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介绍了车载红外告警系统中多目标的航迹建立及目标从图像坐标到载体坐标的转换方法。系统在方位360°视场内均匀布置了6个红外传感器,天顶方向布置1个红外传感器,形成360°全半球视场。每个传感器对应1个目标检测板,系统设计有1个系统控制板,用于对目标进行坐标转换、航迹管理以及向各个检测板发送控制命令。当目标检测板完成目标检测后,便向控制板发送7个传感器中的目标信息,控制板对目标进行坐标转换使之统一于载体坐标系,在载体坐标系建立目标航迹并对航迹进行预测管理,最后通过串口向上位机输出目标在载体坐标系的位置信息并报警。实验证明,转换后的目标位置完全正确,且误差小于1°,满足系统指标要求。
This paper introduces the establishment of multi-target track in vehicle infrared alarm system and the conversion of target from image coordinate to carrier coordinate. The system arranges 6 infrared sensors uniformly in the azimuth 360 ° field of view and 1 infrared sensor in the zenith direction to form a 360 ° hemisphere field of view. Each sensor corresponds to a target detection board, the system design has a system control board for coordinate conversion of the target, track management and control commands sent to each test board. After the target detection board finishes the target detection, the target information in the seven sensors is sent to the control board. The control board converts the target into the coordinate system of the carrier and establishes the target track in the carrier coordinate system and tracks the track Forecast management, and finally through the serial port to the host computer output target position information in the carrier coordinate system and alarm. Experiments show that the target position after conversion is completely correct and the error is less than 1 °, which meets the requirements of system specifications.