海上靶场弹着水柱坐标空中摄影检测方法研究
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摘要
为了战时的实际需要,平时应该加强和抓紧各种实战演习或实际训练,靶场就是完成这种训练并进行相应考核的场所。海上靶场的弹丸散布精度数据是检验舰炮性能的重要依据。研究的目的是建立一套适用于检测海上靶场散布精度的自动测量系统,给出坐标计算公式并分析误差。
在海上靶场区域内放置一只靶船,摄像机由载体携带,在空中拍摄炮弹入水激起的弹着水柱与靶船的位置关系图片。载体包括直升飞机、遥控飞机和热气球,重点介绍直升飞机、遥控飞机携带摄像机的测量方法。直升飞机携带摄像机检测靶场情况时,直升飞机悬停在靶场正上空的侧边区域。遥控飞机携带摄像机检测靶场情况时,遥控飞机在靶场正上空区域飞行,在遥控飞机的吊仓内安置摄像机稳定系统,保持摄像机稳定,使摄像机镜头光轴始终垂直于海平面。摄像机拍摄出的图像由安放在载体上的无线图像传输系统传送到地面控制中心,摄像机开关由地面控制中心控制。
直升飞机携带摄像机是以静止的摄像机拍摄运动的靶船,遥控飞机携带摄像机是以运动的摄像机拍摄运动的靶船,因两种测量系统的不同,弹着点的坐标计算公式也是不同的。用Visual C++软件获取图像中弹着水柱的像素值,而后推导出直升飞机和遥控飞机携带摄像机拍摄下的弹着点的坐标计算公式。设定一组弹着水柱图像,用计算机程序依据公式对它们分别进行计算,得出弹着点的散布精度。对测量系统和计算公式进行误差分析,用MATLAB软件对公式进行仿真验正。结果表明:公式是正确的,研究所建立的测量系统是可以使用的。
To the practical needs of wartime,it should to strengthen and seize all kinds of training or actual combat drills in the peacetime.The range is the place of completing this training and the corresponding assessment.The projectile spread accuracy data of Sea range is the important basis for testing the performance of ship artillery. The purpose of the study is to establish a set of automatic measurement system apply to detect the spread accuracy of sea range, give the coordinate formula and analyse the error.
In the sea range place a target ship within the region, the camera is carried by vector , In the air, the camera take picture of location of target ship and missiles column stirred up by that rtillery shell enter into the water. Vector include helicopter, remote-controlled aircraft and hot air balloon, the focus is the measurement method of the camera carryde by helicopters and remote-controlled aircraft. When the camera carried by helicopter detect the situation of range,the helicopter hover in the range over the regional side. When the camera carried by remote-controlled aircraft detect the situation of range,the remote-controlled aircraft flight above the regional of range, the camera stabilization system place in the hanging warehouse of remote-controlled aircraft,maintain stability of the camera,so that the camera lens always perpendicular to the optical axis sea level.The image from the camera shooting transmited to the ground control centre by wireless image transmission system that placed in the vector,the switche of camera controlled by ground control center.
The camera carried by helicopter is static in the time of taking picture of campaign target ship, The camera carried by remote-controlled aircraft is campaign in the time of taking picture of campaign target ship, because of the two different measuring system, the coordinates formula of footprint are different.Using Visual C + + software access to the mage pixel values of missiles column, then deduced the coordinates formula of footprint of that the camera carryde by helicopters and remote-controlled aircraft.Set a group of images about missiles column,using computer program calculat the spread accuracy of footprint based on the formula.Analysing the error of measurement System and the calculation formula.Using MATLAB software simulate and test the formula. The results show that the formula is correct, the institute established measurement systems can be used.
