技术领域technical field
本发明涉及一种光学系统视轴晃动和焦距值的检测装置及检测方法，使得光电经纬仪在实时自动跟踪目标时，能实时地对光学系统视轴晃动和焦距变化进行记录，用以提高光电经纬仪事后处理精度。The invention relates to a detection device and detection method for visual axis shake and focal length value of an optical system, so that the photoelectric theodolite can record the visual axis shake and focal length change of the optical system in real time when the photoelectric theodolite automatically tracks the target in real time, so as to improve the photoelectric theodolite Post-processing precision.
背景技术Background technique
光电经纬仪在对空中目标进行跟踪测量时，由于受到重力以及实时调光、调焦的影响，使得光电经纬仪光学系统的视轴位置及组合焦距值都会发生相应的变化，进而影响到测量设备的事后处理精度。When the photoelectric theodolite is tracking and measuring the air target, due to the influence of gravity and real-time dimming and focusing, the boresight position and combined focal length of the photoelectric theodolite optical system will change accordingly, which will affect the after-the-fact measurement of the measuring equipment. Processing precision.
在以往的电影经纬仪中，胶片摄影机只记录测量信息，不参与对目标跟踪。这样就可以采用将十字丝目标投影在胶片上，通过事后处理胶片上的十字丝影像，对光学系统视轴位置及组合焦距值进行检测；随着光电探测器的应用，在光电经纬仪中为了满足对目标的自动跟踪，对其光学系统的视轴位置及组合焦距值没有进行实时或准实时的检测，只是将变化尽量控制在一定范围内。In previous film theodolites, the film camera only records measurement information and does not participate in target tracking. In this way, the crosshair target can be projected on the film, and the visual axis position and combined focal length value of the optical system can be detected by post-processing the crosshair image on the film; with the application of photoelectric detectors, in order to meet the For the automatic tracking of the target, there is no real-time or quasi-real-time detection of the visual axis position and combined focal length value of the optical system, but the change is controlled within a certain range as much as possible.
随着靶场对光电经纬仪测量精度的需求越来越高，为了进一步提高光电经纬仪的测量精度，对其光学系统的视轴位置及组合焦距值进行实时或准实时的检测是必要的。With the increasing demand for the measurement accuracy of the photoelectric theodolite in the shooting range, in order to further improve the measurement accuracy of the photoelectric theodolite, it is necessary to perform real-time or quasi-real-time detection of the boresight position of the optical system and the combined focal length value.
发明内容Contents of the invention
本发明要解决的技术问题是：克服现有技术的不足，提供一种光学系统视轴晃动和焦距值的检测装置及方法，使光电经纬仪在实时自动跟踪目标时，能够准确实时的记录光学系统的视轴位置和组合焦距变化，用以提高光电经纬仪事后处理精度。The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, to provide a detection device and method for optical system visual axis shaking and focal length value, so that the photoelectric theodolite can accurately and real-time record the optical system when it automatically tracks the target in real time. The boresight position and combined focal length changes are used to improve the post-processing accuracy of the photoelectric theodolite.
