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摘要
面向国内开放低空的发展趋势和重点区域的防护要求，结合最新的光机电控技术，提出一种可对低空空域进行快速目标搜索的光电技术，并研制了一套样机系统。该系统利用搭载在高精度一维转台上的线阵CCD相机连续采集360°低空全景图像，图像数据通过千兆以太网滑环实时传输至数据处理工作站；数据处理工作站对全景图像进行实时检测，解算得到可疑目标的方向，进而实现对低慢小目标的搜索发现。利用该样机系统开展了初步的观测试验，结果表明：利用该系统可以对低空空域的慢速飞行目标进行全方位的搜索侦查，在大气透明度良好的情况下，最远可以探测到2300 m处的300 mm×300 mm×200 mm大小的无人机目标，测向精度达到60″。本研究工作为解决低慢小目标搜索发现问题提供了一种有效手段。
Abstract
On the development trend of opening low altitude airspace in our country and the protection requirements for key areas, combined with the latest optoelectronic technology, a fast search method to detect low slow small target for low altitude airspace was presented, and a set of prototype system was developed. The system uses a linear CCD camera mounted on a high-precision one-dimensional turntable to collect 360-degree panoramic images of low altitude airspace. The image data is transmitted to the data processing workstation in real time through gigabit Ethernet slide ring. The data processing workstation detects small targets in the area above the skyline and figures out the orientation of target. Preliminary observation experiments of the prototype are conducted, the result shows that the system can detect low slow small target in broad low airspace in all directions. In the case of good atmospheric transparency, it can detect unmanned aerial vehicle (UAV) in size of 300 mm×300 mm×200 mm within 2300 m. The accuracy of the direction of measurement is 60 arcsecond. This research provides an effective mean to solve the problem of searching and finding low slow small targets.
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Overview
Overview: With the development of technology, the maneuverability of all kinds of aviation aircraft are constantly enhanced. In recent years, low-altitude airspace has gradually opened up in our country, and man-kind low-altitude activities have increased, the management of aircraft in low-altitude airspace has become increasingly difficult. It has become a world-wide problem to prevent grand activities from the interference and damage of low slow small targets. At present, there are various methods to detect the flight targets in low altitude airspace, including radar detection, radio detection and photoelectric detection. Among them, the photoelectric detection method has the characteristics of strong anti-interference, intuitive and clear, flexible deployment and so on. Therefore, it is expected to play an important role in the search and discovery of low-slow-small targets in complex urban environment. In order to resolve the contradiction between the large field and the high resolution when using optoelectronic techniques to monitor small targets, Shanghai Astronomical Observatory developed an optical prototype system to search and find low slow small targets in low-altitude airspace. The system consists of a high-precision one-dimensional turntable platform, a large field-of-view refractor, a set of computers to control hardware and analysis images. Firstly, the linear CCD camera collects 360-degree panoramic images of low-altitude airspace in 8 seconds when the platform rotates continuously. Then the images are transferred to the computer through gigabit Ethernet slide ring and analyzed in real time. Due to factors such as human activity, trees shaking and illumination changes, it is difficult to detect slow small targets in the area below the skyline in one image. We extracted the skyline in the panoramic images and detect low slow small targets above the skyline by automatic program. Finally, the directions of targets are calculated so as to take further steps to them. And we developed a real-time display interface to show the panoramic images and the processing results. In order to achieve real-time detection of the target, two workstations are set up in the LAN and the panoramic images are processed in a distributed way. Observation experiment was carried out in July 2017, we flew an unmanned aerial vehicle (UAV) in size of 300 mm×300 mm×200 mm in different distance and in different weather in order to check the ability of the prototype system. The result shows that the prototype system can detect UAV at distance of 2.3 km when the weather is nice, the accuracy of the direction of UAV is about 1 arcminute.
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图 3 低慢小目标搜索发现系统组成框图
Figure 3. Low and slow small target search discovery system composition block diagram
图 5 无人机目标所在列的灰度值分布
Figure 5. Gray value distribution of the image column UAV target located
图 10 全景图像(a)及处理结果实时显示界面(b)
Figure 10. Panoramic image (a) and processing results real-time display interface (b)
图 11 检测到的部分低空目标示例。(a1)~(a4)不同种类的低慢小目标；(b1)~(b4)复杂背景下的低慢小目标; (c1)~(c4)误检目标
Figure 11. Some samples of low slow small target detected. (a1)~(a4) Different kinds of low slow small targets; (b1)~(b4) Low slow small targets in complex context; (c1)~(c4) Mistakenly detected targets
图 12 不同距离的目标检测结果。(a) 50 m; (b) 100 m; (c) 200 m; (d) 500 m; (e) 1000 m; (f) 2300 m
Figure 12. Target detection result in different distances. (a) 50 m; (b) 100 m; (c) 200 m; (d) 500 m; (e) 1000 m; (f) 2300 m
表 1 不同天气场景下目标检测误检率
Table 1. False detecting rate in different weather
天气 检出数量 低慢小目标数量 虚假目标数量 虚警率/% 晴天 287 279 8 2.1 少云 156 139 17 10.9 多云 205 157 48 23.4 阴天 409 395 14 3.4 
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表 2 不同距离目标的峰值信噪比
Table 2. Peak signal-to-noise ratio of target in different distances
目标距离/m 峰值信噪比 50 13.8 100 7.6 200 4.8 500 3.1 1000 2.0 2300 1.3
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