CN110456631A - Planetary detection capture braking separates physics tracking device and method with device device - Google Patents
Planetary detection capture braking separates physics tracking device and method with device device Download PDFInfo
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- CN110456631A CN110456631A CN201910764539.7A CN201910764539A CN110456631A CN 110456631 A CN110456631 A CN 110456631A CN 201910764539 A CN201910764539 A CN 201910764539A CN 110456631 A CN110456631 A CN 110456631A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The present invention provides planetary detection capture brakings to separate physics tracking device and method with device device, belongs to ground simulation field.Ground control system of the present invention is connected by cable with two-dimensional motion system, rotary electric machine and vision measurement system, two-dimensional motion system, rotary electric machine and vision measurement system are located in marble platform, rotary electric machine is provided in two-dimensional motion system, rotary electric machine is connect with vision measurement system；Motion simulator is placed under vision measurement system, starts to track after giving certain initial velocity；Camera data is sent back to ground control system by cable；Industrial personal computer in ground control system handles data, exports control amount using track algorithm；Motion control is carried out to two-dimensional motion system and rotary electric machine according to control amount.The present invention realizes dynamically track target, and camera is also as target is dynamic；It realizes and is fed back according to camera, Kalman filtering and the movement for improving the method dynamically track spacecraft that PID is combined.
Description
Technical field
The present invention relates to a kind of capture brakings of planetary detection to separate physics tracking device and method with device device, belongs to aircraft
Ground simulation field.
Background technique
With the rapid development of satellite technology, in order to ensure spacecraft is effectively run in orbit, spacecraft needs ground
Full physical simulation test.Therefore, the construction of injection ground simulation test system is the important guarantee of space technology development.Mathematical simulation is only
The influence that energy simulating deep space environment captures braking to planet and separates around device and lander, and cannot effectively simulate to install and miss
The factors brings such as difference, measurement single machine, high thrust control influence, it is therefore necessary to are tested by ground full physical simulation to analyze
The feasibility of Orbit Control Strategy and algorithm improves the reliability of engineering construction.
In patent of invention (CN201710429438.5) " method for tracking target, device, computer equipment and storage medium "
It is related to a kind of method for tracking target, the described method includes: carrying out target detection under equipment stationary state；When detecting monitoring picture
When occurring target in face, the target is positioned；According to the movement side for the motion profile prediction target that the target generates
To；When detecting that the target leaves camera view trend, equipment rotation is controlled according to the direction of motion of the target；
Target is tracked using dynamic background modeling pattern under equipment rotary state.It is hard so as to save to reduce operand
Part cost realizes the lasting tracking under monitoring device rotation to target；Patent of invention " method for tracking target, device, calculating
It is that in the stationary case, do not account for moving answers that the detection for target is mentioned in machine equipment and storage medium " all
Miscellaneous situation.
Application No. is disclose in (CN200810093918.X) for patent " a kind of method and apparatus of moving object segmentation "
A kind of method and apparatus of moving object segmentation.Method includes the following steps: obtaining nonparametric mixed foreground model and non-ginseng
Number background model；Obtain the nonparametric mixed foreground model probability and nonparametric background model probability of each point on present frame；To institute
It states nonparametric mixed foreground model probability and the nonparametric background model probability carries out likelihood ratio amendment, obtain likelihood ratio amendment
The revised nonparametric background model probability of nonparametric mixed foreground model probability and likelihood ratio afterwards；According to each point on present frame
The revised nonparametric mixed foreground model probability of likelihood ratio and the revised nonparametric background model probability of likelihood ratio carry out
Figure is divided and exports the testing result of moving object.By using the embodiment of the present invention, by establishing nonparametric mixed foreground
Model, and likelihood ratio modification method is used, the detection to moving object is realized, and improve the accuracy of image recognition；
Patent " a kind of method and apparatus of moving object segmentation " is although realize the detection to moving object, planetary detection capture
Braking is separated with device device, it is also necessary to real-time tracking is carried out to the spacecraft of movement, to ensure to simulate planetary gravitation size and direction
Correctness.
