a visual field of the photoelectric equipment or not by using an image recognition algorithm based on deep learning, and if so, starting a tracking function of the photoelectric equipment to track and lock the target; if not, the next batch of radar data begins to be processed.

4. The method for monitoring the slow small target in the low altitude based on the photoelectric tracking as claimed in claim 1, wherein the step S3 includes:

reading the width B of the low-altitude slow small target, the pixel width B of the low-altitude slow small target in the current tracking video, the field angle alpha of the current photoelectric equipment and the video width B by the photoelectric equipment₀；

Calculating the distance from the photoelectric equipment to the low-altitude slow small target according to the following formula to obtain a target distance D:

D＝B/(b*α/B₀*PI/180)。

5. the method for monitoring the slow small target in the low altitude based on the photoelectric tracking as claimed in claim 1, wherein the step S4 includes:

according to the longitude, latitude, altitude and azimuth information of the current photoelectric equipment and the target distance D, the following formula is applied to calculate the GPS position of the slow small target in low altitude in real time:

J＝J₀+(D*sin(β*PI/180))/(111.199*cos(W₀*PI/180))

W＝W₀+(D*cos(D*PI/180))/111.199

H＝H₀+h

wherein J is longitude value of low altitude slow small target, J₀Is the longitude value of the photoelectric device, beta is the photoelectric azimuth angle, W₀Is the latitude value of the photoelectric equipment, W is the latitude value of the low-altitude slow small target, W₀The latitude value of the photoelectric equipment is obtained; h is the height value of the low altitude slow small target, H₀The height value of the photoelectric equipment and h is the relative height value of the low-altitude slow small target and the photoelectric equipment.

6. The method for monitoring the slow small target in the low altitude based on the photoelectric tracking as claimed in claim 1, wherein the step S4 is followed by further comprising: and judging whether the low-altitude slow small target enters a preset protection area or not according to the GPS position data of the low-altitude slow small target, and starting preset countering equipment if the low-altitude slow small target enters the preset protection area.

7. A low-altitude slow small target monitoring system based on photoelectric tracking is characterized by comprising:

the target identification unit is used for identifying whether the low-altitude slow small target enters a radar monitoring area or not, and if so, guiding the photoelectric equipment to track the low-altitude slow small target in a radar data reporting or photoelectric cruising mode;

the target tracking unit is used for identifying a low-altitude slow small target through photoelectric equipment and completing tracking and locking of the target; the distance calculation unit is used for calculating the distance from the photoelectric equipment to a low-altitude slow small target as a target distance by using a first preset algorithm according to the field of view of the photoelectric equipment and the size of the target acquired in real time;

and the position data calculation unit is used for calculating the GPS position data of the low-altitude slow small target by using a second preset algorithm according to the current target distance and the azimuth information of the photoelectric equipment.

8. The low-altitude slow small-target monitoring system based on photoelectric tracking according to claim 7,

further comprising:

and the reverse control unit is used for judging whether the low-altitude slow small target enters a preset protection area or not according to the GPS position data of the low-altitude slow small target, and starting preset reverse control equipment if the low-altitude slow small target enters the preset protection area.

Technical Field

The invention relates to the technical field of photoelectricity, in particular to a low-altitude slow small target monitoring method and system based on photoelectric tracking.

Background

In recent years, the low-altitude slow-small unmanned aircraft has been rapidly developed due to the characteristics of easy acquisition, hidden use, sudden lift-off and difficult disposal. However, such aircrafts are often used by lawless persons, and the society brings great security threats.

Most of the systems for countering low-altitude slow small targets in the market at present determine the position and track of the target through radar detection, and further process the invaded target. However, when a low-altitude slow small target enters a radar blind area or other reasons, the system cannot monitor the flight dynamics of the target in real time after the radar target is lost, and the invading target is likely to cause great harm in the detection blank period. Therefore, when radar data does not exist, how to realize low-altitude slow small-target GPS position monitoring is an urgent problem to be solved.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a method and a system for monitoring a low altitude slow small target based on photoelectric tracking, which can realize GPS position calculation of the low altitude slow small target and perform position monitoring of the low altitude slow small target in real time.

In order to achieve the purpose, the invention is realized by the following technical scheme: a low-altitude slow small target monitoring method based on photoelectric tracking comprises the following steps:

s1: after the low-altitude slow small target enters a radar monitoring area, guiding the photoelectric equipment to track the low-altitude slow small target in a radar data reporting or photoelectric cruising mode;

s2: identifying a low-altitude slow small target through photoelectric equipment, and completing tracking and locking of the target;

s3: calculating the distance from the photoelectric equipment to a low-altitude slow small target by using a first preset algorithm according to the field of view of the photoelectric equipment and the size of the target acquired in real time, and taking the distance as a target distance;

s4: and calculating the GPS position data of the low-altitude slow small target by using a second preset algorithm according to the current target distance and the azimuth information of the photoelectric equipment.

