Study On Microwave-Photoelectric Combination Detection And Tracking Evidence Collection System

Photoelectric tracking system is mainly used to accurately track the target,giving the spatial location of tracking information.The photoelectric tracking system has the problems of narrow visual range and too close tracking distance,which will cause the tracking target to be lost.Therefore,it is still difficult to research the field of optoelectronic tracking by enlarging the search horizon and accurately locating the target.To overcome these problems,radar and photoelectric sensors can be used in conjunction.Radar beam wider,with a strong airspace search capabilities,able to detect tracking targets.The combination of radar and electro-optical tracking system is essentially the information fusion of multi-sensor system,and both need to be registered at all times.The aim of this paper is to integrate the radar and the photoelectric system,that is,on the basis of the existing photoelectric tracking system,the radar system can be coordinated to make the radar and photoelectric system work together and make the radar to guide the photoelectric tracking system.The main works are as follows:(1)The basic principle of FMCW radar is studied.The FMCW principle of measuring the stationary target and the moving target is discussed.The radar signal is analyzed,the model of pitch angle is established and the principle of dual channel angle measurement based on two antennas is discussed.(2)Time registration and spatial registration of radar and optoelectronic data are studied.The Lagrangian three-point interpolation method is selected and simulated,and spatial registration is based on the platform-level multi-sensor registration principle.The quaternion rotation vector is introduced to design the coordinate transformation system,by the coordinate conversion system to calculate the angular increment provided to the motor,and prepare the upper computer program to realize the basic functions.(3)The basic principle of photoelectric tracking is researched,the control principle of servo drive system of electro-optical tracking system is discussed,and the angle and velocity PID control are analyzed.The realization of the radar-guided photoelectric PC program preparation,discusses the realization of ideas,the experiment.(4)Based on the actual system,an interactive multi-model unscented Kalman filter(IMM-UKF)algorithm is improved,increasing the value of excluded.For azimuth angle,pitch angle and azimuth angle,pitch angle,distance and other information of photoelectric tracking,the target state model and the system observation model are established,and the RMSE of the fusion system was reduced by UKF filtering and distributed full integration.MATLAB simulation is carried out to verify its effectiveness.