CN114003045A - Target tracking method of photoelectric tracker, terminal and readable storage medium - Google Patents

Target tracking method of photoelectric tracker, terminal and readable storage medium Download PDF

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CN114003045A
CN114003045A CN202111637535.6A CN202111637535A CN114003045A CN 114003045 A CN114003045 A CN 114003045A CN 202111637535 A CN202111637535 A CN 202111637535A CN 114003045 A CN114003045 A CN 114003045A
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tracking
photoelectric
coordinate system
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tracker
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CN114003045B (en
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何周平
柴若愚
李书生
陈洪才
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Chengdu Xingyu Rongke Power Electronics Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion

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Abstract

The invention discloses a target tracking method, a terminal and a readable storage medium of a photoelectric tracker, belonging to the field of photoelectric detection, and comprising the steps of judging that a target is in a moving state, and controlling a tracking line of the photoelectric tracker to move along with the target; collecting working parameters of the photoelectric tracker, and eliminating mechanical errors in the working process of the photoelectric tracker; acquiring stable tracking time, and judging whether the stable tracking time is greater than set stable time; if the calculated feedforward compensation quantity is smaller than the target quantity, calculating a feedforward compensation quantity by using a digital second-order loop tracking algorithm, and if the calculated feedforward compensation quantity is larger than the target quantity, calculating a final tracking feedforward compensation quantity and repeatedly tracking the moving target; the invention eliminates mechanical error caused by mechanical vibration and the like, and improves data output precision; and then calculating the stable tracking time, comparing the stable tracking time with the stable tracking time, and if the stable tracking time cannot meet the temperature time, changing the stable tracking time by superposing the feedforward compensation quantity to obtain the final tracking feedforward compensation quantity.