It is a set of in ground simulation planetary detection capture braking and device device separating experiment the present invention is directed to establish, in movement feelings
To the detection of target under condition, two-dimensional motion mechanism is controlled to the apparatus for real time tracking of spacecraft.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide a kind of planetary detection capture
Braking separates physics tracking device and method with device device.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of capture braking of planetary detection separates physics tracking device, the planetary detection capture braking and device device with device device
Separating physics tracking device includes tracking system and motion simulator, and tracking system includes ground control system, two dimensional motion system
System, rotary electric machine and vision measurement system, ground control system are surveyed by cable and two-dimensional motion system, rotary electric machine and vision
Amount system is connected, and two-dimensional motion system, rotary electric machine and vision measurement system are located in marble platform, two dimensional motion system
Rotary electric machine is provided on system, rotary electric machine is connect with vision measurement system；
Motion simulator carries equipment by rigid platform, device and corresponding air-flotation system forms, and it includes appearance that device, which carries equipment,
State measures subsystem, controller, equivalent executing agency and vision target；Attitude measurement subsystem, controller, equivalent executing agency
It is arranged on rigid platform, the side of rigid platform is arranged in vision target；It is flat that air-flotation system is located at rigid instrument
Platform lower part, there are four gas nozzles for air-flotation system；
The connection relationship of tracking system and motion simulator are as follows: the vision target of motion simulator is placed on tracking system first
The lower section of the vision measurement system of system, tracking system run real time algorithm, and tracking system controls two-dimensional motion system and rotation electricity
Machine is controlled, and is always ensured that vision target in the visual field of vision measurement system.
Planetary detection capture braking of the present invention separates physics tracking device with device device, and the vision target is a metal
Plate, puts that there are two luminous lamps above.
Planetary detection capture braking of the present invention separates physics tracking device with device device, and the rigidity platform needs to meet
The field of view angle of sensor requires, the installation accuracy of various instruments requires, the mechanical environment of equipment requires, circuit design and total
The requirement of dress general provisions carries out configuration and layout to meet the constraint condition of emulation test system.
Planetary detection capture braking of the present invention separates physics tracking device with device device, and the attitude measurement subsystem uses top
Spiral shell and plus table pack；Controller uses GNC unit and simulation computer；Equivalent execution structure uses cold air thruster.
Planetary detection capture braking separates physics tracking with device device, and the planetary detection capture braking is separated with device device
The specific steps of physics tracking are as follows:
Step 1: motion simulator is placed under vision measurement system, is opened after the certain initial velocity of given motion simulator
Begin to track；
Step 2: camera data is sent back to ground control system by cable by vision measurement system；
Step 3: the industrial personal computer in ground control system handles data, exports control amount using track algorithm；
Step 4: motion control is carried out to two-dimensional motion system and rotary electric machine according to control amount.
Planetary detection capture braking of the present invention separates physics tracking with device device, which is characterized in that the step 3 tool
Body are as follows:
Track algorithm is using Kalman filtering and improves the method that combines of PID, by vision measurement system by feedback
Data pass back to ground control system by cable, and ground control system runs control algolithm, complete to resolve, control two dimensional motion
System is tracked；
Kalman filtering is mainly by following formula:
Carry out forecasting system NextState first with the process model of system, the system mode for being located at the k moment is x (k), then
Present status can be predicted by laststate according to system model:
X (k | k-1)=AX (k-1 | k-1)+Bu (k)
The state of system has been updated, it is now desired to the estimation error covariance matrix of more new system:
P (k | k-1)=A*P (k-1 | k-1) A'+Q.
Solve kalman gain:
Kg (k)=P (k | k-1) * H'/(H*P (k | k-1) * H'+R)
It is modified to obtain optimal estimator x (k | k) according to the measured value of obtained present status:
X (k | k)=X (k | k-1)+Kg (k) * (Z (k)-Hx (k | k-1))
Need to update the corresponding p of x (k | k) (k | k)
P (k | k)=(I-Kg (k) * H) * P (k | k-1)
Improving PID approach is the speed term that a current two-dimensional motion mechanism is increased on the basis of original PID, herein
It is adjusted on the basis of speed term, exports control amount using track algorithm according to PID approach is improved are as follows:
A kind of planetary detection capture braking of the present invention separates physics tracking device and method with device device, it is contemplated that installation misses
The factors such as difference, measurement single machine, high thrust control；The present invention realizes dynamically track target, and camera is also as target is dynamic；
It realizes and is fed back according to camera, Kalman filtering and the movement for improving the method dynamically track spacecraft that PID is combined.