Further, the step S1 includes:

under a built-in guiding mode, the radar calculates the azimuth and elevation data of a low-altitude slow small target relative to the photoelectric equipment by utilizing the longitude and latitude height of the photoelectric equipment and the longitude and latitude height information of a target reported by the radar, and then controls the photoelectric equipment to face the target for analysis;

the photoelectric equipment monitors a specific area according to a set cruise rule in a built-in photoelectric cruise mode.

Further, the step S2 includes:

analyzing whether a low-altitude slow small target exists in a visual field of the photoelectric equipment or not by using an image recognition algorithm based on deep learning, and if so, starting a tracking function of the photoelectric equipment to track and lock the target; if not, the next batch of radar data begins to be processed.

Further, the step S3 includes:

reading the width B of the low-altitude slow small target, the pixel width B of the low-altitude slow small target in the current tracking video, the field angle alpha of the current photoelectric equipment and the video width B by the photoelectric equipment₀；

Calculating the distance from the photoelectric equipment to the low-altitude slow small target according to the following formula to obtain a target distance D:

D＝B/(b*α/B₀*PI/180)。

further, the step S4 includes:

according to the longitude, latitude, altitude and azimuth information of the current photoelectric equipment and the target distance D, the following formula is applied to calculate the GPS position of the slow small target in low altitude in real time:

J＝J₀+(D*sin(β*PI/180))/(111.199*cos(W₀*PI/180))

W＝W₀+(D*cos(D*PI/180))/111.199

H＝H₀+h

wherein J is longitude value of low altitude slow small target, J₀Is the longitude value of the photoelectric device, beta is the photoelectric azimuth angle, W₀Is the latitude value of the photoelectric equipment, W is the latitude value of the low-altitude slow small target, W₀The latitude value of the photoelectric equipment is obtained; h is the height value of the low altitude slow small target, H₀The height value of the photoelectric equipment and h is the relative height value of the low-altitude slow small target and the photoelectric equipment.

Further, the step S4 is followed by: and judging whether the low-altitude slow small target enters a preset protection area or not according to the GPS position data of the low-altitude slow small target, and starting preset countering equipment if the low-altitude slow small target enters the preset protection area.

Correspondingly, the invention also discloses a low-altitude slow small target monitoring system based on photoelectric tracking, which comprises:

the target identification unit is used for identifying whether the low-altitude slow small target enters a radar monitoring area or not, and if so, guiding the photoelectric equipment to track the low-altitude slow small target in a radar data reporting or photoelectric cruising mode;

the target tracking unit is used for identifying a low-altitude slow small target through photoelectric equipment and completing tracking and locking of the target; the distance calculation unit is used for calculating the distance from the photoelectric equipment to a low-altitude slow small target as a target distance by using a first preset algorithm according to the field of view of the photoelectric equipment and the size of the target acquired in real time;

and the position data calculation unit is used for calculating the GPS position data of the low-altitude slow small target by using a second preset algorithm according to the current target distance and the azimuth information of the photoelectric equipment.

Further, still include:

and the reverse control unit is used for judging whether the low-altitude slow small target enters a preset protection area or not according to the GPS position data of the low-altitude slow small target, and starting preset reverse control equipment if the low-altitude slow small target enters the preset protection area.

Compared with the prior art, the invention has the beneficial effects that: the invention provides a low-altitude slow small target monitoring method and system based on photoelectric tracking. When the low-altitude slow small target enters a radar blind area or the radar loses the target due to other reasons, the GPS position of the current low-altitude slow small target can be reversely deduced according to the relevant calculation relation through the information such as the pixel size of the target in the tracking video, the actual size of the target and the like, so that the target can be continuously monitored.

The invention can control the photoelectric equipment to conduct guidance control through two modes of radar data and automatic cruising, and can calculate the position of the target GPS in real time after identifying and tracking the target. When the radar continuously pushes the target position, whether the target invades the protected area can be analyzed only according to the radar data. Under the condition that the radar loses the target, the GPS position of the invading target can be calculated through the method, and after the invading target enters the protected area, the counter-braking equipment is started in real time to carry out counter-braking.

Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a flow chart of the method of the present invention.

