• Infrared and Laser Engineering
  • Vol. 53, Issue 4, 20230700 (2024)
Zhen Yang1, Qianqian Guo1, Manguo Liu2, Dan Jiao1..., Haohui Chen3, Yong Zhang1,* and Jianlong Zhang1|Show fewer author(s)
Author Affiliations
  • 1Department of Opto-Electronic Information Science and Technology, Harbin Institute of Technology, Harbin 150001, China
  • 2Xi'an Institute of Modern Control Technology, Xi'an 710065, China
  • 3Chinese People's Liberation Army Unit 32382, Beijing 100071, China
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    DOI: 10.3788/IRLA20230700 Cite this Article
    Zhen Yang, Qianqian Guo, Manguo Liu, Dan Jiao, Haohui Chen, Yong Zhang, Jianlong Zhang. Experimental research on laser detection and tracking of unmanned aerial vehicles under flame and smoke[J]. Infrared and Laser Engineering, 2024, 53(4): 20230700 Copy Citation Text show less
    Transmittance variations at different concentrations
    Fig. 1. Transmittance variations at different concentrations
    Transmittance changes at different penetration distances
    Fig. 2. Transmittance changes at different penetration distances
    Variations of bidirectional reflection distribution function with incident angle. (a) curves of \begin{document}${f_r}$\end{document} changing with \begin{document}${\theta _i}$\end{document} at \begin{document}${\theta _r} = {30^ \circ }$\end{document}; (b) curves of \begin{document}${f_r}$\end{document} changing with \begin{document}${\theta _i}$\end{document} at \begin{document}${\theta _r} = {60^ \circ }$\end{document}
    Fig. 3. Variations of bidirectional reflection distribution function with incident angle. (a) curves of Unknown environment 'document' changing with Unknown environment 'document' at Unknown environment 'document'; (b) curves of Unknown environment 'document' changing with Unknown environment 'document' at Unknown environment 'document'
    Structure diagram of APD lidar system
    Fig. 4. Structure diagram of APD lidar system
    Mean-Shift image tracking flowchart
    Fig. 5. Mean-Shift image tracking flowchart
    UAV trajectory by range profile tracking. (a) Motion trajectory image; (b) Target center trajectory curve
    Fig. 6. UAV trajectory by range profile tracking. (a) Motion trajectory image; (b) Target center trajectory curve
    UAV trajectory by visible light tracking. (a) Motion trajectory image; (b) Target center trajectory curve
    Fig. 7. UAV trajectory by visible light tracking. (a) Motion trajectory image; (b) Target center trajectory curve
    Comparison of range profile tracking and visible light tracking. (a) X-coordinate trajectory; (b) X-coordinate angle radian curve; (c) Y-coordinate trajectory; (d) Y-coordinate angle radian curve
    Fig. 8. Comparison of range profile tracking and visible light tracking. (a) X-coordinate trajectory; (b) X-coordinate angle radian curve; (c) Y-coordinate trajectory; (d) Y-coordinate angle radian curve
    Range profile of UAV in smoke scenes
    Fig. 9. Range profile of UAV in smoke scenes
    Smoke filtering UAV range profile
    Fig. 10. Smoke filtering UAV range profile
    Partial imaging sequence under the background of firelight mutation
    Fig. 11. Partial imaging sequence under the background of firelight mutation
    Range profile tracking trajectory of UAV. (a) Motion trajectory image; (b) Y-coordinate trajectory curve
    Fig. 12. Range profile tracking trajectory of UAV. (a) Motion trajectory image; (b) Y-coordinate trajectory curve
    Target range profile tracking trajectory after filtering out firelight. (a) Tracking trajectory image; (b) Y-coordinate trajectory curve
    Fig. 13. Target range profile tracking trajectory after filtering out firelight. (a) Tracking trajectory image; (b) Y-coordinate trajectory curve
    ParameterValue
    Laser wavelength ($\lambda $)/nm1064
    Laser divergence angle (${\theta _{{t} } }$)/mrad10
    Launch system efficiency (${\eta _{{t} } }$)0.9
    Receiving system efficiency ($ {\eta _r} $)0.9
    Effective receiving area of the detector ($ {A_r} $)/cm230
    Atmospheric one-way transmittance (${\eta _{ {{atm} } } }$)0.993
    Filter bandwidth ($\Delta \lambda $)/nm10
    Dark counting rate (${N_d}$)/kHz15-30
    Target average reflectivity ($ \rho $)0.3
    The distance of the target (R)/m30
    Quantum efficiency of detector ($ {\eta _q} $)20%
    $ \Delta t $/ns1
    d30
    Table 1. Simulation parameters
    APD detector parametersMinimum valuesTypical valuesMaximum values
    Pixel spacing/μm50
    Working wavelength/nm9501650
    Time resolution/ns1
    Frame rate/kHz25
    Working voltage/VDC10DC12DC13
    Operating temperature/℃−20
    Dark counting rate15%30%
    Quantum efficiency of detector20%
    Table 2. The APD detector parameters
    Optical lens parametersTypical values
    Receiving efficiency90%
    Receiving area/cm230
    Effective pixel rate98%
    Table 3. Optical lens parameters
    Zhen Yang, Qianqian Guo, Manguo Liu, Dan Jiao, Haohui Chen, Yong Zhang, Jianlong Zhang. Experimental research on laser detection and tracking of unmanned aerial vehicles under flame and smoke[J]. Infrared and Laser Engineering, 2024, 53(4): 20230700
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