Stressing requirements for real-time hardware-in-the-loop scene generation include high performance and high precision. Scene generation frame rates in excess of 100 Hz are common to stimulate fast frame rate sensors. In addition, high bit precision requirements from 12 bits to 24 bits for rendered imagery depend on sensor dynamic ranges and projector capabilities. Until recently, the use of PC-based graphics hardware was unsuitable for high-end scene generation because of the inability of meeting these requirements. However, PC graphics chip technology has evolved to a level where these requirements can now be satisfied. The latest generation of PC graphics chips can perform computations with 32-bit floating-point precision per color component throughout the entire graphics pipeline. This high precision coupled with the flexibility of programmable graphics allows for targeted rendering algorithms specifically designed for various types of sensors including visual, infrared, and ladar. Graphics performance also has increased with each successive chip generation. Integration of this technology into a commercially available scalar multi-chip system with frame synchronization provides a solution with the highest performance possible on a PC-based platform. By partitioning the rendering of a frame among each synchronized system unit, the frame rate performance can be increased to meet the sensor requirements.
The Kinetic Kill Vehicle Hardware-In-the-Loop Simulator, located at Eglin AFB, has developed the capability to perform broadband 2-color testing of guided missile seekers in both ambient and cryogenic environments. The 2-color capability is provided by optically combining two 512 X 512 resistor arrays and projecting through all-reflective optical systems. This capability has raised the following questions: `How would a resistor array, designed to work at ambient conditions, perform when operated in a cryogenic environment?' and `How would a resistor array that was non- uniformity corrected (NUC) at ambient conditions perform when the NUC is applied to the array in a cryogenic environment?' The authors will attempt to address these questions by performing several measurements on a Wideband Infrared Scene Projector (WISP) Phase III resistor array in both ambient and cryogenic conditions. The WISP array performance will be defined in terms of temporal response, spatial non-uniformity, radiometric and thermal resolution, and radiometric and thermal transfer function.
Although the sparse grid Non-Uniformity Correction (NUC) technique can accurately correct individual emitters on a resistor array, it is not a good solution for all projection applications. Due to busbar robbing, the sparse grid NUC breaks down when a large number of emitters are turned on simultaneously. For this case, a more appropriate NUC data collection method is needed. This method involves measuring the entire resistor array at once with a 1:1 mapping between the projector and NUC sensor. Then busbar effects, measured during the NUC data collection, can be accounted for and corrected. This paper presents details pertaining to the flood NUC technique and results. This NUC system is implemented at the Kinetic Kill Vehicle Hardware In the Loop Simulator (KHILS) at Eglin AFB, Florida.
A challenging problem associated with performing hardware- in-the-loop tests of imaging infrared seekers is projecting images that are spatially realistic. The problem is complicated by the fact that the targets may be small and unresolved at acquisition and grow to fill the field of view before intercept. In previous work, mathematical and computer models of the process of observing a pixelized projector with a camera have been developed, metrics of the spatial realism of the projector have been proposed, and model predictions examined.
KEYWORDS: Projection systems, Infrared radiation, Resistors, Thermography, Temperature metrology, Black bodies, Signal processing, Calibration, Field effect transistors, Infrared imaging
The thermal conduction and electronic drive processes that govern the temporal response of resistor array infrared projectors are reviewed. The characteristics and limitations of the voltage overdrive method that can be implemented for sharpening the temporal response are also discussed. Overdrive is shown to be a viable technique provided sufficient drive power and temperature margins are available outside of the normal dynamic range. It is shown also by analysis of overdrive measurements applied to a Honeywell GE snapshot resistor array that practical real-time overdrive processors can be designed to operate consistently with theoretical predictions.