Detailed description of the invention
Fig. 1 is the structure chart for the tracking system that planetary detection of the present invention capture braking separates physics tracking device with device device.
Fig. 2 is the structure for the motion simulator that planetary detection of the present invention capture braking separates physics tracking device with device device
Figure.
Fig. 3 is the flow chart of track algorithm in the present invention.
There is appended drawing reference in figure: 1 is ground control system；2 be two-dimensional motion system；3 be cable；4 be rotary electric machine；5
For vision measurement system；6 be rigid platform；7 be attitude measurement subsystem；8 be controller；9 be equivalent executing agency；10
For vision target；11 be air-flotation system.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
Embodiment one: as shown in Figure 1, a kind of capture braking of planetary detection involved in the present embodiment separates physics with device device
Tracking device and method,
Tracking system is made of ground control system, two-dimensional motion system, rotary electric machine, vision measurement system.Wherein
Face control system is connected by cable connection with other each systems, two-dimensional motion system, rotary electric machine and vision measurement
System is all in marble platform.Two-dimensional motion system can be in two-dimensional surface motion control vision measurement system in two-dimensional surface
Position, rotary electric machine control vision measurement system corner, it is ensured that the target of measurement can not be lost always in the visual field
The case where losing the visual field.
Motion simulator carries equipment by rigid platform, device and corresponding air-flotation system forms.Wherein, device carries equipment tool
The function of standby basic attitude and orbit control system, including attitude measurement subsystem (gyro and plus table pack), controller
(GNC unit and simulation computer) and equivalent executing agency (cold air thruster) and vision target；Air-flotation system is located at rigidity
Platform lower part, there are four gas nozzles for air-flotation system, generate jet, motion simulator is made to suspend；Wherein, vision target is one
Metal plate is put above there are two luminous lamp, camera is facilitated to position.Rigid platform then needs to meet the field angle of sensor
Degree requires, the installation accuracies of various instruments requires, the mechanical environment of equipment requires, the requirement of circuit design and general assembly general provisions into
Row configuration meets the constraint condition of emulation test system with layout.
Tracking system and the connection relationship of motion simulator are target to be placed on first the vision measurement system of tracking system
Lower section.Tracking system can run real time algorithm in this way, and control two-dimensional motion system is controlled with rotary electric machine, is always ensured that
Target is in the visual field of camera.
Experimental procedure are as follows:
1) motion simulator is placed under vision measurement system, start after the certain initial velocity of given motion simulator with
Track；
2) camera data is sent back to ground control system by cable；
3) industrial personal computer in ground control system handles data, after data are filtered by Kalman filtering, passes
Enter to PID operation is improved, control amount exports；
4) motion control is carried out to two-dimensional motion system and rotary electric machine according to control amount；
5) experiment is completed.
The detailed process of track algorithm are as follows: the method that track algorithm is combined using Kalman filtering and improvement PID.
The data of feedback are passed back into ground control system, ground control operation control by cable by vision measurement system
Algorithm processed is completed to resolve, and control two-dimensional motion system is tracked.
Kalman filtering is mainly by following formula:
Carry out forecasting system NextState first with the process model of system, the system mode for being located at the k moment is x (k), then
Present status can be predicted by laststate according to system model:
X (k | k-1)=AX (k-1 | k-1)+Bu (k)
The state of system has been updated, it is now desired to the estimation error covariance matrix of more new system
P (k | k-1)=A*P (k-1 | k-1) A'+Q.
Solve kalman gain:
Kg (k)=P (k | k-1) * H'/(H*P (k | k-1) * H'+R)
It is modified to obtain optimal estimator x (k | k) according to the measured value of obtained present status:
X (k | k)=X (k | k-1)+Kg (k) * (Z (k)-Hx (k | k-1))
Need to update the corresponding p of x (k | k) (k | k)
P (k | k)=(I-Kg (k) * H) * P (k | k-1)
Improving PID approach is the speed term that a current two-dimensional motion mechanism is increased on the basis of original PID, herein
It is adjusted on the basis of speed term, otherwise when deviation becomes excessive, PID output is excessively big, can exceed two-dimensional mechanism motor
Acceleration capacity leads to the diverging of control, after item of increasing speed, can be very good to solve this problem.
