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CN-122017756-A - Airport runway foreign matter detection radar image target automatic alignment method

CN122017756ACN 122017756 ACN122017756 ACN 122017756ACN-122017756-A

Abstract

The invention provides an automatic alignment method of radar image targets for detecting foreign matters on an airport runway, which comprises the steps of installing edge light type runway foreign matters detection equipment on the airport runway, selecting punctuation points on the airport runway, driving a radar and a camera of the edge light type runway foreign matters detection equipment to obtain radar imaging target positions and camera imaging target positions of all punctuation points, forming the radar imaging target positions and the camera imaging target positions into position pairs of the punctuation points, screening a plurality of optimal position pairs from the position pairs, constructing a radar image target conversion function according to the optimal position pairs, calculating camera imaging target positions by using the radar image target conversion function when foreign matters FOD exist, and driving the camera to move to an FOD designated position. The method can effectively realize the automatic alignment of the radar image targets, place the targets in the middle of the images, help promote the subsequent visual detection capability and facilitate airport staff to timely handle FOD events.

Inventors

  • TANG XIAOLING
  • YANG PEI
  • ZHANG PENG
  • SHEN LIN
  • ZHAO LINGZHI
  • GUO DALI
  • HUANG JIBO
  • WANG YANGHONG
  • WANG XIAO
  • ZHANG LIN
  • SA CHULA
  • YANG KANG

Assignees

  • 南京莱斯电子设备有限公司

Dates

Publication Date
20260512
Application Date
20260126

Claims (10)

