CN104991572A - Variable-angle hyperspectral imaging system based on posture stability and control method of said system - Google Patents
Variable-angle hyperspectral imaging system based on posture stability and control method of said system Download PDFInfo
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- CN104991572A CN104991572A CN201510295854.1A CN201510295854A CN104991572A CN 104991572 A CN104991572 A CN 104991572A CN 201510295854 A CN201510295854 A CN 201510295854A CN 104991572 A CN104991572 A CN 104991572A
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Abstract
The invention discloses a variable-angle hyperspectral imaging system based on posture stability and a control method of said system. The imaging system includes a base, a transverse rolling ring support, a pitching ring support, a pitching motor, a transverse rolling motor, a transverse rolling motor driver, a pitching motor driver, a pitching motor photoelectric encoder, a transverse rolling motor photoelectric encoder, a hyperspectral imaging instrument and a 45-degree pointing mirror. According to the invention, by adopting PID three-ring control, a to-be-changed detection angle is converted to a pitching motor position ring command and is then overlapped on a pitching shaft posture stabilizing command, so that combined control of the posture stability in the pitching shaft direction and the variable detection angle of the hyperspectral imaging instrument is realized. A variable angle function is realized by utilizing software to control the 45-degree pointing mirror and complexity and cost of the system are reduced.
Description
Technical field
The present invention relates to a kind of airborne visible ray Hyperspectral imager, be specifically related to a kind of to there is attitude stabilization, the variable airborne hyperspectral imaging system of detection angle and control method can be realized.
Background technology
Traditional airborne hyperspectral imaging system is all generally vertical sounding, and such Dan Congyi detection angle is difficult to the information fully obtaining ground object target; And in order to fully obtain ground object target information, generally all adopt the mode that multi-angle detects.At present in order to the high-spectral data obtaining multi-angle is all install multiple stage EO-1 hyperion instrument in a set of imaging system, unavoidably like this bring system cost and complexity problem.
Because the attitudes vibration of motion carrier can impact the image quality of EO-1 hyperion instrument, therefore current airborne hyperspectral imaging system is generally made up of imaging system and stable platform two parts; What wherein stable platform generally adopted is all general stable platform, and this general stable platform and Hyperspectral imager are separated from each other, cannot be associated realize integrated.
Summary of the invention
In sum, how to overcome the problem of cost and the system complexity using multiple stage to bring EO-1 hyperion instrument in set of system and how stable platform be embedded in Hyperspectral imager that to realize complex controll be technical matters to be solved by this invention; Therefore, the technology of the present invention resolving ideas is as follows:
Utilize the position ring write in NI7830 capture card in PID three close-loop control to coordinate the speed ring that carries in motor driver and electric current loop to be embedded in Hyperspectral imager by stable platform again, realize stable platform controlled, improve lasting accuracy.On this basis, angle is pointed to order and be superimposed upon the attitude stabilization and angle sensing that the instruction of stable platform pitch axis attitude stabilization realize pitch orientation.
The technical solution adopted in the present invention is: a kind of variable-angle Hyperspectral imager based on attitude stabilization and control method (Fig. 1), system comprises pedestal 1, roll ring stand 2, pitching ring stand 3, roll spindle motor 4, pitch axis motor 5, roll spindle motor driver 6, pitch axis motor driver 7, pitching photoelectric encoder 8, roll axle photoelectric encoder 9, EO-1 hyperion instrument 10 and 45 ° of sensing mirrors 11.
Pedestal 1 is fixed on motion carrier, roll spindle motor 5 is arranged on roll axle, roll ring stand 2 is connected with pedestal 1 by roll axle, pitch axis motor 4 is arranged on pitch axis, 45 ° are pointed to mirror 11 and are fixed on pitch axis motor 4, pitching ring stand 3 is connected with roll ring stand 2 by pitch axis, and EO-1 hyperion instrument 10 is fixed on roll ring stand 2, forms the variable-angle Hyperspectral imager with attitude stabilization.
