靶场图像预处理和目标运动单像机测量方法研究
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摘要
本文以子母弹子弹的下落攻角测量和基于运动平台单像机对运动点目标三维轨迹和速度测量为主要研究内容,并研究了相关的旨在增强目标特征的靶场退化图像预处理方法。
测量子弹的落地速度和攻角,对于分析子弹的跳弹原因、评估子母弹的毁伤效能至关重要。子弹在下降过程中速度非常快,即使使用高速相机有时也只能得到有限的几幅甚至一幅图像,而且图像通常存在比较严重的运动模糊,普通方法难以高精度地测量子弹的速度和攻角。本文提出了由单幅运动模糊图像测量子弹落地速度和攻角的方法,通过分析目标运动模糊带的特性,测量了高速运动目标的速度和攻角。
目前我国武器试验靶场光学测量仍以地基测量站为主,但在某新型巡航导弹的实弹试验中,由于飞行高度低、航程远,现有的测量站很难覆盖其航程,现由一架测控飞机对其进行跟踪监测。根据双目视觉基本原理,需要至少两台像机才能实现对点目标三维位置的交会测量。然而在本任务中,只能得到单像机成像的结果。本文提出了两种运动平台单像机对运动点目标定位的方法,以目标所服从的某种运动规律作为目标定位的约束信息,根据测控飞机与目标之间的速度差,进行空间搜索或虚拟交会,在不增加地面测站、无目标距离信息和目标上无已知控制点的情况下,通过光测方法实现了单像机对超低空、大航程飞行目标的三维轨迹和速度等参数的精确测量,能够解决导弹试验中实弹不能加装测量设备而无法测量三维弹道和速度的难题,能够提高靶场试验能力、节省试验费用。
靶场光测图像经常存在运动模糊、对比度不高、高水平噪声等退化情况。本文研究的一系列图像复原、图像超分辨率、噪声标定和滤除方法,能够较显著改善图像质量,增强目标特征。
本文的主要研究内容和创新点有:
(1)研究了正则化约束图像复原算法和盲复原算法;改进了一种解析超分辨率算法。
(2)针对CCD暗噪声和随机噪声,提出了噪声标定和滤除方法,分析了噪声对边界精确定位的影响;针对16位红外图像和真彩色图像,提出了一种分段灰度变换增强算法和一种假彩色增强算法。
(3)推广了原有算法,针对任意方向匀速直线运动模糊和匀速旋转运动模糊,基于Z变换推导了退化模型和复原模型;由单幅运动模糊图像,研究了基于自相关的模糊尺度测量方法和旋转中心自动确定方法。
(4)提出了由单幅运动模糊图像测量子弹落地速度和攻角的方法。根据目标模糊带特性,推导了模糊带宽度与模糊尺度和攻角的关系,采用亚像素技术确定模糊带宽度,由单幅运动模糊图像测量了高速运动目标的速度和攻角。
(5)提出了两种基于运动平台单像机对运动点目标进行三维轨迹和速度测量的方法。针对无目标距离信息和目标上无已知控制点的情况,利用运动平台单像机拍摄的目标的序列图像,根据目标所服从的运动规律,在目标和像机平台存在速度差的条件下,分别采用空间搜索法和平移交会法,实现了运动平台单像机对运动点目标的三维轨迹和速度的测量。本方法无需借助测距等辅助测量手段,能够解决靶场以往运动单目视觉只能用于观察运动目标而不能有效测量目标运动参数的问题,可以拓展摄像测量的应用范围。
The main researches in this dissertation are the falling attack angle and velocity measurement of the submunition of cluster warhead and the three-dimensional trajectory and velocity measurement of moving point targets from a moving monocular camera. The other researches are correlative preprocessing methods for shooting range degraded images to enhance the target feature.
It is crucial to measure the attack angle and velocity of the submunition falling to the ground for analyzing the reason of the submunition rebounding and evaluating the destruction effectiveness of the cluster warhead. A few even only one submunition images can be captured even by high-speed camera sometimes because they are falling very fast; furthermore the images are often motion blurred. The falling attack angle and velocity of the submunition are difficult to be accurately measured by general methods. The proposed measurement method from a single motion blurred image calculates the attack angle and velocity of the high-speed moving targets by analyzing the target motion blur band's characteristic.
