RU2242770C2 - Method of guiding optical device to detected objected - Google Patents

Abstract

FIELD: radio location; electro-optical survey.

SUBSTANCE: method can be used in electro-optical systems for conducting survey in on-ground and on-water, as well as in guided area watching systems. According to proposed method the optic device is guided onto detected object by using azimuth data and knowing distance of two-coordinate radar installation and known orthogonal coordinates of points where radar installation and optical device. Height of earth surface above sea level is defined by means of digital map of area. Then add expected height of center of detected object and height of optical device objective center above sea level to received values of height above sea level and calculate height s of centers of detected object and optical device above sea level. Three-dimensional coordinates of object center and objective of optical device are used to calculate azimuth angle and angle of sight which values are used for automatic guidance of optical device to detected object.

EFFECT: availability of automatic guidance.

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Description

The invention relates to the field of reconnaissance of moving objects using radar and electron-optical means, and in particular to methods of pointing an optical device at a detected object, and can be used in integrated radar-optoelectronic systems for reconnaissance of ground and surface objects, as well as in surveillance systems for protected area, water area in the border zone, etc.

Automated radar-optoelectronic complexes for protecting territories and water areas are known, for example, the Strazh complex (see: Zaitsev N. Russian radars on the battlefield and border protection / Military Parade. 1998. No. May-June, p.61; and also: Modern technical means of protecting maritime borders / Border Guard of the Commonwealth, 1997. No. 2, pp. 54-55).

The Strazh complex provides automatic detection, using a two-coordinate radar station (RLS), of intruders breaking into a protected area by land or water, as well as visual monitoring of detected objects, documentation of radar and video information. Data on one control panel can come from several radar and television stations.

Such complexes implement a known method of guidance of optical means according to the target designation of a two-coordinate radar.

The complex includes radar and optoelectronic, for example, television observation posts, a central control panel (CPU), the software of which provides the formation on the screen of the video monitor of the radar image of the observed area, the display on the screen of the video monitor of the television image, the reception and documentation of radar and television information, automatic guidance optical means on the selected object in the azimuthal plane, the formation of control commands and .

Automatic search and detection of objects is performed by a two-coordinate radar, and the detection of detected objects is carried out using optical means, such as a television camera.

The two-coordinate radar that is part of such systems, as a rule, is inexpensive; it automatically detects an intruder at any time of the day, in difficult weather conditions, and determines the distance to the object and azimuth, but it is difficult to obtain an accurate bearing in the elevation plane using such radars land, etc.).

The two-coordinate radar automatically detects moving objects against the background of the underlying surface. Polar coordinates (R - range and α - azimuth) arrive at the central control panel of the CPU. The known rectangular coordinates of the location of the radar (X _radar , Y _radar ) and the polar coordinates of the object (R, α) determine the rectangular coordinates of the detected object (X _c , Y _c ). _{Using the} known rectangular coordinates of the location of the optical means (X _opt , Y _opt ) and the coordinates of the detected object (X _c , Y _c ), the angle of sight α _opt in the azimuthal plane of the optical tool to the object is determined. Guidance on the object in azimuth is carried out in accordance with the obtained value of the viewing angle α _opt , which is fed to the optical drive. The guidance of an optical device, for example a TV camera, in the elevation plane is carried out manually, i.e. the final location of the object by elevation has to be determined by manually bringing the optical tool.

The purpose and technical result of this invention is to enable automatic pointing of the optical device in elevation using indirect data - the height of the earth's surface above sea level at the location points of the target and the optical observation device.

This goal is achieved in that, in contrast to the known method according to which, according to a radar survey of a two-coordinate radar, they aim at an object of an optical observation device in azimuth, it is proposed, using a digital map of the area, to determine the height of the earth's surface above sea level at points with rectangular coordinates of the detected object, measured using radar, and with the known rectangular coordinates of the optical observation device, then, adding to the obtained values of heights above the level sea, the expected height of the center of the detected object and the height of the center of the lens of the optical device above ground level, respectively, automatically determine the third coordinate - the viewing angle on the object of the optical device in the vertical plane and the three-dimensional coordinates of the center of the object and the optical device automatically control the drive of pointing the optical device to detected object.

