Features Panoramic 170 horizontal Field of View Distortion- free, no fish-eye effect Wide temperature range, -40 C to +70 C Day/Extended Night Mode operation Fog reduction Digital Noise Reduction, DNR Heated protective window Model CI-P170 PAL and NTSC Versions Cautions and Warnings Do not attempt to disassemble the camera. There are no user serviceable parts inside. Do not open the purge valve on the rear of the camera. This will void the warranty. Operate this camera only from the recommended type of power source. Page 1 of 13
Table of contents 1. General... 3 2. Main features... 3 3. Standard composition... 4 4. External appearance and dimensions / Location of features... 4 5. Connector pin assignment... 5 6. Suggested system configuration... 6 7. Mounting on vehicles... 7 8. Functions and operation... 7 8.1. Picture settings... 7 8.1.1. Day Mode / Extended Night Mode... 7 8.1.2. AGC... 8 8.1.3. Gamma... 8 8.1.4. Fog Reduction... 8 8.1.5. DNR Control (Digital Noise Reduction)... 8 8.1.6. Lens auto-iris control... 8 8.1.7. Shutter speed... 8 8.1.8. Mirror function... 9 8.1.9. Positive/Negative (image polarity)... 9 8.2. Camera Video (Display) settings... 10 8.3. Graphical overlay markers... 10 8.4. Text overlay... 11 8.5. Test image... 11 8.6. Command protocol... 11 Specifications... 12 9. CE declaration of conformity... 13 Page 2 of 13
1. General By mounting an array of cameras on the chassis of armoured vehicles, an unobstructed view over the near surroundings of the vehicle can be maintained with the hatches closed. The Citadel Panoramic is a camera system that combines images from two 85 FOV cameras to a complete seamless 170 viewing system for 2. Main features Image sensor (2 x) High-sensitivity colour CCD mounting on a wide variety of vehicles, such as armoured personnel carriers, tanks, trackvehicles. It is designed to deliver high-performance images, even under the harshest conditions, in temperatures ranging from -25 C to +70 C. Lens (2 x) focal length 2.6 mm, f/1.6 Horizontal FOV 170 Cooling Conductive Image sensor format (inch) 1/3 Day/Night mode Video format Video output S/N ratio White balance External control NTSC (EIA) / PAL (CCIR) Colour Composite VBS / Monochrome Composite VS > 52dB Automatic Shutter control Auto shutter 1/50 (PAL) or 1/60 (NTSC) to 1/120 000 Manual shutter 1/50 (PAL) or 1/60 (NTSC) to 1/10 000 sec. Iris control High sensitivity function Image reversal Lens system Automatic, built-in / Manual software control Frame integration mode for higher sensitivity Scanning reversal function (mirror-effect mode) Integrated, distortion free 85.5 horizontal FOV Connections Single 22-pin circular connector, compliant with MIL 38999 Power 18 to 36 VDC, max. 700 ma (at 24 VDC, not including heater) Page 3 of 13
3. Standard composition Camera main body Options: Replaceable protective glass Alternative mounting plate 4. External appearance and dimensions / Location of features 1 3 3 2 6 Front view Side view 4 5 Top view Bottom view 1. Protective window for camera B 2. Protective window for camera A 3. Release mechanism for replaceable protective glass (option) 4. 22-pin connector 5. Purge valve 6. Mounting holes (max 6. mm depth) Page 4 of 13
5. Connector pin assignment Connector J1 (22-pin circular connector in accordance with MIL 38999) Pin Configuration: Pin no. Signal name 1 Not used 2 Not used 3 Not used 4 Not used 5 Y-out (Merged video) 6 Y-out GND 7 CVBS out (merged video) 8 CVBS out GND 9 RS422 Rxd- B (CAN-hi) 10 RS422 Rxd+ A (CAN-lo) 11 RS422 Txd- B 12 RS422 Txd+ A 13 C-out (merged video) 14 C-out GND 15 +24V 16 24V return 17 USB (vcc) 18 USB (D-) 19 RS422 GND (CAN-GND) 20 RS422 GND 21 USB (D+) 22 USB (GND) Page 5 of 13
6. Suggested system configuration The typical system configuration with the CITADEL PANORAMIC consists of the camera unit, in-vehicle monitor(s) & control panel and cable for power, control and video transmission connected through the vehicle s signal distribution unit (SDU). A laptop computer is typically used for configuring the settings in the camera during installation (USB interface), but is not required for normal operation. During operation, the specific functions that are relevant for the user (i.e. the driver) are controlled by the serial RS-422/CAN interface. Such functions include Day Mode/Extended Night Mode, Fog Penetration and Display Control (panoramic or left/right image). PC (for system configuration only) Cable for power, control and video In-vehicle monitor and control panel Note: 3 rd party product shown on this page are only examples. Many other products may be used in combination with Citadel Panoramic. Page 6 of 13