本发明解决其技术问题所采用的技术方案是：一种光学系统视轴晃动和焦距值的检测装置，由视轴投影装置2、光电探测器3和时序控制单元4组成，其中视轴投影装置2由光源驱动与控制器5、分划板6、照明光源7及准直镜8组成。分化板6为暗视场亮目标，在分化板6上刻有一定线宽的十字丝9，十字丝9的交点作为视轴投影点，在十字丝9水平线上刻有与垂直线对称的两短划线，作为投影标记角10。视轴投影装置2从光电经纬仪光学系统1的边缘投射入被检光学系统，视轴投影装置2中的分划板6可以成像到固定在光电经纬仪光学系统1像面上的光电探测器3。在对目标进行实时跟踪时，通过时序控制单元4使视轴投影装置2和光电探测器3按以一定的时序控制顺序进行工作，实现分划板6能以间隔一段时间在光电探测器3上成像。对光电探测器3获得的目标图像处理进行分时操作，对有十字丝9影像的当帧图像只记录不进行目标脱靶量提取，事后对该帧图像进行判读，实现对光电经纬仪光学系统1视轴位置和组合焦距值的检测；对没有十字丝9影像的图像进行实时记录和目标脱靶量提取，送出脱靶量给伺服系统进行对目标自动跟踪。The technical solution adopted by the present invention to solve the technical problem is: a detection device for visual axis shaking and focal length value of an optical system, which is composed of a visual axis projection device 2, a photodetector 3 and a timing control unit 4, wherein the visual axis projection device 2 consists of a light source drive and controller 5, a reticle 6, an illumination light source 7 and a collimating mirror 8. The differentiation plate 6 is a bright target in dark field, and a crosshair 9 with a certain line width is engraved on the differentiation plate 6. The intersection point of the crosshair 9 is used as the visual axis projection point, and two symmetrical lines are engraved on the horizontal line of the crosshair 9 which are symmetrical to the vertical line. A dash, as a projection marks corner 10. The boresight projection device 2 projects from the edge of the photoelectric theodolite optical system 1 into the optical system to be inspected, and the reticle 6 in the boresight projection device 2 can be imaged to the photodetector 3 fixed on the image plane of the photoelectric theodolite optical system 1 . When the target is tracked in real time, the boresight projection device 2 and the photodetector 3 are operated in a certain timing control sequence through the timing control unit 4, so that the reticle 6 can be placed on the photodetector 3 at intervals imaging. Time-sharing operation is carried out on the target image processing obtained by the photoelectric detector 3, and the current frame image with the reticle 9 image is only recorded without extracting the target miss amount. Detection of axis position and combined focal length value; real-time recording and extraction of target miss amount for images without reticle 9 images, and sending the miss amount to the servo system for automatic target tracking.
所述视轴投影装置2中的照明光源7的亮度能够调节，保证投影目标在光电探测器3上成像清晰，易于判读；同时照明光源7能够以常亮和触发两种模式进行工作，来照明投影目标。The brightness of the illuminating light source 7 in the boresight projection device 2 can be adjusted to ensure that the projected target is clearly imaged on the photodetector 3 and is easy to interpret; at the same time, the illuminating light source 7 can work in two modes of constant light and trigger to illuminate Projection target.
所述视轴投影装置2中准直镜8是一Φ40mm的口径的光学系统，要保证分划板6最终成像质量，并尽量减小对光电经纬仪光学系统1的遮拦。The collimating mirror 8 in the boresight projection device 2 is an optical system with a diameter of Φ40mm, which ensures the final imaging quality of the reticle 6 and minimizes the obstruction to the optical system 1 of the photoelectric theodolite.
所述时序控制单元4，要保证照明光源7和光电探测器2的能以如图4的时序进行工作。时序脉冲前沿到来时，照明光源7点亮，光电探测器3开始成像；时序脉冲后沿到来时，照明光源7熄灭，光电探测器3成像停止。The timing control unit 4 should ensure that the illumination light source 7 and the photodetector 2 can work in the timing as shown in FIG. 4 . When the front edge of the timing pulse arrives, the illumination light source 7 is turned on, and the photodetector 3 starts imaging; when the trailing edge of the timing pulse arrives, the illumination light source 7 goes out, and the photodetector 3 stops imaging.
所述光电探测器3是面阵CCD或CMOS成像器件。The photodetector 3 is an area array CCD or CMOS imaging device.