Figure 1 shows the relative position of the funds included in the system that implements the inventive method: a) in a horizontal plane, b) in a vertical plane; figure 2 shows a structural diagram that implements the well-known complex "Sentinel", where 1 is a two-coordinate radar, 2 is an optical device, 3 is a central control panel (CPU), 4 is a device for determining the rectangular coordinates of the coordinates of an object in a horizontal position, 5 is a device determining the viewing angle in azimuth, 6 - manual guidance device, 7 - optical device drive, figure 3 shows a structural diagram that implements the inventive method, where 1 is a two-coordinate radar, 2 is an optical device, 3 is a CPU, 4 is a rectangular determination device coordinates of the object's coordinate in the horizontal position, 5 - a device for determining the angle of sight azimuth, 7 - an optical drive unit, 8 - a device for determining the height 9 - a device for determining the angle of sight in elevation.

To implement the proposed method in the computer CPU 3 is introduced a digital map of the terrain (CCM) (device for determining the height of 8).

Using a two-coordinate radar 1, a survey in a given sector and automatic detection of moving objects against the underlying surface are carried out.

The polar coordinates of the detected objects (R, α) arrive at the device for determining the coordinates of objects 4 of the CPU 3.

The known rectangular coordinates of the radar location point (X _radar , Y _pls ) and the polar coordinates of the detected objects (R, α) in the device 4 determine their rectangular coordinates (X _c , Y _c ).

_{Using the} known rectangular coordinates of the location of the optical tool (X _opt , Y _opt ) and the calculated coordinates of the objects (X _c , Y _c ) in the device 5, the viewing angle of the optical tool in azimuth (α _opt ) is determined, the obtained value of the viewing angle is used to issue a command to guidance drive 7.

In the device 8, implemented using a digital map of the area according to the known rectangular coordinates (X _opt , Y _opt ) of the location point of the optical device 2 and the rectangular coordinates of the object (X _c , Y _c ), determine the heights of these points above sea level (Z _{opt 1} , Z _{c 1} ), add to them the value of the height of the center of the lens of the optical device Z _{opt 2} and the expected value of the height of the center of the object above the level of the underlying surface Z _{c 2} and determine the true value of the heights:

Z _c = Z _{c 1} + Z _{c 2}

Z _opt = Z _{opt 1} + Z _{opt 2} .

The obtained values of the heights Z _c , Z _opt and the rectangular coordinates of the location of the optical device X _opt , Y _opt and the specified rectangular coordinates of the detected object X _c , Y _c in the device 9 determine the viewing angle β _opt at the target for pointing the optical tool in the elevation plane, for example , according to the formula:

The value of the viewing angle β _{opt is} used to issue a command to the drive 7, in accordance with which the optical means 2 are automatically guided to the detected object in the elevation plane.

The application of the proposed method will allow automatic detection, as well as visual observation of detected objects. This is of particular importance in extended security systems (for example, borders), where the object is monitored from a remote central control center.

Separate complexes of the Sentinel type connected into extended systems provide remote information collection, recognition of the type of intruder, tracking them over a sufficiently long territory, and, if necessary, embedding physical protection equipment in the security system.

The application of the proposed method allows using a small number of personnel to ensure the detection of intruders in the protected area by land or by water in large areas.

Claims (1)

A method of pointing an optical device at a detected object according to the azimuth and range of a two-coordinate radar and the known rectangular coordinates of the radar and optical device installation locations, characterized in that, using a digital map of the area, the heights of the earth's surface above sea level are determined at the points of the object detected by the radar and installation of the optical device, then, adding to the obtained heights above sea level the expected height of the center of the detected object and the height of the center of the lens of the optical device n d ground level, respectively, calculate the height above sea level of the centers of the detected object and the optical device and the obtained three-dimensional coordinates of the center of the object and the lens of the optical device calculate the azimuthal angle and viewing angle to the target, which are used to automatically point the optical device to the detected object, while the azimuthal angle of the object is calculated using the known rectangular coordinates of the optical device location point and the calculated object coordinates that, as the calculation of the angle of sight at the target is carried out in accordance with a mathematical expression

where X _opt , Y _opt , Z _opt - three-dimensional coordinates of the center of the lens of the optical device; X _n, Y _n, Z _n - three-dimensional coordinates of the object.

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