JP3077968B2 - Image processing verification system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image processing circuit mounted on a flying object and used for verification of an image processing circuit for tracking a high-speed moving target of the flying object and analysis of the kinetic performance of the flying object. Verification system.

[0002]

2. Description of the Related Art Conventionally, an image processing verification system has been frequently used for verification of an image processing circuit for tracking a moving target of a flying object and analysis of kinetic performance of the flying object. ing.

The image processing verification system generates an image of a moving target using a computer-aided view image generator, captures the image directly from the view image generator in the form of an electric signal, and transmits it in real time to a control section behind the ground. The image processing is performed by transmitting the flying object control circuit in real time for flight operation control such as tracking the moving target of the flying object, and is used for verification of the visual field image generator. .

The above-mentioned conventional general flying object image processing verification system will be described with reference to the system diagram shown in FIG. 5. A simulation computer 2 calculates a position and attitude angle signal 4 of a viewpoint of a flying object, and
Position and attitude angle signal 4 of the flying object output from
Is input to the high-speed image generator 1 as an image signal by the imaging means of the flying object, and this input image signal is input to the flying object control circuit 3 as a high-speed frame rate image 5, and the flying object control circuit At 3, a flight simulation is performed by simulated operation control of the flight of the flying object to the moving target. The high-speed image generator 1 is configured to have a frame rate of, for example, about 240 Hz per second in order to improve signal processing capability in moving image processing.

On the other hand, after the position and attitude angle signal 4 of the viewpoint of the flying object is inputted, it is inputted to the flying object control circuit 3 as a high-speed frame image by the high-speed image generating device 1 to reach the moving target of the flying object. There is a delay for image generation until the simulation operation control of the flight is performed, so that a deviation occurs between the target position moving at high speed and the target position detected by the flying object control circuit 3. Resulting in. For this reason, the accuracy of the image is reduced, and an error occurs during transmission. Therefore, it is desired to use an expensive image generating device with a reduced delay time for image generation.
Also, as a flying object guidance device, a two-dimensional detector is fixed to the fuselage, and a space stabilization and tracking loop is formed by electronic processing without possessing a mechanical gimbal mechanism, and guidance of the flying object (Japanese Patent Laid-Open No. Hei 5-18697). The disclosed technique is not a technique in which a low-speed image generator and a high-speed image converter are provided side by side.

[0006]

In the above-described conventional image processing verification system, high-speed image processing with a high image frame rate and a small image generation delay is required to accurately verify the image processing circuit mounted on the flying object. A high-speed image processing device that can perform the above processing is required, and this processing device increases the size of equipment and increases processing cost, lacks versatility, and is not practical.

Accordingly, the present invention provides a low-speed image generation device and a high-speed image conversion device in parallel to correct the image generation delay and improve the accuracy of image processing under high-speed image frames at a high image frame rate in real time. It is an object of the present invention to provide an image processing verification system which can be improved and can accurately verify an image processing circuit mounted on a flying object.

[0008]

An image processing verification system according to the present invention for solving the above-mentioned problems includes a simulation computer for calculating the position and attitude angle signals of the viewpoint of a flying object, and a flying computer output from the simulation computer. A low-speed image generator for generating a low-speed image according to the position and attitude angle signals of the viewpoint of the vehicle; a frame memory for inputting a low-speed image frame signal output from the low-speed image generator; An image transmission delay correction circuit is provided for inputting the position and attitude angle signal of the viewpoint of the skeletal body and the equivalent position and attitude angle signal of the viewpoint with image transmission delay, and the image transmission delay correction circuit calculates an image cutout position correction signal. The high-speed image frame is input to the frame memory and a part of the low-speed image frame is cut out. A high-speed image converter that converts and outputs a video signal, and a flying object control circuit that simulates accurate tracking of a high-speed moving target of the flying object by inputting a high-speed image frame output from the high-speed image converter as an output image signal It consists of:

[0009]

According to the image processing verification system configured as described above, a part of the low-speed image frame area can be cut out and converted into a high-speed image frame, so that the accuracy of the output image can be improved and the flying object can be improved. By operating the control circuit with high accuracy, it is possible to simulate accurate tracking of a high-speed moving target by the flying object, and to verify the image processing circuit mounted on the flying object. Further, it is possible to avoid an increase in equipment size and an increase in processing cost of a conventional high-speed image processing apparatus.