一种光学系统视轴晃动和焦距值的检测方法，实现步骤如下：A detection method for visual axis shake and focal length value of an optical system, the implementation steps are as follows:
（1）由视轴投影装置2从物方模拟无穷远目标投影到光电经纬仪光学系统1中，通过调整照明光源7亮度，使得分划板6能在光电探测器3上成合适亮度的图像利于事后判读；(1) The projection device 2 simulates an infinite target from the object space and projects it into the optical system 1 of the photoelectric theodolite. By adjusting the brightness of the illumination source 7, the reticle 6 can form an image with a suitable brightness on the photodetector 3. hindsight;
（2）通过时序控制单元4使照明光源7和光电探测器3能以一定的时序控制进行工作，使得分划板6能以间隔一段时间在光电探测器3上成像；(2) Through the timing control unit 4, the illumination light source 7 and the photodetector 3 can be controlled to work in a certain timing, so that the reticle 6 can be imaged on the photodetector 3 at intervals;
（3）对没有分划板6影像的当帧图像进行实时记录和目标脱靶量提取处理，送出脱靶量给伺服系统进行自动跟踪目标，对有分划板6影像的当帧图像只进行实时记录而不进行目标提取处理，伺服系统通过平滑跟踪处理继续保持对目标跟踪；(3) Perform real-time recording and extraction of the target miss amount for the current frame image without the reticle 6 image, send the miss target amount to the servo system for automatic tracking of the target, and only perform real-time recording for the current frame image with the reticle 6 image Instead of performing target extraction processing, the servo system continues to keep track of the target through smooth tracking processing;
（4）事后对记有分划板6影像的图像进行判读，把分划板6十字丝9影像的交点作为光电经纬仪光学系统1该帧的视轴位置，把投影标记角10的线量与事前标定的角量之比，作为光电经纬仪光学系统1该帧的组合焦距值；(4) Interpret the image marked with the reticle 6 image afterwards, take the intersection point of the reticle 6 crosshair 9 image as the visual axis position of the frame of the photoelectric theodolite optical system 1, and compare the line amount of the projected mark angle 10 with the The ratio of the angles calibrated in advance is used as the combined focal length value of the frame of the photoelectric theodolite optical system 1;
（5）以检测得到的视轴位置和组合焦距值，作为有分划板6影像的两帧图像间隔时段内所有记录图像的视轴位置和组合焦距值，进行图像判读处理。(5) Use the detected boresight position and combined focal length value as the boresight position and combined focal length value of all recorded images in the interval between two frames of images with reticle 6 images, and perform image interpretation processing.
本发明与现有技术相比的优点在于：本发明解决了以往光电经纬仪在自动跟踪目标时，由于投影十字丝9影像对目标脱靶量的提取影响，无法对光电经纬仪光学系统1的视轴晃动和焦距变化进行检测的问题，提出了解决光电经纬仪既能保持对跟踪目标的实时自动跟踪，又能准确实时的记录光学系统视轴位置和组合焦距变化，实现光电经纬仪事后测角精度的进一步提高。Compared with the prior art, the present invention has the advantages that: the present invention solves the problem that the optical axis of the photoelectric theodolite optical system 1 cannot be shaken due to the influence of the projected reticle 9 image on the extraction of the target miss amount when the photoelectric theodolite is automatically tracking the target. In order to solve the problem of detecting the change of the focal length of the photoelectric theodolite, it is proposed to solve the problem that the photoelectric theodolite can not only maintain the real-time automatic tracking of the tracking target, but also accurately record the position of the visual axis of the optical system and the change of the combined focal length in real time, so as to further improve the post-event angle measurement accuracy of the photoelectric theodolite .
附图说明Description of drawings
图1为本发明装置布局示意图：Fig. 1 is a schematic diagram of the device layout of the present invention:
图2本发明中方法实现流程图；Method realization flowchart among Fig. 2 of the present invention;
图3本发明中分划板示意图；Fig. 3 schematic diagram of reticle in the present invention;
图4本发明的时序控制示意图。Fig. 4 is a schematic diagram of timing control in the present invention.