在海上靶场区域内放置一只靶船,摄像机由载体携带,在空中拍摄炮弹入水激起的弹着水柱与靶船的位置关系图片。载体包括直升飞机、遥控飞机和热气球,重点介绍直升飞机、遥控飞机携带摄像机的测量方法。直升飞机携带摄像机检测靶场情况时,直升飞机悬停在靶场正上空的侧边区域。遥控飞机携带摄像机检测靶场情况时,遥控飞机在靶场正上空区域飞行,在遥控飞机的吊仓内安置摄像机稳定系统,保持摄像机稳定,使摄像机镜头光轴始终垂直于海平面。摄像机拍摄出的图像由安放在载体上的无线图像传输系统传送到地面控制中心,摄像机开关由地面控制中心控制。
直升飞机携带摄像机是以静止的摄像机拍摄运动的靶船,遥控飞机携带摄像机是以运动的摄像机拍摄运动的靶船,因两种测量系统的不同,弹着点的坐标计算公式也是不同的。用Visual C++软件获取图像中弹着水柱的像素值,而后推导出直升飞机和遥控飞机携带摄像机拍摄下的弹着点的坐标计算公式。设定一组弹着水柱图像,用计算机程序依据公式对它们分别进行计算,得出弹着点的散布精度。对测量系统和计算公式进行误差分析,用MATLAB软件对公式进行仿真验正。结果表明:公式是正确的,研究所建立的测量系统是可以使用的。
To the practical needs of wartime,it should to strengthen and seize all kinds of training or actual combat drills in the peacetime.The range is the place of completing this training and the corresponding assessment.The projectile spread accuracy data of Sea range is the important basis for testing the performance of ship artillery. The purpose of the study is to establish a set of automatic measurement system apply to detect the spread accuracy of sea range, give the coordinate formula and analyse the error.
In the sea range place a target ship within the region, the camera is carried by vector , In the air, the camera take picture of location of target ship and missiles column stirred up by that rtillery shell enter into the water. Vector include helicopter, remote-controlled aircraft and hot air balloon, the focus is the measurement method of the camera carryde by helicopters and remote-controlled aircraft. When the camera carried by helicopter detect the situation of range,the helicopter hover in the range over the regional side. When the camera carried by remote-controlled aircraft detect the situation of range,the remote-controlled aircraft flight above the regional of range, the camera stabilization system place in the hanging warehouse of remote-controlled aircraft,maintain stability of the camera,so that the camera lens always perpendicular to the optical axis sea level.The image from the camera shooting transmited to the ground control centre by wireless image transmission system that placed in the vector,the switche of camera controlled by ground control center.
The camera carried by helicopter is static in the time of taking picture of campaign target ship, The camera carried by remote-controlled aircraft is campaign in the time of taking picture of campaign target ship, because of the two different measuring system, the coordinates formula of footprint are different.Using Visual C + + software access to the mage pixel values of missiles column, then deduced the coordinates formula of footprint of that the camera carryde by helicopters and remote-controlled aircraft.Set a group of images about missiles column,using computer program calculat the spread accuracy of footprint based on the formula.Analysing the error of measurement System and the calculation formula.Using MATLAB software simulate and test the formula. The results show that the formula is correct, the institute established measurement systems can be used.
引文
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[2]谈乐斌.火炮概论.北京.北京理工大学出版社,2005
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[9]Andrew S.Tanenbaum,Maarten van steen.Distributed System:PrinciPle and Paradigms.2004
[10]王素花,钟尉,杨利锋.分布式集群技术在靶场军事综合信息网的应用构想.导弹试验技术.2006,4:55-58
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[12]曲扬.面向对像的舰炮武器系统研究.哈尔滨:哈尔滨工程大学.2004
[13]陆建勋.海军武器装备.北京:兵器工业出版社,2003
[14]张显满.水面舰艇作战系统信息化的研究.中国造船.2000,41(1):69-72
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[17]王庆有,孙学珠.CCD 应用技术.天津:天津大学出版社,1993
[18]刘荣生.CCD 与 CMOS 传感器的发展与应用.影像材料.2003,5:7-10
[19]高洪尧,江铭.运动目标摄像立靶精度测量.西安工业学院学报.1998,18(2): 104-107
[20]高峡,菅静云,菅静峰.摄像机的成像原理及拍摄技巧.内蒙古科技与经济.2003,11:114-114
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[22]刘崧,戚小平,钟双英.CCD 摄像机原理及应用.中国有线电视.2005,14:1417-1419
[23]张小虎.靶场图像运动目标检测与跟踪定位技术研究.国防科学技术大学, 2006
[24]何金.坦克射击靶场自动检靶系统的设计与应用[D].大连理工大学,2006
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[26]秦积容.光电检测原理及应用[M]1.北京:国防工业出版社,1989:129-135
[27]清华大学电子学教研室.数字电子技术基础简明教程[M].北京:高等教育出版社,1995:356-367.