7. Mounting on vehicles The Citadel Panoramic has many mounting possibilities for a wide range of vehicles and uses. The typical use for the camera system is local situation awareness. The rugged aluminium housing, with the two integrated 85 Field of View cameras that in combination provide the panoramic 170 FOV can be bolted directly to the body of the vehicle, without the need for any additional protection measures. See Chapter 4 (External appearance and dimensions) for location and dimensions of mounting holes. Right image Left image 8. Functions and operation The Citadel Panoramic has a wide range of functions that can be controlled from an operator panel using a serial RS-422 interface. See chapter 4. (CST provides a control panel applet that allows setting up the camera via serial RS-422 for evaluation purposes) NOTE: Many of the system s basic functions do not require configuration, and are best kept in the factory default setting. 8.1. Picture settings 8.1.1. Day Mode / Extended Night Mode In the Day Mode, the camera outputs colour images, allowing viewing from dim, low-light scenes to bright high-noon scenes. In the Extended Night Mode the camera is set to monochrome and 4 sec. integration. The night mode is commonly used as an observation mode when the vehicle is stationary, as the 4 sec. integration results in image latency. Settings: ON, OFF Page 7 of 13
8.1.2. AGC Controls the amount of gain (amplification) applied to the analogue video signal. When set to auto, it will compensate for variations in scene brightness, with a maximum gain of +36dB. In conditions with low scene brightness, using AGC may result in a noisier image. Settings: ON, OFF 8.1.3. Gamma Selects the gamma curve of the video output. Normal operation is with Gamma 0.45. Settings: 0.45 and 1.0 NOTE: Setting Gamma to 1.0 disables the Fog Reduction function. 8.1.4. Fog Reduction To correct for environmental influence from fog, haze, rain or smoke, his function expands the mid-range part of the camera response curve to provide higher contrast. Settings: OFF, LOW, MID and HIGH NOTE: Turning on Fog Reduction forces Gamma to 0.45 8.1.5. DNR Control (Digital Noise Reduction) The Digital Noise Reduction function reduces random noise by averaging multiple frames before outputting an image. A small amount of motion lag may be observed when using this function. Settings: OFF, LOW, MID and HIGH 8.1.6. Lens auto-iris control Controls the iris aperture (f-stop) of the lens determining the amount of light that reaches the CCD sensor. The control can either be set to automatic or manual. In automatic, the system regulates the aperture depending on the brightness of the scene. In manual mode, the aperture can be set by the user. The highest number represents the smallest aperture, meaning less light is reaching the CCD sensor. The iris settings of both cameras are regulated in tandem. Settings: ON, OFF 8.1.7. Shutter speed Sets the exposure time of the camera, determining the amount of light that reaches the CCD sensor. A smaller value (shorter exposure time) results in darker images and inversely a larger value (longer exposure time) results in brighter images. It is recommended to use the lens auto-iris control or the AGC function to automatically adjust the sensitivity with variations in scene brightness. Page 8 of 13
Settings: 1/50, 1/120, 1/180, 1/350, 1/500, 1/750, 1/1000, 1/2000, 1/4000 and 1/10 000 sec. for the PAL version. For the NTSC version the first two shutter speed values are 1/60 and 1/100 sec. 8.1.8. Mirror function This function controls horizontal flip of the image. This can be particularly helpful when using the camera as a rear-view camera. Normal Mirrored Settings: ON, OFF 8.1.9. Positive/Negative (image polarity) Under certain viewing conditions it may be helpful to invert the image (turn it into a negative), in order to see details more clearly. Settings: Positive/Negative picture Page 9 of 13