具体实施方式Detailed ways
如图1所示，本发明光学系统视轴晃动和焦距值的检测装置，由视轴投影装置2、光电探测器3和时序控制单元4组成，其中视轴投影装置2由光源驱动与控制器5、分划板6、照明光源7及准直镜8组成。分化板6为暗视场亮目标，在分化板6上刻有一定线宽的十字丝9，十字丝9的交点作为视轴投影点，在十字丝9水平线上刻有与垂直线对称的两短划线，作为投影标记角10。视轴投影装置2从光电经纬仪光学系统1的边缘投射入被检光学系统，视轴投影装置2中的分划板6可以成像到固定在光电经纬仪光学系统1像面上的光电探测器3。在对目标进行实时跟踪时，通过时序控制单元4使视轴投影装置2和光电探测器3按以一定的时序控制顺序进行工作，实现分划板6能以间隔一段时间在光电探测器3上成像。对光电探测器3获得的目标图像处理进行分时操作，对有十字丝9影像的当帧图像只记录不进行目标脱靶量提取，事后对该帧图像进行判读，实现对光电经纬仪光学系统1视轴位置和组合焦距值的检测；对没有十字丝9影像的图像进行实时记录和目标脱靶量提取，送出脱靶量给伺服系统进行对目标自动跟踪。As shown in Fig. 1, the detection device of the visual axis shaking and focal length value of the optical system of the present invention is composed of a visual axis projection device 2, a photodetector 3 and a timing control unit 4, wherein the visual axis projection device 2 is driven by a light source and a controller 5. Reticle 6, lighting source 7 and collimating mirror 8. The differentiation plate 6 is a bright target in dark field, and a crosshair 9 with a certain line width is engraved on the differentiation plate 6. The intersection point of the crosshair 9 is used as the visual axis projection point, and two symmetrical lines are engraved on the horizontal line of the crosshair 9 which are symmetrical to the vertical line. A dash, as a projection marks corner 10. The boresight projection device 2 projects from the edge of the photoelectric theodolite optical system 1 into the optical system to be inspected, and the reticle 6 in the boresight projection device 2 can be imaged to the photodetector 3 fixed on the image plane of the photoelectric theodolite optical system 1 . When the target is tracked in real time, the boresight projection device 2 and the photodetector 3 are operated in a certain timing control sequence through the timing control unit 4, so that the reticle 6 can be placed on the photodetector 3 at intervals imaging. Time-sharing operation is carried out on the target image processing obtained by the photoelectric detector 3, and the current frame image with the reticle 9 image is only recorded without extracting the target miss amount. Detection of axis position and combined focal length value; real-time recording and extraction of target miss amount for images without reticle 9 images, and sending the miss amount to the servo system for automatic target tracking.
如图2所示，本发明光学系统视轴晃动和焦距值的检测方法，具体步骤如下：As shown in Figure 2, the detection method of optical system visual axis shake and focal length value of the present invention, concrete steps are as follows:
（1）在实时任务前，将照明光源7的光源驱动与控制器5设置成常亮工作模式，视轴投影装置2从物方模拟无穷远的分划板6经准直镜8投影到光电经纬仪光学系统1中，通过调整光源驱动与控制器5的电流（或电压）改变照明光源7的亮度，使得分划板6能在光电探测器3上成合适亮度的图像，利于事后图像判读；(1) Before the real-time task, set the light source driver and controller 5 of the lighting source 7 to the constant-on working mode, and the boresight projection device 2 simulates the infinite reticle 6 from the object space and projects it to the photoelectric through the collimating mirror 8 In the theodolite optical system 1, the brightness of the illumination light source 7 is changed by adjusting the current (or voltage) of the light source drive and the controller 5, so that the reticle 6 can form an image with a suitable brightness on the photodetector 3, which is beneficial for subsequent image interpretation;
（2）在实时跟踪任务中，将照明光源7的光源驱动与控制器5设置成触发模式，通过时序控制单元4使照明光源7和光电探测器3能以如图4的时序控制进行工作，时序脉冲前沿到来时，照明光源7点亮，光电探测器3开始成像；时序脉冲后沿到来时，照明光源7熄灭，光电探测器3成像停止。最终，使得分划板6能以间隔一段时间ΔT在光电探测器3上成像；(2) In the real-time tracking task, set the light source drive and controller 5 of the lighting source 7 to trigger mode, and make the lighting source 7 and the photodetector 3 work with the timing control as shown in Figure 4 through the timing control unit 4, When the front edge of the timing pulse arrives, the illumination light source 7 is turned on, and the photodetector 3 starts imaging; when the trailing edge of the timing pulse arrives, the illumination light source 7 goes out, and the photodetector 3 stops imaging. Finally, the reticle 6 can be imaged on the photodetector 3 at an interval of time ΔT;