[28]康红俊.CCD 测量系统及应用时注意的几个问题.河北工业技.2004,3:49-51
[29]张吴明,杨又华,阎广建等.机载多角度多光谱成像技术在电力系统中的应用. 华中电力.2006,19(6):1-3
[30]蔡杰.最优化技术在直升机设计中的应用.南京航空航天大学,2005
[31]王焕瑾,高正.高速直升机方案研究.飞行力学.2005,1:38-42
[32]Prouty R W. 直升机性能及稳定性和操纵性[M ]. 高正, 陈文轩, 施永立译. 北京: 航空工业出版社, 1990.218-225
[33]王鹏.飞机舵面模拟加载计算机控制系统设计与实现[D].西北工业大学, 2001
[34]文欲武,温清澄,高正.现代直升机应用与发展[M].北京:航空工业出版社, 2000
[35]Frank Clucci.Vectored Thrust Ductued Propeller Compound[J ].VERT IFL IGHT.2000,46(4):15-17
[36]王慧泉,赵喆,刘鸣.无线遥控电路的原理与应用.实验室科学.2007,4:66-68
[37]崔秀敏,王维军,方振平.小型无人机发展现状及其相关问题分析.飞行力学.2005,3:14-18
[38]叶祥,曹邦兴,李英杰.基于惯性导航的自动云台控制系统.仲恺农业技术学院学报.2007,20(2):45-48
[39]武拥军.基于图像复原和图标几何变换的单站弹体位置姿态测量技术.国防科学技术大学,2003
[40]夏德深.计算机图像处理及应用.南京:东南大学出版社,2004
[41]Yilmaz A,Shafique K,Shah M.Target tracking in airborne forward looking infraredimagery[J].Image and Vision Computing,2003,(21):623-635
[42]Tsuji T,Hattori H,Watanabe Metal.Development of night vision system[J].IEEE Transactions on Intelligent Transportation Systems,2002,3(3):203-209
[43]Yang Dakai,Cai Baigen,et al.An improved map-matching algorithm used invehicle navigation system[C].In:Proc IEEE Intelligent Transportation Systems,2003,(2):1246-1250
[44]Wei Zeng,Wen Gao.Accurate moving object segmentation by a hierarchical region labeling approach[C].In Acoustics,Speech,and Signal Processing,2004. 637-640
[45]Qu Y S,Tian W J,Li Y C.Detecting small moving target in images sequences using optical flow based on the discontinuous frame difference[C].Proceedings of the third SPIE Multi-spectra Image Processing and Pattern Recognition Conference,2003,5286b:915-918
[46]赵亮,吕雷.基于 FPGA 的 Sobel 算子的边缘响应算法实现.航空器器.2007,6:32-35
[47]陈蕾,陈普春.基于小波变换和形态学的图像边缘检测方法.仪器仪表用户.2007,6:86-88
[48]宋建社,袁礼海,陈智江.一个 SAR 目标边缘自动检测与定位算法.计算机工程与应用.2003,27:107-108
[49]李凌.图像阈值分割的 vc++实现.电脑知识与技术.176-179
[50]康涛.基于图像处理的检测系统的研究与设计[D].西安科技大学,2005
[51]景文博.基于图像处理技术的靶场目标检测算法的研究[D].长春理工大学,2006
[52]顾玲嘉.活动靶标图像处理技术研究[D].长春理工大学,2005
[53]袁孔铎.误差理论与测量平差.北京:冶金工业出版社.1992:1-72
[54]李兴玮.计算机仿真技术基础.北京:国防科技大学出版社,2006
[55]沙定国.误差分析与测量不确定度评定.北京 中国计量出版社.2003,1-205
[56]王武义,徐定杰,陈建翼.误差原理与数据处理.哈尔滨:哈尔滨工业大学出版社,2001:2-62
[2]谈乐斌.火炮概论.北京.北京理工大学出版社,2005
[3]黄平华,卢长海,高俊云.舰炮武器系统发展现状及趋势.国防科技.2006,5:9-11
[4]李铁.舰艇编队对岸火力分配研究[C].军事运筹研究与创新.北京:军事科学出版社,2000
[5]萧海林,房灿新.运用靶场资源构建海军作战模拟训练系统.指挥控制与仿真.2007,29(6):106-108
[6]杨榜林,岳全发等.军事装备试验学.北京:国防工业出版社,2002
[7]DoreenL.Galli.Distributed.Perating System:ConeePtsnadPacrtiee.2002
[8]林民族,李有才.电子靶及舰炮对海射击弹着测量系统.舰船论证参考.2004,1:29-35
[9]Andrew S.Tanenbaum,Maarten van steen.Distributed System:PrinciPle and Paradigms.2004
[10]王素花,钟尉,杨利锋.分布式集群技术在靶场军事综合信息网的应用构想.导弹试验技术.2006,4:55-58