KEYWORDS: Infrared radiation, Nonuniformity corrections, Infrared imaging, Commercial off the shelf technology, Projection systems, RGB color model, Thermography, Mid-IR, Temperature metrology, Transform theory
It is shown that commercial-off-the-shelf (COTS) renderers can be used for covering the simultaneous fine temperature resolution and large dynamic range specifications associated with the demands of medium-wave infrared scene projection applications. Appropriate use of the RGB capabilities of the COTS renderer combined with redistribution of the binary scene data by using a nonlinear transformation enables the dual specifications for 0.1 degree Celsius small signal temperature resolution and > 400 degree Celsius range in simulated temperature difference to be simultaneously met.
In the past year, Honeywell has developed a 512 X 512 snapshot scene projector containing pixels with very high radiance efficiency. The array can operate in both snapshot and raster mode. The array pixels have near black body characteristics, high radiance outputs, broad band performance, and high speed. IR measurements and performance of these pixels will be described. In addition, a vacuum probe station that makes it possible to select the best die for packaging and delivery based on wafer level radiance screening, has been developed and is in operation. This system, as well as other improvements, will be described. Finally, a review of the status of the present projectors and plans for future arrays is included.
At the Kinetic-kill vehicle Hardware-in-the-Loop Simulator (KHILS) facility located at Eglin AFB, Florida, a technology has been developed for the projection of scenes to support hardware-in-the-loop testing of infrared seekers. The Wideband Infrared Scene Projector program is based on a 512 X 512 VLSI array of 2 mil pitch resistors. A characteristic associated with these projectors is each resistor emits measurably different in-band radiance when the same voltage is applied. Therefore, since it is desirable to have each resistor emit the same for a commanded radiance, each resistor requires a Non-Uniformity Correction (NUC). Though this NUC task may seem simple to a casual observer, it is, however, quite complicated. A high quality infrared camera and well-designed optical system are prerequisites to measuring each resistor's output accurately for correction. A technique for performing a NUC on a resistor array has been developed and implemented at KHILS that achieves a NUC (standard deviation output/mean output) of less than 1 percent. This paper presents details pertaining to the NUC system, procedures, and results.
This paper presents mathematical models and measurements of the spatial noise a camera observes as it views a projection system with nonuniform emitter responses. The models account for the effects of the projector and camera spatial resolutions and of the alignment of the emitters with respect to the camera detectors. The models attempt to provide a better understanding of the spatial effects in a projection system and provide mathematical models for analyzing measurements and designing future hardware-in-the-loop tests. In previous work, one of the authors presented a model of the spatial, spectral, and temporal effects in a pixelized projector. In this paper, the previous model is simplified omitting the temporal effects (the scenes are assumed static). The model is then modified to describe random variations (noise) in the responses from one emitter to the next. This paper presents two different methods of modeling these effects. The first involves evaluating the spatial model directly. The second method involves performing a first order error propagation analysis on the spatial model and neglecting alignment effects. Measurements were performed to validate the models. The measurements are described in detail in a companion paper. In this paper, the spatial noise measurements are compared with model results. It was found that alignment effects were negligible, and the resulting predictions of the simplest model were in good agreement with the measured spatial noise.
