田 字 型 四 孔 径 红 外 仿 生 复 眼 的 目 标 定 位

In order to explore the application of bionic compound eyes in the field of target positioning，we have studied the spatial target positioning method of the Tian- shaped four-aperture infrared biomimetic compound eyes imaging system with partially overlapping field of view. Based on the spatial distribution relationship of the four sub apertures，the imaging process of the Tian-shaped four-eye stereo vision was analyzed，and the conversion relationship between each sub aperture and the world coordinate system was derived. We have proposed the spatial target positioning method of the four-aperture infrared biomimetic compound eyes and an inverse imaging optical path positioning method under multiple apertures constraints. The coordinates of the target points to be located were calculated using the interleaving method and the point-direction method；By calibrating the existing four-aperture infrared biomimetic compound eyes experimental system，the relative poses of the four apertures were determined，and then we have conducted spatial target positioning experiments on the four-aperture system and some binocular subsystems. The results show that under similar aperture spatial distribution，the positioning error of Tian-shaped four-aperture for targets at a distance of 2 720 mm is 40 mm，and the error of binocular positioning is 76 mm. Compared to binocular positioning，the error of four-aperture is reduced by about twice，which can more accurately locate the target. The positioning error at 1 750 mm does not exceed 2%，and the accuracy of horizontal positioning is higher than vertical direction.