Control amount is exported using track algorithm according to PID approach is improved are as follows:
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (6)
1. a kind of planetary detection capture braking separates physics tracking device with device device, which is characterized in that the planetary detection capture
It includes tracking system and motion simulator that braking, which separates physics tracking device with device device, and tracking system includes ground control system
(1), two-dimensional motion system (2), rotary electric machine (4) and vision measurement system (5), ground control system (1) by cable (3) with
Two-dimensional motion system (2), rotary electric machine (4) are connected with vision measurement system (5), two-dimensional motion system (2), rotary electric machine
(4) and vision measurement system (5) is located in marble platform, and rotary electric machine (4) are provided in two-dimensional motion system (2), is turned
Dynamic motor (4) are connect with vision measurement system (5)；
Motion simulator carries equipment by rigid platform (6), device and corresponding air-flotation system (11) forms, and device carries equipment and includes
Attitude measurement subsystem (7), controller (8), equivalent executing agency (9) and vision target (10)；Attitude measurement subsystem (7),
Controller (8), equivalent executing agency (9) are arranged on rigid platform (6), and vision target (10) setting is flat in rigid instrument
The side of platform (6)；Air-flotation system (11) is located at rigid platform (6) lower part, and there are four gas nozzles for air-flotation system (11)；
The connection relationship of tracking system and motion simulator are as follows: the vision target (10) of motion simulator is placed on tracking system first
The lower section of the vision measurement system (5) of system, tracking system run real time algorithm, tracking system control two-dimensional motion system (2) with
Rotary electric machine (4) is controlled, and is always ensured that vision target (10) in the visual field of vision measurement system (5).
2. planetary detection capture braking according to claim 1 separates physics tracking device with device device, which is characterized in that institute
Stating vision target (10) is a metal plate, puts that there are two luminous lamps above.
3. planetary detection capture braking according to claim 1 separates physics tracking device with device device, which is characterized in that institute
State that rigid platform (6) needs to meet the field of view angle requirement of sensor, the installation accuracy of various instruments requires, the power of equipment
The requirement for learning environmental requirement, circuit design and general assembly general provisions carries out configuration and layout to meet the constraint item of emulation test system
Part.
4. planetary detection capture braking according to claim 1 separates physics tracking device with device device, which is characterized in that institute
Attitude measurement subsystem (7) are stated using gyro and plus table pack；Controller (8) uses GNC unit and simulation computer；It is equivalent to hold
Row structure (9) uses cold air thruster.
5. planetary detection capture braking separates physics tracking with device device, which is characterized in that the planetary detection capture braking
The specific steps of physics tracking are separated with device device are as follows:
Step 1: motion simulator is placed under vision measurement system (5), is started after the certain initial velocity of given motion simulator
Tracking；
Step 2: camera data is sent back to ground control system (1) by cable by vision measurement system (5)；
Step 3: the industrial personal computer in ground control system (1) handles data, exports control amount using track algorithm；
Step 4: motion control is carried out to two-dimensional motion system (2) and rotary electric machine (4) according to control amount.
6. planetary detection capture braking according to claim 5 separates physics tracking with device device, which is characterized in that institute
State step 3 specifically:
Track algorithm is using Kalman filtering and improves the method that combines of PID, by vision measurement system (5) by the number of feedback
Pass back to ground control system (1) according to by cable, ground control system (1) runs control algolithm, completes to resolve, control two dimension
Kinematic system is tracked；
Kalman filtering is mainly by following formula:
Carry out forecasting system NextState first with the process model of system, the system mode for being located at the k moment is x (k), then can be with
According to system model, present status is predicted by laststate:
X (k | k-1)=AX (k-1 | k-1)+Bu (k)
The state of system has been updated, it is now desired to the estimation error covariance matrix of more new system:
P (k | k-1)=A*P (k-1 | k-1) A'+Q.
Solve kalman gain:
Kg (k)=P (k | k-1) * H'/(H*P (k | k-1) * H'+R)
It is modified to obtain optimal estimator x (k | k) according to the measured value of obtained present status:
X (k | k)=X (k | k-1)+Kg (k) * (Z (k)-Hx (k | k-1))
Need to update the corresponding p of x (k | k) (k | k)
P (k | k)=(I-Kg (k) * H) * P (k | k-1)
Improving PID approach is the speed term that a current two-dimensional motion mechanism is increased on the basis of original PID, in this speed
It is adjusted on the basis of, exports control amount using track algorithm according to PID approach is improved are as follows:
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