[11]鲁培耿,刘向明.对提高海军靶场试验质量的思考.军用标准化.2003,2:48-50
[12]曲扬.面向对像的舰炮武器系统研究.哈尔滨:哈尔滨工程大学.2004
[13]陆建勋.海军武器装备.北京:兵器工业出版社,2003
[14]张显满.水面舰艇作战系统信息化的研究.中国造船.2000,41(1):69-72
[15]郭锡福,赵子华.火控弹道模型理论及应用.北京:国防工业出版社,1997
[16]袁祥辉.固体图像传感器及其应用[M]1.重庆:重庆大学出社,1996:105-109
[17]王庆有,孙学珠.CCD 应用技术.天津:天津大学出版社,1993
[18]刘荣生.CCD 与 CMOS 传感器的发展与应用.影像材料.2003,5:7-10
[19]高洪尧,江铭.运动目标摄像立靶精度测量.西安工业学院学报.1998,18(2): 104-107
[20]高峡,菅静云,菅静峰.摄像机的成像原理及拍摄技巧.内蒙古科技与经济.2003,11:114-114
[21]袁军.航空摄影信息管理系统[D].中国人民解放军信息工程大学,2002
[22]刘崧,戚小平,钟双英.CCD 摄像机原理及应用.中国有线电视.2005,14:1417-1419
[23]张小虎.靶场图像运动目标检测与跟踪定位技术研究.国防科学技术大学, 2006
[24]何金.坦克射击靶场自动检靶系统的设计与应用[D].大连理工大学,2006
[25]王庆有,孙学珠.CCD 应用技术[M].天津:天津大学出版社,1993:87-89
[26]秦积容.光电检测原理及应用[M]1.北京:国防工业出版社,1989:129-135
[27]清华大学电子学教研室.数字电子技术基础简明教程[M].北京:高等教育出版社,1995:356-367.
[28]康红俊.CCD 测量系统及应用时注意的几个问题.河北工业技.2004,3:49-51
[29]张吴明,杨又华,阎广建等.机载多角度多光谱成像技术在电力系统中的应用. 华中电力.2006,19(6):1-3
[30]蔡杰.最优化技术在直升机设计中的应用.南京航空航天大学,2005
[31]王焕瑾,高正.高速直升机方案研究.飞行力学.2005,1:38-42
[32]Prouty R W. 直升机性能及稳定性和操纵性[M ]. 高正, 陈文轩, 施永立译. 北京: 航空工业出版社, 1990.218-225
[33]王鹏.飞机舵面模拟加载计算机控制系统设计与实现[D].西北工业大学, 2001
[34]文欲武,温清澄,高正.现代直升机应用与发展[M].北京:航空工业出版社, 2000
[35]Frank Clucci.Vectored Thrust Ductued Propeller Compound[J ].VERT IFL IGHT.2000,46(4):15-17
[36]王慧泉,赵喆,刘鸣.无线遥控电路的原理与应用.实验室科学.2007,4:66-68
[37]崔秀敏,王维军,方振平.小型无人机发展现状及其相关问题分析.飞行力学.2005,3:14-18
[38]叶祥,曹邦兴,李英杰.基于惯性导航的自动云台控制系统.仲恺农业技术学院学报.2007,20(2):45-48
[39]武拥军.基于图像复原和图标几何变换的单站弹体位置姿态测量技术.国防科学技术大学,2003
[40]夏德深.计算机图像处理及应用.南京:东南大学出版社,2004
[41]Yilmaz A,Shafique K,Shah M.Target tracking in airborne forward looking infraredimagery[J].Image and Vision Computing,2003,(21):623-635
[42]Tsuji T,Hattori H,Watanabe Metal.Development of night vision system[J].IEEE Transactions on Intelligent Transportation Systems,2002,3(3):203-209
[43]Yang Dakai,Cai Baigen,et al.An improved map-matching algorithm used invehicle navigation system[C].In:Proc IEEE Intelligent Transportation Systems,2003,(2):1246-1250
[44]Wei Zeng,Wen Gao.Accurate moving object segmentation by a hierarchical region labeling approach[C].In Acoustics,Speech,and Signal Processing,2004. 637-640
[45]Qu Y S,Tian W J,Li Y C.Detecting small moving target in images sequences using optical flow based on the discontinuous frame difference[C].Proceedings of the third SPIE Multi-spectra Image Processing and Pattern Recognition Conference,2003,5286b:915-918
[46]赵亮,吕雷.基于 FPGA 的 Sobel 算子的边缘响应算法实现.航空器器.2007,6:32-35
[47]陈蕾,陈普春.基于小波变换和形态学的图像边缘检测方法.仪器仪表用户.2007,6:86-88
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