末敏弹线阵激光雷达对地面装甲目标的提取方法

为了提高末敏弹在复杂战场环境下对地面装甲目标的识别概率，提出了一种用于弹载线阵激光成像雷达的目标提取方法，结合末敏弹边旋转边下降的稳态运动特点，实现了线阵列激光雷达对扫描区域的三维点云成像。首先通过对点云中高度数据分析，提出了基于高度与梯度的组合阈值分割算法，实现了地面背景的快速分割；然后利用坐标变换，对有坡度的地面进行调整，并通过典型装甲目标的几何尺寸自动获取种子点进行区域增长分割；最后利用最小外接矩形特征获取目标的几何信息，由目标的几何特征实现装甲目标的提取。仿真结果表明:此方法可以实现线阵列激光雷达在50~120 m高度下对地面装甲目标的准确提取，从而为新型末敏弹目标探测提供技术支撑。

Armored target extraction method based on linear array LiDAR of terminal sensitive sub-ammunition

In order to improve identification probability of terminal sensitive sub-ammunition under complex battle circumstances, the method of extracting the armor target based on the linear array LiDAR was proposed. Combined with stable scanning theory, 3D point cloud imaging on the scanning area was realized. Firstly, the height and gradient combination threshold segmentation algorithm was proposed by analyzing the height data in the point cloud; Then the coordinate transformation was used to adjust the slope ground, and the seed were automatically acquired through the geometric size of the typical armored targets for regional growth segmentation; finally, the extraction of armored targets was achieved through the geometric features of the target. The simulation shows that linear array LiDAR can accurately extract the armor target at the height of 50-120 m in battlefield, which provides technical support for the target detection of new terminal sensitive sub-ammunition.