（3）对没有分划板6影像的当帧图像进行实时记录和目标脱靶量提取处理，送出脱靶量给伺服系统进行自动跟踪目标，对有分划板6影像的当帧图像只进行实时记录而不进行目标提取处理，伺服系统通过平滑跟踪处理继续保持对目标跟踪；(3) Perform real-time recording and extraction of the target miss amount for the current frame image without the reticle 6 image, send the miss target amount to the servo system for automatic tracking of the target, and only perform real-time recording for the current frame image with the reticle 6 image Instead of performing target extraction processing, the servo system continues to keep track of the target through smooth tracking processing;
（4）实时跟踪任务完成后，对记有分划板6影像的图像进行判读，把分划板十字丝9影像的交点作为光电经纬仪光学系统1该帧的视轴位置，把投影标记角10的线量与事前标定的角量之比，作为光电经纬仪光学系统1该帧的组合焦距值；(4) After the real-time tracking task is completed, interpret the image marked with the reticle 6 image, take the intersection point of the reticle crosshair 9 image as the visual axis position of the frame of the photoelectric theodolite optical system 1, and set the projection mark angle 10 The ratio of the line amount and the pre-calibrated angle amount is used as the combined focal length value of the frame of the photoelectric theodolite optical system 1;
（5）以检测得到的光电经纬仪光学系统1视轴位置和组合焦距值，作为时间上离有分划板6影像最近的所记录图像的视轴位置和组合焦距值，进行图像判读。(5) Use the detected visual axis position and combined focal length value of the optical system 1 of the photoelectric theodolite as the visual axis position and combined focal length value of the recorded image closest to the reticle 6 image in time for image interpretation.
如图3所示，分划板6为暗视场，十字丝9及投影标记角10为亮目标，刻线边缘齐整，宽度8微米，投影标记角10两短线对称与十字丝9的垂直线。As shown in Figure 3, the reticle 6 is a dark field, the reticle 9 and the projection mark angle 10 are bright targets, the edge of the reticle is neat, the width is 8 microns, and the two short lines of the projection mark angle 10 are symmetrical to the vertical line of the reticle 9 .
如图4所示，时序控制单元4产生两时序脉冲，一时序脉冲，通过光源驱动与控制器5对照明光源7控制，使得照明光源7在时序脉冲前沿到来时点亮，持续时间为脉冲宽度；另一时序脉冲，用于对光电探测器3进行控制，时序脉冲前沿到来时光电探测器3成像，持续时间为脉冲宽度；两时序脉冲的前沿对齐。As shown in Figure 4, the timing control unit 4 generates two timing pulses, one timing pulse, which controls the lighting source 7 through the light source driver and controller 5, so that the lighting source 7 lights up when the front edge of the timing pulse arrives, and the duration is the pulse width The other timing pulse is used to control the photodetector 3, and the photodetector 3 is imaged when the leading edge of the timing pulse arrives, and the duration is the pulse width; the leading edges of the two timing pulses are aligned.
本发明说明书未详细阐述部分属于本领域技术人员的公知技术。The description of the present invention does not describe in detail the part that belongs to the known technology of those skilled in the art.
以上所述，仅为本发明中的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉该技术的人在本发明所揭露的技术范围内，可理解想到的变换或替换，都应涵盖在本发明的包含范围之内。The above is only a specific implementation mode in the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technology can understand the conceivable transformation or replacement within the technical scope disclosed in the present invention. All should be covered within the scope of the present invention.
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| CN201310048944.1ACN103149014B (en) | 2013-02-07 | 2013-02-07 | Device and method for detecting optical system visual axis shaking and focal length value |
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| CN201310048944.1ACN103149014B (en) | 2013-02-07 | 2013-02-07 | Device and method for detecting optical system visual axis shaking and focal length value |
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