For more than a decade, there has been considerable discussion about using different IR bands for the detection of low contrast military targets. Theory predicts that a target can have little to no contrast against the background in one IR band while having a discernible signature in another IR band. A significant amount of effort has been invested towards establishing hardware that is capable of simultaneously imaging in two IR bands to take advantage of this phenomenon. Focal plane arrays (FPA) are starting to materialize with this simultaneous two-color imaging capability. The Kinetic Kill Vehicle Hardware-in-the-loop Simulator (KHILS) team of the Air Force Research Laboratory and the Guided Weapons Evaluation Facility (GWEF), both at Eglin AFB, FL, have spent the last 10 years developing the ability to project dynamic IR scenes to imaging IR seekers. Through the Wideband Infrared Scene Projector (WISP) program, the capability to project two simultaneous IR scenes to a dual color seeker has been established at KHILS. WISP utilizes resistor arrays to produce the IR energy. Resistor arrays are not ideal blackbodies. The projection of two IR colors with resistor arrays, therefore, requires two optically coupled arrays. This paper documents the first demonstration of two-color simultaneous projection at KHILS. Agema cameras were used for the measurements. The Agema's HgCdTe detector has responsivity from 4 to 14 microns. A blackbody and two IR filters (MWIR equals 4.2 t 7.4 microns, LWIR equals 7.7 to 13 microns) were used to calibrate the Agema in two bands. Each filter was placed in front of the blackbody one at a time, and the temperature of the blackbody was stepped up in incremental amounts. The output counts from the Agema were recorded at each temperature. This calibration process established the radiance to Agema output count curves for the two bands. The WISP optical system utilizes a dichroic beam combiner to optically couple the two resistor arrays. The transmission path of the beam combiner provided the LWIR (6.75 to 12 microns), while the reflective path produced the MWIR (3 to 6.5 microns). Each resistor array was individually projected into the Agema through the beam combiner at incremental output levels. Once again the Agema's output counts were recorded at each resistor array output level. These projections established the resistor array output to Agema count curves for the MWIR and LWIR resistor arrays. Using the radiance to Agema counts curves, the MWIR and LWIR resistor array output to radiance curves were established. With the calibration curves established, a two-color movie was projected and compared to the generated movie radiance values. By taking care to correctly account for the spectral qualities of the Agema camera, the calibration filters, and the diachroic beam combiner, the projections matched the theoretical calculations. In the near future, a Lockheed- Martin Multiple Quantum Well camera with true two-color IR capability will be tested.
A computer program has been developed to provide closed-loop infrared imagery of composite targets and backgrounds in real- time. This program operates on parametric databases generated off-line by computationally intensive first principle physics codes such as the Composite Hardbody and Missile Plume (CHAMP) program, Synthetic Scene Generation Model (SSGM), and Multi- Spectral Modeling and Analysis (MSMA/Irma program. The parametric databases allow dynamic variations in flight and engagement scenarios to be modeled as closed-loop guidance and control algorithms modify the operational dynamics. The program is tightly coupled with the parametric databases to produce infrared radiation results in real-time and OpenGL graphic libraries to interface with high performance graphic hardware. The program is being sponsored for development by the Kinetic Kill Vehicle Hardware-in-the-Loop Simulator facility of the Air Force Research Laboratory Munitions Directorate located at Eglin AFB, Florida.
Real-time infrared (IR) scene generation for Hardware-in-the- Loop (HWIL) testing of IR seeker systems is a complex operation. High frame rates and high image fidelity are required to properly evaluate a seeker system's designation, identification, tracking, and aim-point selection tasks. Rapidly improving Commercial-off-the-Shelf (COTS) scene generation hardware has become a viable solution for HWIL test activities conducted at the Kinetic Kill Vehicle Hardware-in- the-Loop Simulator (KHILS) facility at Eglin AFB, Florida. A real-time IR scene generation implementation for a complete closed-loop guided missile simulation test entry was accomplished at KHILS. The scenarios used for the simulation were Theater Missile Defense (TMD) exo-atmospheric hit-to-kill intercepts of a re-entry target. Innovative scene generation techniques were devised to resolve issues concerning scene content and rendering accuracy while maintaining the required imaging frame rate. This paper focuses on the real-time scene generation requirements, issues, and solutions used for KHILS test entries.