8.2. Camera Video (Display) settings This setting gives the choice of displaying either a full distortion-free panoramic 170 horizontal FOV picture, an 85 hor. FOV picture from either camera A or B, or an 85 horizontal FOV image from the centre of both cameras. 2 2 170 FOV (Cam A and Cam B stitched together) 1 1 3 Cam A (85 FOV) 2 2 Cam B (85 FOV) Photo courtesy of freebigpictures.com 3 85 FOV (Centre of Cam A and Cam B stitched) Furthermore, there is a setting for adjusting the image to the aspect ratio of the monitor screen. Setting toggles between: 4:3, 16:9 and FULL SCREEN (full vertical resolution maintained, but horizontal compressed to fit screen). 8.3. Graphical overlay markers The Citadel Panoramic is equipped with on-screen overlays in the form of distance markers. These markers assist the user in judging distance to objects and artefacts in the image. Once adjusted for horizontal and vertical position, the location of the markers is fixed in relationship to features/artefacts in the image, regardless of the video display settings. CST can customize the shape and size of the markers according to customer needs. Settings: Horizontal and Vertical position, intensity of the markers Page 10 of 13
8.4. Text overlay Up to 1000 individual 5 characters text-overlays can be created on the image. The X-Y position of the text strings can be configured. If a text overlay is re-written to an existing position, the contents of the previous string will be overwritten. 8.5. Test image In order to test the integrity of the video connection, it is possible to display a colour bar chart. 8.6. Command protocol All functions of the Citadel Panoramic can be controlled by sending individual command strings, with command variables, to the camera via serial RS-422 (optionally via CAN-BUS). This is typically how the camera is controlled once it is installed in the vehicle, and the driver (or another crew member) has a limited set of buttons to control the camera. NOTE: Typical functions that are controlled by the crew include Camera Video (display) settings, Day/Night mode, Fog Reduction and Mirror function. The command protocol document is available on request. Page 11 of 13
Specifications PAL NTSC Image system Sensor (2x) High-sensitivity colour CCD with complementary mosaic Lens (2x) Focal length 2.6 mm, f/1.6, <1% distortion Effective pixels (H x V) per sensor 752 x 582 768 x 494 Horizontal FOV 170 (two images with each 85.5 stitched together with minor overlap) Vertical FOV 70 Scanning system 2:1 Interlace Horizontal frequency 15.625 khz 15.734 khz Vertical frequency 50 Hz 59.94 Hz Electrical specifications and functions Video output Composite video, 1 Vpp, 75 ohm Output formats (user selectable) Panoramic 170 FOV fitting 16:9 monitor, Panoramic 170 FOV horizontally compressed to fit 4:3 monitor, Left, right side image and central portion of panoramic image fitting 4:3 monitor Horizontal resolution left & right separate image: 425 TVL; Stitched panoramic image: 240 TVL Sensitivity 0.05 lx, 25% video @ f/1.6, AGC on Spectral reponse Visible (IR blocked) Signal to noise ratio > 52 db, AGC Off Spectral response Visible (IR blocked) Electronic shutter, fixed steps 1/50 to 1/10,000 sec. 1/60 to 1/10,000 sec. Gamma correction 0.45 / 1.0 Automatic Gain control 0 to +36 db Frame integration 4 sec. Day/Extended Night Mode switching Via Serial RS-422 interface Mirror effect Horizontal image flip Fog reduction Image contrast enhancement White balance Auto Tracking White Balance (ATW) Noise reduction 2D and 3D Digital Noise Reduction Graphical overlays Distance markers, 5-character text strings Configuration CST Control Panel Applet and serial RS-422 Mechanical Overall dimensions (W x H x D) 200 x 78 x 134 mm (not incl. connectors) Net weight < 2100 g Housing material Aluminium with corrosion protection coating Mounting M4 threaded holes in the side panels. Other options available. Protective housing integrity IP-65 rating, back-filled with dry nitrogen Camera windows Chemically strengthened, AR-coated BK7 glass. Heated Connector (power, data, control) 22-pin circular- In accordance with MIL 38999 (optional bottom mounting) Environmental Operating voltage 18 to 36 VDC (1275B protection filter) Current consumption Camera system: 12W, Heater: 12W (thermostat controlled) Operating temperature -40 C to +70 C Operating humidity Max. 80% Storage temperature -40 C to +70 C Storage humidity Max. 80% Vibration MIL STD 810G Shock 500G ± 50 @ 0.5 ms, half sine (3 x each axis, 18 times total) The system must tolerate the shock without impairment to function EMC MIL STD 461F MTBF 30 000 hrs. CST cannot be held responsible for any technical inaccuracies or typographical errors. Specifications are subject to change without notice. Page 12 of 13
9. CE declaration of conformity DECLARATION OF CONFORMITY AS DEFINED BY THE COUNCIL DIRECTIVE 89/336/EEC EMC (ELECTROMAGNETIC COMPATIBILITY) WE HEREWITH DECLARE THAT THIS PRODUCT COMPLIES WITH THE FOLLOWING PROVISIONS APPLYING TO IT Page 13 of 13