The control method control method step of described variable-angle Hyperspectral imager is as follows:
1) hyperspectral imager (10) is lain in a horizontal plane on roll ring stand (2) along heading, place 45 ° of sensings mirror (11) before imaging optical system and be used for realizing imaging over the ground; The attitudes vibration in the motion carrier roll direction utilizing NI7830 data collecting card that POS is obtained is as the external position ring steering order of roll spindle motor, drive roll spindle motor (5) to drive roll ring stand (2) inverse motion compensation, realize the attitude stabilization in motion carrier roll direction;
2) attitude information of the motion carrier pitch orientation utilizing NI7830 data collecting card that POS is obtained is as pitch axis electric machine external position ring steering order, drive pitch axis motor (4) to drive 45 ° to point to mirror (11) and do 1/2 times of inverse motion compensation, realize the attitude stabilization of motion carrier pitch orientation;
3) NI7830 data collecting card is utilized to be converted into pitch axis electric machine external position ring steering order wanting the detection angle changed, be superimposed upon in the gesture stability instruction of pitch orientation, drive pitch axis motor (4) to drive 45 ° to point to mirror (11) to rotate by 1/2 times of instruction, realize attitude stabilization and the variable complex controll of detection angle of motion carrier pitch orientation.
The invention has the advantages that:
1) stable platform is embedded in Hyperspectral imager by the present invention, reduces weight and the volume of whole system, achieves the controlled of stable platform, is convenient to improve control accuracy.Be conducive to the miniaturization of system and integrated.
2) utilize the existing hardware condition of airborne hyperspectral imaging system, rotated by software control and realize the variable function of detection angle, reduce cost and the complicacy of system.
When needing to change detection angle, by the steering order that the detection angle convert information that needs change is the external position ring of pitching motor, be superimposed upon in pitch orientation attitude stabilization information command, controlling pitching motor 4 drives 45 ° of sensing mirrors 11 to rotate by 1/2 times of instruction, thus realizing the variable function of detection angle (Fig. 2). profit can change detection angle in this way in real time, realizes arbitrarily angled detection in the scope that can allow at motor range; Reduce as obtaining data of multiple angles and the problem of system complexity that the multi-angle detector that uses brings and cost.
Accompanying drawing explanation
Fig. 1 is the variable-angle Hyperspectral imager based on attitude stabilization, wherein: 1. pedestal, 2. roll ring stand, 3. pitching ring stand, 4. pitch axis motor, 5. roll spindle motor, 6. roll spindle motor driver, 7. pitch axis motor driver, 8. pitch axis photoelectric encoder, 9. 11.45 °, pitch axis photoelectric encoder 10. EO-1 hyperion instrument points to mirror.
Fig. 2 is the light path schematic diagram changing detection angle.
Fig. 3 is PID tri-ring complex controll schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in further detail.
The present invention is applied airborne variable-angle Hyperspectral imager, PGP spectrometer, the B1920CCD camera of Imperx company and camera lens is selected to build EO-1 hyperion instrument according to application demand, according to EO-1 hyperion instrument size design pedestal, select aluminum alloy materials processing pedestal and roll ring stand.Flat glass mirror is selected to point to mirror as 45 °, detection angle requires that realization is variable in positive and negative 10 ° of offset from perpendicular, select the suitable swing angle type voice coil motor of stroke as the motor of roll axle with pitch axis, 45 ° are pointed to mirrors and pitch axis voice coil motor forms pitching ring stand.
Adopt basic PID three close-loop control algorithm, the position ring in motor PID three close-loop control is write in NI7830 data collecting card, utilize scrambler by motor angle Real-time Feedback in NI7830 capture card, the attitudes vibration in the motion carrier direction obtained with POS does difference, using result as electric machine external position ring input control order.Coordinate the speed ring and electric current loop that carry in motor driver again, drive roll motor 5 to drive roll ring stand 2 to rotate, realize the attitude stabilization in roll direction; Drive pitching motor 4 to drive 45 ° to point to mirrors to rotate, realize the attitude stabilization of pitch orientation and the variable complex controll of detection angle.