Development and generation of high-fidelity IR scenes to support testing requirements at the Kinetic Kill Vehicle Hardware-in-the-Loop Simulator (KHILS) facility at Eglin AFB, Florida has been the mission for the Air Force Research Laboratory's (AFRL) scene generation team throughout the past ten years. During that time scene generation efforts have supported operational scenarios ranging from surveillance through terminal homing. Recent programs have required the development of IR target and background models to support the testing needs of a high-speed fuze. Development of IR models and techniques to support high-speed fuze applications required advancing the state-of-the-art in IR scene generation. This effort required the development of several target models not available from other sources. In addition, due to the unusual proximity fuze seeker configuration that utilizes a wide angle lens to encompass a full 360 degree field-of-view (FOV) and very fast frame rate requirements, normal scene generation techniques were not adequate. Hundreds of scenarios consisting of hundreds of image frames were needed to develop the fuzing algorithms. This scene generation requirement necessitated that realistic scene sequences be produced in minutes rather than hours. This paper discusses the IR model development path to generate IR scene sequences to support the algorithm development for this fuzing program. The discussion describes the process and unique modeling techniques that were implemented to build foreign target models that include fighter and bomber aircraft, low-flying cruise missiles, and helicopters. Implementation of appropriate rendering techniques to support the generation of backgrounds that include atmospherics, terrain, and sea for realistic target engagements are also discussed. Finally, a description of the process utilized in merging IR model and commercial hardware solutions to satisfy the IR scene generation requirements for this program is presented.
Real-time infrared (IR) scene generation from HardWare-in- the-Loop (HWIL) testing of IR seeker systems is a complex problem due to the required frame rates and image fidelity. High frame rates are required for current generation seeker systems to perform designation, discrimination, identification, tracking, and aimpoint selection tasks. Computational requirements for IR signature phenomenology and sensor effects have been difficult to perform in real- time to support HWIL testing. Commercial scene generation hardware is rapidly improving and is becoming a viable solution for HWIL testing activities being conducted at the Kinetic Kill Vehicle Hardware-in-the-Loop Simulator facility at Eglin AFB, Florida. This paper presents computational techniques performed to overcome IR scene rendering errors incurred with commercially available hardware and software for real-time scene generation in support of HWIL testing. These techniques provide an acceptable solution to real-time IR scene generation that strikes a balance between physical accuracy and image framing rates. The results of these techniques are investigated as they pertain to rendering accuracy and speed for target objects which begin as a point source during acquisition and develop into an extended source representation during aimpoint selection.
The generation of high-fidelity imagery of infrared radiation from aircraft targets is a computationally intensive task. These calculations must include details associated with the heating of the airframe, generation of the exhaust flowfield, and transport of the emitted, reflected, and absorbed radiation through the atmosphere. Additionally, spatial and temporal features such as complex airframe geometries, hot body parts, engine exhaust states, and atmospheric path must be consistently resolved regardless of aircraft and sensor orientation to eliminate nonphysical artifacts. This paper presents computational techniques to compute aircraft infrared radiation imagery for high frame rate applications at the Kinetic Kill Vehicle Hardware-in-the-loop Simulator facility located at Eglin AFB. Details concerning the underlying phenomenologies are also presented to provide an understanding of the computational rationale. Finally, several example calculations are presented to illustrate the level of fidelity that can be achieved using these methods.
Ever increasing developments in imaging infrared (IR) seekers that are being designed for Ballistic Missile Defense Office guided interceptor programs have amplified the necessity for robust hardware-in-the-loop (HWIL) testing to reduce program risk. Successful IR HWIL testing requires a high fidelity spatial, spectral, and temporal IR projector. Recent characterization measurements of a 512 X 512 metal-oxide semiconductor field-effect transistor (MOSFET) resistor array show that resistor array technology is a leading contender for the IR projector. As with any array device, nonuniform performance between individual elements of the array is a concern. This paper addresses a simplified approach to accomplishing the nonuniformity correction of a resistor array in real-time. The first step in this process is to obtain a nominal output curve typical of the resistors' MOSFET output. The key feature of this simplified process is that all output curves specific to individual resistors can be related to this typical curve with a simple gain and offset correction. In practice, the inverse of the typical output curve is stored in a look-up table in order to obtain the required command for a desired output and then a correcting gain and offset are applied. Results from this process show great promise.