Fig. 2 is a system block diagram of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1, a low-altitude slow small-target monitoring method based on photoelectric tracking includes the following steps:

s1: after the low-altitude slow small target enters a radar monitoring area, the photoelectric equipment is guided to track the low-altitude slow small target in a radar data reporting or photoelectric cruising mode.

Firstly, under a built-in guiding mode, the radar calculates the azimuth and elevation data of a low-altitude slow small target relative to the photoelectric equipment by utilizing the longitude and latitude height of the photoelectric equipment and the longitude and latitude height information of the target reported by the radar, and then controls the photoelectric equipment to face the target for analysis. Then, the photoelectric device monitors the specific area according to the set cruise rule in the built-in photoelectric cruise mode.

S2: and identifying the slow small target at low altitude through the photoelectric equipment, and completing the tracking and locking of the target.

Specifically, the method comprises the following steps: analyzing whether a low-altitude slow small target exists in a visual field of the photoelectric equipment or not by using an image recognition algorithm based on deep learning, and if so, starting a tracking function of the photoelectric equipment to track and lock the target; if not, the next batch of radar data begins to be processed.

S3: and calculating the distance from the photoelectric equipment to the low-altitude slow small target by using a first preset algorithm according to the field of view of the photoelectric equipment and the size of the target acquired in real time, wherein the distance is used as the target distance.

Firstly, reading the width B of the low-altitude slow small target, the pixel width B of the low-altitude slow small target in the current tracking video, the field angle alpha of the current photoelectric device and the video width B by the photoelectric device₀(ii) a Then, the distance from the photoelectric equipment to the low-altitude slow small target is calculated according to the following formula and is used as the target distance D:

D＝B/(b*α/B₀*PI/180)。

s4: and calculating the GPS position data of the low-altitude slow small target by using a second preset algorithm according to the current target distance and the azimuth information of the photoelectric equipment.

The method specifically comprises the following steps: according to the longitude, latitude, altitude and azimuth information of the current photoelectric equipment and the target distance D, the following formula is applied to calculate the GPS position of the slow small target in low altitude in real time:

J＝J₀+(D*sin(β*PI/180))/(111.199*cos(W₀*PI/180))

W＝W₀+(D*cos(D*PI/180))/111.199

H＝H₀+h

wherein J is longitude value of low altitude slow small target, J₀Is the longitude value of the photoelectric device, beta is the photoelectric azimuth angle, W₀Is the latitude value of the photoelectric equipment, W is the latitude value of the low-altitude slow small target, W₀The latitude value of the photoelectric equipment is obtained; h is the height value of the low altitude slow small target, H₀The height value of the photoelectric equipment and h is the relative height value of the low-altitude slow small target and the photoelectric equipment.

S5: and judging whether the low-altitude slow small target enters a preset protection area or not according to the GPS position data of the low-altitude slow small target, and starting preset countering equipment if the low-altitude slow small target enters the preset protection area.

Correspondingly, as shown in fig. 2, the invention also discloses a low-altitude slow small target monitoring system based on photoelectric tracking, which comprises:

and the target identification unit is used for identifying whether the low-altitude slow small target enters a radar monitoring area, and if so, guiding the photoelectric equipment to track the low-altitude slow small target in a radar data reporting or photoelectric cruising mode.

And the target tracking unit is used for identifying the low-altitude slow small target through the photoelectric equipment and completing the tracking and locking of the target.

And the distance calculation unit is used for calculating the distance from the photoelectric equipment to the low-altitude slow small target as the target distance by using a first preset algorithm according to the field of view of the photoelectric equipment and the size of the target acquired in real time.

And the position data calculation unit is used for calculating the GPS position data of the low-altitude slow small target by using a second preset algorithm according to the current target distance and the azimuth information of the photoelectric equipment.

And the reverse control unit is used for judging whether the low-altitude slow small target enters a preset protection area or not according to the GPS position data of the low-altitude slow small target, and starting preset reverse control equipment if the low-altitude slow small target enters the preset protection area.

Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in the form of a software product, where the computer software product is stored in a storage medium, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like, and the storage medium can store program codes, and includes instructions for enabling a computer terminal (which may be a personal computer, a server, or a second terminal, a network terminal, and the like) to perform all or part of the steps of the method in the embodiments of the present invention. The same and similar parts in the various embodiments in this specification may be referred to each other. Especially, for the terminal embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the description in the method embodiment.

In the embodiments provided by the present invention, it should be understood that the disclosed system, system and method can be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, 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, systems 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 modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit.

Similarly, each processing unit in the embodiments of the present invention may be integrated into one functional module, or each processing unit may exist physically, or two or more processing units are integrated into one functional module.

The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.