Claims (2)
1. the variable-angle Hyperspectral imager based on attitude stabilization and control method, it comprises pedestal (1), roll ring stand (2), pitching ring stand (3), pitch axis motor (4), roll spindle motor (5), roll spindle motor driver (6), pitch axis driver (7), pitch axis photoelectric encoder (8), roll axle photoelectric encoder (9), EO-1 hyperion instrument (10) and 45 ° of sensings mirror (11); It is characterized in that: pedestal (1) is fixed on motion carrier, roll spindle motor (5) is arranged on roll axle, roll ring stand (2) is connected with pedestal (1) by roll axle, pitch axis motor (4) is arranged on pitch axis, 45 ° are pointed to mirror (11) and are fixed on pitch axis motor (4), pitching ring stand (3) is connected with roll ring stand (2) by pitch axis, EO-1 hyperion instrument (10) is fixed on roll ring stand (2), forms the variable-angle Hyperspectral imager with attitude stabilization.
2., based on a kind of described in claim 1 control method of the variable-angle Hyperspectral imager based on attitude stabilization, it is characterized in that comprising the following steps:
1) hyperspectral imager (10) is lain in a horizontal plane on roll ring stand (2) along heading, place 45 ° of sensings mirror (11) before imaging optical system and be used for realizing imaging over the ground; The attitudes vibration in the motion carrier roll direction utilizing NI7830 data collecting card that POS is obtained is as the external position ring steering order of roll spindle motor, drive roll spindle motor (5) to drive roll ring stand (2) inverse motion compensation, realize the attitude stabilization in motion carrier roll direction;
2) attitude information of the motion carrier pitch orientation utilizing NI7830 data collecting card that POS is obtained is as pitch axis electric machine external position ring steering order, drive pitch axis motor (4) to drive 45 ° to point to mirror (11) and do 1/2 times of inverse motion compensation, realize the attitude stabilization of motion carrier pitch orientation;
3) NI7830 data collecting card is utilized to be converted into pitch axis electric machine external position ring steering order wanting the detection angle changed, be superimposed upon in the gesture stability instruction of pitch orientation, drive pitch axis motor (4) to drive 45 ° to point to mirror (11) to rotate by 1/2 times of instruction, realize attitude stabilization and the variable complex controll of detection angle of motion carrier pitch orientation.
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| CN201510295854.1A CN104991572A (en) | 2015-06-02 | 2015-06-02 | Variable-angle hyperspectral imaging system based on posture stability and control method of said system |
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| CN201510295854.1A CN104991572A (en) | 2015-06-02 | 2015-06-02 | Variable-angle hyperspectral imaging system based on posture stability and control method of said system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106556380A (en) * | 2016-11-11 | 2017-04-05 | 上海航天测控通信研究所 | A kind of Underwater Target Detection device |
| CN107920196A (en) * | 2016-10-08 | 2018-04-17 | 哈尔滨新光光电科技有限公司 | A kind of three closed loop servo systems stabilisations for gondola camera lens |
| CN109916520A (en) * | 2019-03-11 | 2019-06-21 | 中国科学院上海技术物理研究所 | A kind of the infrared reconnaissance modular construction and posture compensation method of attitude stabilization function |
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| US20040095492A1 (en) * | 2002-07-06 | 2004-05-20 | Nova Research, Inc. | Method and apparatus for an on-chip variable acuity imager array incorporating roll, pitch and yaw angle rates measurement |
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| CN106556380A (en) * | 2016-11-11 | 2017-04-05 | 上海航天测控通信研究所 | A kind of Underwater Target Detection device |
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| CN109916520B (en) * | 2019-03-11 | 2023-09-12 | 中国科学院上海技术物理研究所 | Infrared search component structure with gesture stabilization function and gesture compensation method |
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