In a series of measurements made to characterize the performance of a Wideband Infrared Scene Projector (WISP) system, timing artifacts were observed in one set of tests in which the projector update was synchronized with the camera readout. The projector was driven with images that varied from frame to frame, and the measured images were examined to determine if they varied from frame to frame in a corresponding manner. It was found that regardless of the relative time delay between the projector update and sensor readout, each output image was a result of two input images. By analyzing the timing characteristics of the camera integration scheme and the WISP update scheme it was possible to understand effects in the measured images and simulate images with the same effects. This paper describes the measurements and the analyses. Although the effects were due to the unique camera integration and readout scheme, the effects could show up when testing other sensors. Thus also presented in this paper are techniques for testing with resistive array projectors, so that the timing artifacts observed with various kinds of cameras are minimized or eliminated.
Kinetic energy weapon (KEW) programs under the Ballistic Missile Defense Office (BMDO) need high fidelity, fast framing infrared (IR) imaging seekers. As imaging sensors have matured to support BMDO, the complexity of functions assigned to the KEW weapon systems has amplified the necessity for robust hardware-in-the-loop (HWIL) simulation facilities to reduce program risk. Tactical weapon systems are also turning to imaging focal plane array (FPA) seekers. They too require more sophisticated HWIL testing. The IR projector, an integral component of a HWIL simulation, must reproduce the real world with enough fidelity that the unit-under-tests's (UUT) software will respond to the projected scenario of images as though it were viewing the real world. The MOSFET resistor array IR scene projector shows great promise in cryogenic vacuum chamber as well as room temperature testing. Under the wideband infrared scene projector (WISP) program, an enhanced version of the resistor array is currently under development. When the WISP system is delivered, the projector will consist of a 512 by 512 baseline array with the center 128 by 128 resistors having a higher output capability. For the development stage of the program, 512 by 512 prototype baseline and 128 by 128 prototype high dynamic range (HDR) arrays have been fabricated separately. Characterization measurements to include: spectral output, dynamic range capability, apparent temperature, rise time, fall time, cross talk, and current consumption have been accomplished on the prototype baseline and HDR arrays at the Kinetic Kill Vehicle Hardware-in-the-Loop Simulator (KHILS) Facility and the Guided Weapons Evaluation Facility (GWEF). Results from the measurements show the HDR array dynamic range is an order of magnitude greater than its predecessor. Other parameters such as droop, rise time, etc., either meet or are close to meeting system specifications. The final design of the arrays is currently in progress based on these results.
Real-time infrared (IR) scene generation for HardWare-In- the-Loop (HWIL) testing is a complicated problem. As a consequence, real-time signal phenomenology and real-time sensor effects modeling have been difficult to accomplish. For example, modern systems are burdened with designation, discrimination, identification, tracking, and aimpoint selection tasks. This requires that sensor data rates increase and therefore faster computations for real-time scene generation systems are necessary in testing environments. Moreover, commercial scene generation hardware is rapidly improving making it a viable solution for HWIL applications in the Kinetic Kill Vehicle Hardware-in-the- Loop Simulator facility. This paper presents the primary analysis performed to determine the strengths and weaknesses of using commercially available hardware and software for real-time scene generation in support of HWIL testing. Finding the appropriate solution to real-time IR scene generation requires striking a balance between physical accuracy and image framing rates. This effort is to determine rendering accuracy and speed for target models which begin as a point source during acquisition and develop into an extended source representation during aimpoint selection.