Further, in the image processing of the visual field image, the movement of the target is corrected in accordance with the deviation generated between the target position generated by the transmission time delay and the target position detected by the flying object control circuit. Since image processing is performed using an image transmission delay correction circuit to make an accurate output image signal,
The accuracy of the image processing verification system is improved.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an image processing verification system according to the present invention will be described with reference to the drawings.
1 is a system diagram of an image processing verification system, FIG. 2 is a principle diagram of a high-speed image conversion device in the image processing verification system of FIG. 1, FIG. 3 is a circuit diagram of the high-speed image conversion device of FIG. 2, and FIG. FIG. 6 is an explanatory diagram showing an example of a low-speed image and a high-speed image in the system, and members common to those shown in FIG. 5 are denoted by the same reference numerals. In FIG. 1, reference numeral 10 denotes a flying object image processing verification system, which includes a simulation computer 2, a low-speed image generator 6, a high-speed image converter 20,
The flying object control circuit 3 and the like are configured as main elements.

The low-speed image generator 6 has a low frame rate of about 30 Hz. The current viewpoint position and attitude signal 4 of the flying object calculated by the simulation computer 2 are input to the image generation device 6,
Low-speed image frame signal 7 which is a low-speed frame rate image
And is input to the high-speed image converter 20. On the other hand, from the simulation computer 2, the current position and attitude signal 4 of the viewpoint of the flying object and the low-speed image generator 6
Equivalent position and attitude angle signal 8 of the viewpoint which is equivalent to the low-speed image frame signal 7 accompanied by the image transmission delay outputted from
Are input to the high-speed image converter 20 respectively. The high-speed image conversion device 20 includes an image transmission delay correction circuit 30 described later, and uses the image cutout position correction signal 31 from the image transmission delay correction circuit 30 to output the low-speed image frame signal 7.
A low-speed image frame 15 which is a part of the area of the frame memory 12 is cut out and converted into a high-speed image frame 14 which is a high-speed frame rate image with a frame rate of about 240 Hz, for example, as an output image signal 18 of the high-speed image frame 14. It is input to the flying object control circuit 3.

In FIG. 2, the frame memory 12 is written by the low-speed image frame signal 7, and the low-speed image frame 15, which is a part of the area of the frame memory 12, is cut out by the image cut-out position correction signal 31 to become the high-speed image frame 14. Converted and high-speed image frame 1
4 is output. The low-speed image frame 15 and the high-speed image frame 14 described above are stored in the entire memory area of the frame memory 12, and only the output image signal 18 of the high-speed image frame 14 is controlled by the flying object control shown in FIG. Input to the circuit 3.

Further, FIG. 2 will be described in detail. The low-speed image frame signal 7 from the low-speed image generation device 6 has an image transmission delay Δθ = θ−θ ′, and the current viewpoint position and attitude angle signal 4 from the simulation computer 2 has no image transmission delay. As the current value θ. On the other hand, the viewpoint equivalent position and posture angle signal 8 is the viewpoint position and posture angle signal equivalent to the low-speed image frame signal 7 output from the low-speed image generating device 6 as described above, and before the image transmission delay Δθ. It is indicated by a certain information value θ ′. The viewpoint position and posture angle signal 4 having the current value θ and the viewpoint equivalent position and posture angle signal 8 accompanied by the image transmission delay Δθ are input to the image transmission delay correction circuit 30 and subjected to subtraction processing. The image cutout position correction signal 31 is output as a subtraction value (θ−θ ′).

In the high-speed image conversion apparatus shown in FIG. 3, the timing control unit 9 generates a clock serving as a reference timing for the entire image processing verification system 10, thereby obtaining a clock.
The Hz control signal 9a and the 240Hz control signal 9b are generated separately. The address is output to the memory input control 13 based on the low-speed image frame signal 7 under the write address control 11 at the timing according to the control signal 9a, and is written to the frame memory 12. The memory output control 1 is performed under the read address control 22 by the timing according to the control signal 9 b and the image cutout position correction signal 31.
The address is output to the high-speed image frame 14, a part of the area of the frame memory 12 is cut out and converted into a high-speed image frame 14, and an output image signal 18 of the high-speed image frame 14 is output. As described above, by providing the image transmission delay correction circuit 30 in the high-speed image converter 20, the subtraction value (θ−θ ′) by the image cutout position correction signal 31 and the image generation delay θ ′ in the low-speed image frame signal 7 are obtained. The output image signal 18 is input to the flying object control circuit 3 as an accurate signal corrected for image transmission delay.