  1. 1. An automatic alignment method for an airport runway foreign matter detection radar image target is characterized by comprising the following steps: Step 1, installing side light type runway foreign matter detection equipment at an airport, and selecting punctuation points on the airport runway; step 2, driving a radar of a side light type runway foreign matter detection device to obtain radar imaging target positions of all punctuation points; step 3, driving cameras of the side light type runway foreign matter detection equipment to obtain camera imaging target positions of all punctuation points; step 4, forming a radar imaging target position and a camera imaging target position into a punctuation position pair, and screening a plurality of optimal position pairs from the punctuation position pair; Step 5, constructing a radar image target conversion function according to the optimal position pair, and calculating the imaging target position of the camera; and 6, when the foreign object FOD exists, calculating the imaging target position of the camera by using the radar image target transfer function, and driving the camera to move to the designated position of the FOD.
  2. 2. The method for automatically aligning the radar image targets for detecting the foreign objects on the airport runway according to claim 1, wherein the selecting punctuation points on the airport runway in the step 1 comprises: And selecting a plurality of points with well-defined uniform distribution on the airport runway as punctuations.
  3. 3. The method for automatically aligning the radar image targets for detecting the foreign objects on the airport runway according to claim 2, wherein the step 2 of obtaining the radar imaging target positions of the punctuation points comprises the steps of: Recording the number of punctuation points obtained from right to left as p, wherein Set the first The position of each punctuation on radar imaging is ) Is marked as Wherein Is the first The azimuthal coordinates of the individual punctuation points, , Is the first Distance to coordinates of each point, 0 , Is the first The signal to noise ratio coordinates of the individual punctuation, ; Is the extreme value of the azimuth coordinate, Is the effective detection distance of the radar, Is the extreme value of the signal to noise ratio of radar imaging.
  4. 4. An automatic alignment method for radar image targets for detecting foreign objects on an airport runway according to claim 3, wherein the step 3 of obtaining the camera imaging target positions of each punctuation point comprises: Set the first The position of each punctuation point on camera imaging is Is marked as Wherein Is the first The turntable azimuth coordinates of the individual punctuation, , Is the first Distance coordinate of each punctuation point, 0 , Is the first The signal to noise ratio coordinates of the individual punctuation, ; Is converted into an azimuth extreme value, For the camera to be effective in detecting the distance, Is the extreme value of the imaging signal-to-noise ratio of the camera; wherein, the first Distance-to-coordinate of individual punctuation The focal distance calibration method is adopted, and specifically comprises the following steps: at the focal length Next, the known dimensions are given as Is placed at a known radar range Where the measured pixel height is Calculating system constants ; Under the pure optical zoom Constant value according to focal length And the pixel height of the target Calculating distance-to-coordinate 。
  5. 5. An airport runway foreign object detection radar image target automatic alignment method according to claim 4 wherein system constants are calculated The method of (1) is as follows: 。
  6. 6. An airport runway foreign object detection radar image target automatic alignment method according to claim 5 wherein distance-to-coordinate is calculated The method of (1) is as follows: 。
  7. 7. The method for automatically aligning an airport runway foreign object detection radar image target according to claim 6, wherein in step4, the screening of a plurality of optimal points from the obtained punctuation points comprises: step 4-1, randomly selecting 3 pairs of non-collinear punctuation marks Position pairs of (2) 、 And Form a new coordinate system, wherein Constructing a target position model, which is used for calculating coordinates of any other point in a new coordinate system, and specifically comprises the following steps: Step 4-1-1, constructing a radar target model, wherein the radar target model is expressed as follows: ; ; ; ; ; Wherein, the Is punctuation Is used for imaging the target position by the radar, For the purpose of the iteration count, The expression is as follows: ; Wherein, the Is the azimuth component of the center of gravity, The component of the distance from the centre of gravity, To a signal-to-noise ratio component toward the center of gravity; 、 And The unit vectors in each direction are respectively expressed as follows: ; ; ; Wherein, the 、 、 Respectively punctuation points Unit vector of (2) 、 、 Is used to determine the orientation component of the (c), 、 、 Unit vectors of punctuation j, respectively 、 、 Is used for the distance component of the (c), 、 、 Unit vectors of punctuation j, respectively 、 、 Signal to noise ratio components of (a); 、 And Is coordinates representing punctuation A position in the new coordinate system; step 4-1-2, constructing an image target model, wherein the image target model is represented as follows: ; ; ; ; ; Wherein, the Calculating a position for the camera imaging of the radar imaging punctuation j; Wherein the method comprises the steps of Recording device , wherein, Is the azimuth component of the center of gravity, The component of the distance from the centre of gravity, To a signal-to-noise ratio component toward the center of gravity; 、 、 The unit vectors in each direction are respectively expressed as follows: ; ; ; Wherein, the 、 、 Respectively punctuation points Unit vector of (2) 、 、 Is used to determine the orientation component of the (c), 、 、 Unit vectors of punctuation j, respectively 、 、 Is used for the distance component of the (c), 、 、 Unit vectors of punctuation j, respectively 、 、 Signal to noise ratio components of (a); step 4-2, according to the constructed target position model, remaining Position pairs of individual punctuation , Imaging target position from radar Calculating a corresponding image target calculation position And calculates the true position of the imaging target position of the camera And Distance of (2) The expression is as follows: ; Step 4-3, setting For the distance threshold, record the satisfaction condition Number of punctuation marks of (2) ; Step 4-4, repeating Step 4-1 to step 4-3 are executed for a second time to find the number Record the number of iterations at this time Is that The optimum point is recorded as , , Wherein, the method comprises the steps of, 、 And Numbering as the best point.
  8. 8. An airport runway foreign object detection radar image target automatic alignment method according to claim 7 wherein the true position of the camera imaging target position is calculated And Distance of (2) The expression is as follows: ; Wherein, the Representing the calculation of the distance between two points.
  9. 9. The method for automatically aligning radar image targets for detecting foreign objects on an airport runway according to claim 8, wherein the constructing the radar image target transfer function in step 5 calculates the imaging target position of the camera, specifically as follows: ; ; ; ; ; target coordinates for radar images Calculating corresponding camera image target coordinates : ; ; ; Wherein, the ; ; ; ; ; ; ; ; 。
  10. 10. The method for automatically aligning an airport runway foreign object detection radar image target of claim 9, wherein step 6 drives the camera to move to the FOD-designated position comprises: calculating the image target position using the radar image target transfer function when the FOD exists, driving the camera to move to the FOD position, and rotating the stage according to the known radar target Calculating the angle of the turntable of the image target , And after the image target turntable angle is obtained, driving the camera to rotate to the target angle.