Kinetic Energy Weapon (KEW) programs under the Ballistic Missile Defense Office (BMDO) need high fidelity, fast framing infrared (IR) imaging seekers. As imaging sensors have matured to support BMDO, the complexity of functions assigned to KEW weapon systems has amplified the necessity for robust hardware-in-the-loop (HWIL) simulation facilities to reduce program risk. The IR projector, an integral component of a HWIL simulation, must reproduce the real world with enough fidelity that the unit under test's software will respond to the projected scenario of images as though it were viewing the real world. The MOSFET resistor array IR scene projector shows great promise for both cryogenic vacuum chamber and room temperature testing. The resistor array breaks up the analog world into discrete pieces, much like a focal plane array (FPA). Extensive debate has taken place since the inception of the resistor array as to how many resistors need to be projected into one FPA detector. Can one resistor be matched to one FPA detector, or does the Nyquist rate of at least 2:1 sampling take precedence? Testing was accomplished at the Wright Laboratory Kinetic Kill Vehicle Hardware-in-the-Loop Simulator that utilized a 5:1 zoom collimator and the Wideband Infrared Scene Projector resistor array to project in the 1:1, 1.3:1, 2:1, and 3:1 cases. This paper discusses the results of those tests.
Real-time closed loop simulation of LADAR seekers in a hardware-in-the-loop facility can reduce program risk and cost. This paper discusses an implementation of real-time range imagery generated in a synthetic environment at the Kinetic Kill Vehicle Hardware-in-the Loop facility at Eglin AFB, for the stimulation of LADAR seekers and algorithms. The computer hardware platform used was a Silicon Graphics Incorporated Onyx Reality Engine. This computer contains graphics hardware, and is optimized for generating visible or infrared imagery in real-time. A by-produce of the rendering process, in the form of a depth buffer, is generated from all objects in view during its rendering process. The depth buffer is an array of integer values that contributes to the proper rendering of overlapping objects and can be converted to range values using a mathematical formula. This paper presents an optimized software approach to the generation of the scenes, calculation of the range values, and outputting the range data for a LADAR seeker.
Kinetic energy weapon (KEW) programs under the Ballistic Missile Defense Office (BMDO) need high fidelity, fast framing infrared (IR) imaging seekers. As imaging sensors have matured to support BMDO, the complexity of functions assigned to the KEW weapon systems has amplified the necessity for robust hardware-in-the-loop (HWIL) simulation facilities to reduce program risk. The IR projector, an integral component of a HWIL simulation, must reproduce the real world with enough fidelity that the unit under test's (UUT) software will respond to the projected scenario of images as though it were viewing the real world. The CMOS resistor array IR scene projector, a wideband flickerless technology, shows great promise in cryogenic vacuum chamber as well as room temperature testing. A 128 X 128 CMOS resistor array has undergone extensive characterization measurements at Eglin AFB to determine its potential for HWIL testing of BMDO IR seekers. This paper addresses the nonuniformity correction (NUC) and use of the array in a calibrated projection test. The methodology and process for the NUC is described. Sensitivities to such things as output averaging, and optical sampling are explained. With the NUC procedure established, a test was accomplished that provided calibrated scene radiance values to a UUT. Absolute radiance values were not projected. Rather, the array's low and high output capabilities were equated to the low and high radiance values of an input scene. A calibration curve was established that allowed the UUT's output to be equated to the input scene's radiance values. The input scene was projected to the UUT, and the scene's radiance values were reproduced after applying the calibration curve to the UUT's output response. To the authors' knowledge, this if the first accomplishment of such a test with a dynamic IR scene projector.
Ever increasing developments in imaging infrared (IR) seekers that are being designed for Ballistic Missile Defense Office (BMDO) guided interceptor programs have amplified the necessity for robust hardware-in-the-loop (HWIL) testing to reduce program risk. Several candidate HWIL IR projection technologies are under development. This paper addresses the characterization measurements of a 128 X 128 metal-oxide semiconductor field-effect transistor (MOSFET) resistor array scene projector. The measurements include spectral output performance, dynamic range, spectral apparent temperature, uniformity, rise time, fall time, droop percentage, and current consumption. With possibly the exception of hot target simulation, the resistor array has the ability to spatially, spectrally, and temporarily function as the scene projector for a HWIL facility.
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