讨论一种基于多传感器的反直升机智能雷AHM(Anti-Helicopter Mine)系统。为了提高智能雷的全自动智能跟踪能力和打击精度,在传统的被动声探测技术的基础上,结合图像传感器的视觉信息和激光测距仪的深度信息,提出一种基于声-光-电多传感器联合的自动目标探测、识别、跟踪算法。首先将五元十字声源定位技术用于低空目标探测和初始定位,然后对目标进行图像处理与特征提取,最后基于图像特征的视觉伺服跟踪算法得出伺服机构的旋转角以实现精确跟踪。 A multi-sensor anti-helicopter intelligent mine AHM (Anti-Helicopter Mine) system is discussed. In order to improve the intelligent automatic tracking ability and accuracy of the intelligent mine, based on the traditional passive acoustic detection technology, combined with the visual information of the image sensor and the depth information of the laser rangefinder, an acoustic-optical- Sensor combined automatic target detection, identification, tracking algorithm. First of all, five-point cross source localization technology is used for low-altitude target detection and initial location, and then the target image processing and feature extraction, and finally based on the image features of the visual servo tracking algorithm derived servo angle of rotation in order to achieve accurate tracking.