At present in out country weapon shooting ranges, optical measurement mainly depends on the ground-based measuring stations. But in the ball cartridge test of a new kind cruise missile, because of its low ambient altitude and far voyage, the existing measuring stations can not cover all its voyage, a measurement aeroplane is used to track and observe it. Without assistant means, two cameras are usually demanded to realize the intersection measurement for three-dimensional position of point targets. But in our mission, only monocular sequence images can be obtained. Two position measurement methods for moving point targets from a moving camera are proposed. Supposing the target keeping to some movement rule as target position restriction information, using the velocity difference between the aeroplane and target, accurate monocular measurements for three-dimensional position and velocity of the hedgehopping and far voyage flight target are realized by space searching or virtual intersection without adding ground-based measuring stations, range information of the target or cooperative marks on the target. The proposed methods are able to solve the difficult problem of measuring the three-dimensional ballistic trajectory and velocity of a ball cartridge which can not be equipped with the measurement equipment. This can improve the test capability of shooting ranges and save a great deal of expense.
Motion blur, low contrast, evident noise and other degradations are usually existent in the shooting range images. In order to improve image quality and enhance the target feature, a series of methods of image restoration, supperresolution, noise calibration and elimination are studied.
The main contents and originalities of this dissertation are as follows.
(1) Regularized restoration methods and blind restoration methods are studied. An analytic superresolution algorithm is improved.
(2) Dark current noise and random noise calibration and elimination methods for CCD cameras are proposed. The influence of noise on edge position is discussed. For 16-bit infrared images and true color images, a piecewise gray-scale transform enhancement algorithm and a false color enhancement algorithm are proposed.
(3) Others' algorithms are extended. For uniform linear motion blur along arbitrary direction and uniform rotation blur, degeneration models and restoration models are established based on Z transform; from a single motion blurred image, the blur extent is estimated by means of derivation and correlation and the rotation center is automatly found.
(4) A method for measuring the attack angle and velocity of the submunition falling to the ground from a single motion blurred image is proposed. Based on blur band's characteristic, the relationship among the band width, blur extent and attack angle is deduced. The velocity and attack angle of high speed moving tagets are calculated by using the subpixel technique.
(5) Two monocular methods of three-dimensional position and velocity measurement for a moving point target by a moving camera are proposed. Without range information of the target or cooperative marks on the target, supposing the target following some movement rule, with the velocity difference between the aeroplane and target, accurate measurement for three-dimensional trajectory and velocity are realized by space searching or virtual intersection from sequence images of a single camera. Without distance measurement or other assistant means, the proposed methods resolve the problem that in the shooting range a single moving camera can only observe the moving target and can not measure the motion parameters, and expand the videogrammetry application range.
测量子弹的落地速度和攻角,对于分析子弹的跳弹原因、评估子母弹的毁伤效能至关重要。子弹在下降过程中速度非常快,即使使用高速相机有时也只能得到有限的几幅甚至一幅图像,而且图像通常存在比较严重的运动模糊,普通方法难以高精度地测量子弹的速度和攻角。本文提出了由单幅运动模糊图像测量子弹落地速度和攻角的方法,通过分析目标运动模糊带的特性,测量了高速运动目标的速度和攻角。
目前我国武器试验靶场光学测量仍以地基测量站为主,但在某新型巡航导弹的实弹试验中,由于飞行高度低、航程远,现有的测量站很难覆盖其航程,现由一架测控飞机对其进行跟踪监测。根据双目视觉基本原理,需要至少两台像机才能实现对点目标三维位置的交会测量。然而在本任务中,只能得到单像机成像的结果。本文提出了两种运动平台单像机对运动点目标定位的方法,以目标所服从的某种运动规律作为目标定位的约束信息,根据测控飞机与目标之间的速度差,进行空间搜索或虚拟交会,在不增加地面测站、无目标距离信息和目标上无已知控制点的情况下,通过光测方法实现了单像机对超低空、大航程飞行目标的三维轨迹和速度等参数的精确测量,能够解决导弹试验中实弹不能加装测量设备而无法测量三维弹道和速度的难题,能够提高靶场试验能力、节省试验费用。
靶场光测图像经常存在运动模糊、对比度不高、高水平噪声等退化情况。本文研究的一系列图像复原、图像超分辨率、噪声标定和滤除方法,能够较显著改善图像质量,增强目标特征。
本文的主要研究内容和创新点有:
(1)研究了正则化约束图像复原算法和盲复原算法;改进了一种解析超分辨率算法。
(2)针对CCD暗噪声和随机噪声,提出了噪声标定和滤除方法,分析了噪声对边界精确定位的影响;针对16位红外图像和真彩色图像,提出了一种分段灰度变换增强算法和一种假彩色增强算法。
(3)推广了原有算法,针对任意方向匀速直线运动模糊和匀速旋转运动模糊,基于Z变换推导了退化模型和复原模型;由单幅运动模糊图像,研究了基于自相关的模糊尺度测量方法和旋转中心自动确定方法。
(4)提出了由单幅运动模糊图像测量子弹落地速度和攻角的方法。根据目标模糊带特性,推导了模糊带宽度与模糊尺度和攻角的关系,采用亚像素技术确定模糊带宽度,由单幅运动模糊图像测量了高速运动目标的速度和攻角。
(5)提出了两种基于运动平台单像机对运动点目标进行三维轨迹和速度测量的方法。针对无目标距离信息和目标上无已知控制点的情况,利用运动平台单像机拍摄的目标的序列图像,根据目标所服从的运动规律,在目标和像机平台存在速度差的条件下,分别采用空间搜索法和平移交会法,实现了运动平台单像机对运动点目标的三维轨迹和速度的测量。本方法无需借助测距等辅助测量手段,能够解决靶场以往运动单目视觉只能用于观察运动目标而不能有效测量目标运动参数的问题,可以拓展摄像测量的应用范围。
The main researches in this dissertation are the falling attack angle and velocity measurement of the submunition of cluster warhead and the three-dimensional trajectory and velocity measurement of moving point targets from a moving monocular camera. The other researches are correlative preprocessing methods for shooting range degraded images to enhance the target feature.