A frame rate of 30 Hz shown in FIG.
Low-speed images, the low-speed image frames 15-1 and 15
-2 indicates the current point and the low-speed image frame 15 after 1/30 seconds, respectively, and the area surrounded by the dotted line in the figure corresponds to the high-speed image frame 14 shown in FIG. 4B. In the low-speed image frames 15-1 and 15-2, the current position and attitude angle signal 4 of the viewpoint P, which is the moving target of the flying object, is scanned.

A frame rate of 90 Hz shown in FIG.
The high-speed image is obtained by cutting out the area surrounded by the dotted line of the low-speed image frame 15 and converting it. The high-speed image frames 14-1, 14-2,..., 14-6 indicate the high-speed image frames 14 at the present time and every 1/90 second, respectively, and the current position and attitude angle signal 4 of the viewpoint P are scanned. This indicates that the image processing is performed with high accuracy. In this way, the output image signal 18 of the high-speed image frame 14 is input to the flying object control circuit 3, whereby the flying object control circuit 3 operates with high accuracy, and accurately detects the high-speed moving target by the flying object. This simulates a simple tracking. Thus, the accuracy of the image processing verification system is improved. The present invention can be applied to an aircraft flight simulator, a game machine that generates images in real time, and the like, in addition to the above embodiment.

[0018]

As described above, according to the present invention, the accuracy of the output image of the image processing can be improved, the flying object control circuit can be operated with high accuracy, and the accurate movement of the high speed moving target by the flying object can be improved. Tracking can be simulated, and the accuracy of the image processing verification system can be improved. Further, it is possible to avoid an increase in equipment size and an increase in processing cost of a conventional high-speed image processing apparatus.

Further, in the image processing of the visual field image, the movement of the target is corrected in accordance with the deviation between the target position generated due to the image generation delay and the target position detected by the flying object control circuit. Since image processing is performed using an image transmission delay correction circuit to make an accurate output image signal,
The accuracy of the image processing verification system can be further improved.

[Brief description of the drawings]

FIG. 1 is a system diagram of an image processing verification system according to the present invention.

FIG. 2 is a principle diagram of a high-speed image conversion device in the image processing verification system of FIG. 1;

FIG. 3 is a circuit diagram of the high-speed image conversion device of FIG. 2;

FIG. 4 is an explanatory diagram showing an example of a low-speed image and a high-speed image in the image processing verification system of the present invention.

FIG. 5 is a general system diagram of a conventional flying object image processing verification system.

[Explanation of symbols]

 2 Simulation computer 3 Flying object control circuit 6 Low-speed image generator 10 Image processing verification system 14 High-speed image frame 15 Low-speed image frame 20 High-speed image converter 30 Image transmission delay correction circuit 31 Image cutout position correction signal

──────────────────────────────────────────────────続 き Continuing on the front page (51) Int.Cl. ⁷ Identification code FIG06F 15/20 D (72) Inventor Yasuhiko Sasaki 1 Kawasaki-cho, Kakamigahara-shi, Gifu Kawasaki Heavy Industries Gifu Plant (72) Invention Person Tadashi Okazaki 1 Kawasaki-cho, Kakamigahara City, Gifu Prefecture Inside the Gifu Factory of Kawasaki Heavy Industries, Ltd. (56) References JP-A-6-348253 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name ) G06T 1/00 F41G 7/22 G05D 1/12 G06F 17/00 G06F 17/50

Claims (1)

(57) [Claims] 1. A simulation computer for calculating a position and orientation angle signal of a viewpoint of a flying object, and a low-speed image for generating a low-speed image in accordance with the position and orientation angle signal of the viewpoint of the flying object output from the simulation computer A generating device, and a frame memory for inputting a low-speed image frame signal output from the low-speed image generating device, and the position and attitude angle signal of the viewpoint of the flying object output from the simulation computer, and the viewpoint phase with image transmission delay. An image transmission delay correction circuit for inputting a position and orientation angle signal is provided. The image transmission delay correction circuit calculates an image cut-out position correction signal, inputs the signal to the frame memory, cuts out part of a low-speed image frame area, A high-speed image converter for converting the image into an image frame and outputting the image, and an output from the high-speed image converter. And a flying object control circuit for simulating accurate tracking of a high speed moving target of the flying object by inputting a high speed image frame as an output image signal.