火光烟雾条件下无人机激光探测与跟踪实验研究  

Experimental research on laser detection and tracking of unmanned aerial vehicles under flame and smoke

作　　者：杨振[1] 郭阡阡 刘满国[2] 焦丹 陈晧辉 张勇 张建隆[1] Yang Zhen;Guo Qianqian;Liu Manguo;Jiao Dan;Chen Haohui;Zhang Yong;Zhang Jianlong(Department of Opto-Electronic Information Science and Technology,Harbin Institute of Technology,Harbin 150001,China;Xi'an Institute of Modern Control Technology,Xi'an 710065,China;Chinese People's Liberation Army Unit 32382,Beijing 100071,China)

机构地区：[1]哈尔滨工业大学光电子信息科学与技术系,黑龙江哈尔滨150001 [2]西安现代控制技术研究所,陕西西安710065 [3]中国人民解放军32382部队,北京100071

出　　处：《红外与激光工程》2024年第4期89-99,共11页Infrared and Laser Engineering

基　　金：国家自然科学基金项目(62371163)。

摘　　要：高能激光在打击低小慢目标时,目标容易燃烧产生火光烟雾,传统的可见光和红外探测方式对目标的跟踪和瞄准在火光烟雾干扰的情况下易受影响进而导致目标失跟。提出了一种基于主动激光雷达体制的高精度探测和瞄准方法。首先,对火光烟雾条件下无人机表面的激光反射特性进行理论分析和仿真模拟,以此设计了基于APD的单光子激光雷达探测系统,获得了仿真探测概率随激光脉冲能量变化的理论曲线;其次,构建了基于InGaAs-SPAD的光子成像探测系统,进行了无人机室内实验。实验结果表明:在无火光烟雾条件下,基于距离像跟踪的目标质心位置相较于基于可见光图像跟踪的目标质心位置平均角偏差小于0.55 mrad,基于距离像序列的跟踪轨迹与基于可见光图像序列的跟踪轨迹基本一致,证明了Mean-Shift跟踪算法用于距离像的跟踪的可行性。在距离30 m处的模拟烟雾干扰条件下,采用选通延时滤除烟雾干扰能够获得轮廓清晰的目标距离像。在模拟火光干扰条件下,跟踪框中心X、Y坐标偏离目标质心约为0.58 mrad和0.39 mrad。Objective In recent years,with the gradual opening of low altitude airspace and the continuous development of unmanned aerial vehicles(UAVs)technology,rapidly developing drones have been widely used in military,agriculture,transportation,public safety and other fields.However,due to the characteristics of simple operation,low cost,difficulty in supervision,and strong breakthrough ability,UAVs have caused many safety accidents and violent threats to social security and stability.Therefore,there is a strong demand for countermeasures against UAVs.With the development of laser weapons,the technology is becoming increasingly mature and has huge advantages in anti-UAVs.Under the action of high-energy laser,the target is prone to burning and catching fire,resulting in the target being blocked by flame smoke.Currently,visible light and infrared detection methods are easily affected by severe interference from flame and smoke,resulting in poor or unclear imaging of targets.Therefore,aiming at the problem that visible light and infrared detection methods cannot achieve stable tracking and aiming under flame and smoke,the paper studies a high-precision aiming scheme based on active lidar system.Methods The paper proposes a high-precision aiming scheme based on the active lidar system.Firstly,the laser characteristics under the flame and smoke were analyzed.Secondly,a lidar detection system based on APD single photon detector was designed.Then,the theoretical curve of the detection probability was simulated and analyzed as a function of the laser pulse energy.Finally,a photon imaging system based on InGaAs-SPAD was built,and the imaging system was tested and experimentally conducted indoors.Results and Discussions In the absence of the influence of fire and smoke,the X and Y coordinate trajectory curves of the target centroid based on visible light image tracking and range image tracking are basically consistent.By calculating the angular radian size of the target centroid position based on distance image tracking relative

关 键 词：火光烟雾 无人机 激光探测 距离像 稳定跟踪 

分 类 号：TN958.98[电子电信—信号与信息处理]