It is crucial to measure the attack angle and velocity of the submunition falling to the ground for analyzing the reason of the submunition rebounding and evaluating the destruction effectiveness of the cluster warhead. A few even only one submunition images can be captured even by high-speed camera sometimes because they are falling very fast; furthermore the images are often motion blurred. The falling attack angle and velocity of the submunition are difficult to be accurately measured by general methods. The proposed measurement method from a single motion blurred image calculates the attack angle and velocity of the high-speed moving targets by analyzing the target motion blur band's characteristic.
At present in out country weapon shooting ranges, optical measurement mainly depends on the ground-based measuring stations. But in the ball cartridge test of a new kind cruise missile, because of its low ambient altitude and far voyage, the existing measuring stations can not cover all its voyage, a measurement aeroplane is used to track and observe it. Without assistant means, two cameras are usually demanded to realize the intersection measurement for three-dimensional position of point targets. But in our mission, only monocular sequence images can be obtained. Two position measurement methods for moving point targets from a moving camera are proposed. Supposing the target keeping to some movement rule as target position restriction information, using the velocity difference between the aeroplane and target, accurate monocular measurements for three-dimensional position and velocity of the hedgehopping and far voyage flight target are realized by space searching or virtual intersection without adding ground-based measuring stations, range information of the target or cooperative marks on the target. The proposed methods are able to solve the difficult problem of measuring the three-dimensional ballistic trajectory and velocity of a ball cartridge which can not be equipped with the measurement equipment. This can improve the test capability of shooting ranges and save a great deal of expense.
Motion blur, low contrast, evident noise and other degradations are usually existent in the shooting range images. In order to improve image quality and enhance the target feature, a series of methods of image restoration, supperresolution, noise calibration and elimination are studied.
The main contents and originalities of this dissertation are as follows.
(1) Regularized restoration methods and blind restoration methods are studied. An analytic superresolution algorithm is improved.
(2) Dark current noise and random noise calibration and elimination methods for CCD cameras are proposed. The influence of noise on edge position is discussed. For 16-bit infrared images and true color images, a piecewise gray-scale transform enhancement algorithm and a false color enhancement algorithm are proposed.
(3) Others' algorithms are extended. For uniform linear motion blur along arbitrary direction and uniform rotation blur, degeneration models and restoration models are established based on Z transform; from a single motion blurred image, the blur extent is estimated by means of derivation and correlation and the rotation center is automatly found.
(4) A method for measuring the attack angle and velocity of the submunition falling to the ground from a single motion blurred image is proposed. Based on blur band's characteristic, the relationship among the band width, blur extent and attack angle is deduced. The velocity and attack angle of high speed moving tagets are calculated by using the subpixel technique.
(5) Two monocular methods of three-dimensional position and velocity measurement for a moving point target by a moving camera are proposed. Without range information of the target or cooperative marks on the target, supposing the target following some movement rule, with the velocity difference between the aeroplane and target, accurate measurement for three-dimensional trajectory and velocity are realized by space searching or virtual intersection from sequence images of a single camera. Without distance measurement or other assistant means, the proposed methods resolve the problem that in the shooting range a single moving camera can only observe the moving target and can not measure the motion parameters, and expand the videogrammetry application range.
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