Description

Airport runway foreign matter detection radar image target automatic alignment method Technical Field The invention relates to an automatic image target alignment method, in particular to an automatic image target alignment method for an airport runway foreign matter detection radar. Background Airport runway alien is one of the major security threats faced by current aircraft. With the resuscitations and rapid developments of the global civil aviation industry, FOD (foreign objects, foreign Object Debris) poses a serious safety threat to aircraft, which results in high economic losses of airports and airlines each year, and also seriously threatens flight safety and personnel safety. Therefore, the international civil aviation organization establishes the international standard of the airport FOD detection system and also determines the standard applicable to the actual operation of the airport. FOD detection systems are currently introduced at some large airports in the world. According to the installation requirement of redundant coverage of detection distances, at least 120 side lamp type detection devices are required to be installed on a runway of 3600m, the factors such as the internal assembly process difference and the actual installation trimming error of the devices, the geographic slope difference of each direction of the runway and the like are difficult to realize accurate alignment of each detection distance and each detection azimuth camera to the detection target by adopting parameter compensation and correction in the prior art, and therefore, the ideal effect of the target in the middle of an image is difficult to obtain. Disclosure of Invention The invention aims to solve the technical problem of providing an automatic alignment method for an airport runway foreign matter detection radar image target aiming at the defects of the prior art. In order to solve the technical problems, the invention discloses an automatic alignment method for an airport runway foreign matter detection radar image target, which comprises the following steps: Step 1, installing side light type runway foreign matter detection equipment at an airport, and selecting punctuation points on the airport runway; step 2, driving a radar of a side light type runway foreign matter detection device to obtain radar imaging target positions of all punctuation points; step 3, driving cameras of the side light type runway foreign matter detection equipment to obtain camera imaging target positions of all punctuation points; step 4, forming a radar imaging target position and a camera imaging target position into a punctuation position pair, and screening a plurality of optimal position pairs from the punctuation position pair; Step 5, constructing a radar image target conversion function according to the optimal position pair, and calculating the imaging target position of the camera; and 6, when the foreign object FOD exists, calculating the imaging target position of the camera by using the radar image target transfer function, and driving the camera to move to the designated position of the FOD. Further, in the step 1, selecting a punctuation on the airport runway includes: And selecting a plurality of points with well-defined uniform distribution on the airport runway as punctuations. Further, the step 2 of obtaining the radar imaging target position of each punctuation point includes: Recording the number of punctuation points obtained from right to left as p, wherein Set the firstThe position of each punctuation on radar imaging is) Is marked asWhereinIs the firstThe azimuthal coordinates of the individual punctuation points,,Is the firstDistance to coordinates of each point, 0,Is the firstThe signal to noise ratio coordinates of the individual punctuation,;Is the extreme value of the azimuth coordinate,Is the effective detection distance of the radar,Is the extreme value of the signal to noise ratio of radar imaging. Further, in step 3, the obtaining the camera imaging target positions of the punctuation points includes: Set the first The position of each punctuation point on camera imaging isIs marked asWhereinIs the firstThe turntable azimuth coordinates of the individual punctuation,,Is the firstDistance coordinate of each punctuation point, 0,Is the firstThe signal to noise ratio coordinates of the individual punctuation,;Is converted into an azimuth extreme value,For the camera to be effective in detecting the distance,Is the extreme value of the imaging signal-to-noise ratio of the camera; wherein, the firstDistance-to-coordinate of individual punctuationThe focal distance calibration method is adopted, and specifically comprises the following steps: at the focal length Next, the known dimensions are given asIs placed at a known radar rangeWhere the measured pixel height isCalculating system constantsExpressed as: Under the pure optical zoom Constant value according to focal lengthAnd the pixel height of the targe