Description

Target tracking method of photoelectric tracker, terminal and readable storage medium
Technical Field
The invention relates to the field of photoelectric detection, in particular to a target tracking method, a terminal and a readable storage medium of a photoelectric tracker.
Background
The photoelectric tracker realizes the pointing stability of the tracking line of the photoelectric tracker and the tracking of the target through an azimuth axis servo system and a pitch axis servo system.
In the current-stage azimuth axis servo system and pitch axis servo system, mechanical rotation is generally realized by a speed measuring machine, a torque motor, a rotary transformer and the like, so that the azimuth angle and the pitch angle of the photoelectric tracker are changed, and mechanical errors can exist due to the problem of the matching precision of the torque motor, a gear and the like.
Meanwhile, the traditional photoelectric tracker adopts a second-order loop tracking method to track the target, so that the disturbance caused by mechanical error cannot be effectively compensated, and meanwhile, the traditional method does not introduce the distance between the target and the traditional photoelectric tracker, so that the problem of tracking lag occurs when the distance is changed.
Disclosure of Invention
The invention aims to solve the technical problems that the traditional photoelectric tracker has low precision and tracking lag, and aims to provide a target tracking method, a terminal and a readable storage medium of the photoelectric tracker, so that the real-time tracking problem of the photoelectric tracker is solved.
The invention is realized by the following technical scheme:
a target tracking method of an optoelectronic tracker comprises the following steps:
s1, detecting that a target exists in the tracking visual area by the photoelectric tracker, obtaining a first position where the target is located, and aligning a tracking line of the photoelectric tracker to the first position;
s2, judging whether the target is still at the first position at the moment, if not, judging that the target is in a moving state, and controlling a tracking line of the photoelectric tracker to move along with the target;
s3, collecting working parameters of the photoelectric tracker, and eliminating mechanical errors in the working process of the photoelectric tracker;
s4, acquiring stable tracking time, and judging whether the stable tracking time is greater than the set stable time or not, wherein the stable tracking time is the convergence time for acquiring the position value, the speed value and the acceleration value of the target calculated by using a recursion iteration method;
s5, if the stable tracking time is less than the set stable time, calculating the feedforward compensation quantity by using a digital second-order loop tracking algorithm and adding the feedforward compensation quantity to S3;
s6, if the stable tracking time is larger than the set stable time, calculating the final tracking feedforward compensation quantity and adding the final tracking feedforward compensation quantity to S3;
and S7, repeatedly executing S3 to S6, calculating the final tracking feedforward compensation amount in real time, and tracking the moving target.
The method comprises the steps that when a photoelectric tracker at the present stage directly tracks a target in a moving state, the situations of errors and hysteresis exist, whether the target in a tracking visual area of the photoelectric tracker is in the moving state is judged firstly, and if the target is in the moving state, a tracking line of the photoelectric tracker is aligned to the target by controlling an azimuth axis servo system and a pitch axis servo system;
various parameters of the photoelectric tracker are collected, and output data are filtered, so that mechanical errors caused by mechanical vibration and the like are eliminated, and the data output precision is improved;
and then calculating the stable tracking time, comparing the stable tracking time with the stable tracking time, if the stable tracking time cannot meet the temperature time, changing the stable tracking time by correcting the stable tracking time or superposing a feedforward compensation quantity to obtain a final tracking feedforward compensation quantity, and controlling the motion of an azimuth axis servo system and a pitch axis servo system by the compensation quantity to realize the stable tracking of the photoelectric tracker on the target.
Specifically, the photoelectric tracker comprises an azimuth axis servo system and a pitch axis servo system, wherein the azimuth axis servo system is used for controlling the azimuth angle of a tracking line of the photoelectric tracker, the pitch axis servo system is used for controlling the pitch angle of the tracking line of the photoelectric tracker, and parameter output modules are arranged in the azimuth axis servo system and the pitch axis servo system;
the method for acquiring the working parameters of the photoelectric tracker in the step S3 comprises the following steps:
a1, establishing an optoelectronic coordinate system
Figure 310818DEST_PATH_IMAGE001
Tracking line coordinate system
Figure 509849DEST_PATH_IMAGE002
；
A2, setting a sampling period and acquiring the azimuth angle of the photoelectric tracker in a photoelectric coordinate system in real time
Figure 820745DEST_PATH_IMAGE003
Pitching angle of photoelectric tracker
Figure 747113DEST_PATH_IMAGE004
Tracking deviation amount of azimuth angle of photoelectric tracker in tracking line coordinate system
Figure 92643DEST_PATH_IMAGE005
Tracking deviation of pitch angle of photoelectric tracker
Figure 695532DEST_PATH_IMAGE006
Distance between target and origin of photoelectric coordinate system
Figure 493723DEST_PATH_IMAGE007
。
In particular, the origin of the photoelectric coordinate system
Figure 223782DEST_PATH_IMAGE008
Is the intersection point of the azimuth rotating shaft of the azimuth shaft servo system and the pitch rotating shaft of the pitch shaft servo system,
Figure 423819DEST_PATH_IMAGE009
the axis is the direction of the tracking line of the photoelectric tracker in zero position and is parallel to the installation base surface of the photoelectric tracker,
Figure 699074DEST_PATH_IMAGE010
the axis being parallel to the mounting base of the photoelectric tracker and perpendicular to
Figure 984562DEST_PATH_IMAGE011
Axle, rimThe zero position direction of the tracking line points to the right side,
Figure 987153DEST_PATH_IMAGE012
with axis perpendicular to plane
Figure 41696DEST_PATH_IMAGE013
(ii) a Azimuth is defined according to the left-hand rule, elevation angle is defined by
Figure 251967DEST_PATH_IMAGE014
The plane is a zero position and is lifted upwards to be positive;
origin of a tracking line coordinate system
Figure 24751DEST_PATH_IMAGE015
With the origin of the photoelectric coordinate system
Figure 831033DEST_PATH_IMAGE016
The two layers are overlapped with each other,
Figure 740083DEST_PATH_IMAGE017
the axis is the direction of the tracking line of the photoelectric tracker pointing to the target,
Figure 606408DEST_PATH_IMAGE018
the axis is the pitch axis of the photoelectric tracker, parallel to the mounting base plane of the photoelectric tracker and perpendicular to the mounting base plane
Figure 617220DEST_PATH_IMAGE019
Axle, rim
Figure 961614DEST_PATH_IMAGE020
The axial direction is directed to the right side,
Figure 990750DEST_PATH_IMAGE021
with axis perpendicular to plane
Figure 293555DEST_PATH_IMAGE022
(ii) a The tracking offset of the azimuth angle is defined according to the right-hand rule, and the tracking offset of the pitch angle is defined by
Figure 24620DEST_PATH_IMAGE022
The plane is zero position and is raised upwards to negative.
Specifically, the method for eliminating the mechanical error in step S3 includes:
b1, setting an azimuth angle, a pitch angle, a tracking deviation amount of the azimuth angle, a tracking deviation amount of the pitch angle and an error limit value of the distance;
b2, comparing each working parameter with the corresponding error limit value, and if the absolute value of the working parameter is smaller than the error limit value, discarding the data;
b3, if the absolute value of the working parameter is larger than the error limit, judging the positive and negative values of the working parameter, if the absolute value is positive, outputting a signal as follows:
Figure 438283DEST_PATH_IMAGE023
(ii) a If the value is negative, the output signal is:
Figure 56347DEST_PATH_IMAGE024
；
in the formula (I), the compound is shown in the specification,
Figure 795632DEST_PATH_IMAGE025
for each of the operating parameters it is desirable to,
Figure 499146DEST_PATH_IMAGE026
error limit values corresponding to the working parameters;
Figure 201654DEST_PATH_IMAGE027
in order to output the limit value,
Figure 205382DEST_PATH_IMAGE028
is a normalized coefficient;
b4, filtering the output of B3 by a filter and using a recursive algorithm, wherein the formula of the recursive algorithm is as follows:
Figure 584411DEST_PATH_IMAGE029
in the formula (I), the compound is shown in the specification,
Figure 40800DEST_PATH_IMAGE030
is the input of the filter and is,
Figure 45534DEST_PATH_IMAGE031
is the filter output;
Figure 638189DEST_PATH_IMAGE032
is the input to the last sample period filter,
Figure 453699DEST_PATH_IMAGE033
the output of the filter for the last sampling period;
Figure 131805DEST_PATH_IMAGE034
are filter discrete equation coefficients.
Specifically, the method for acquiring the stable tracking time in step S4 is as follows:
c1, calculating the rectangular coordinate component of the target in the tracking line coordinate system through the tracking deviation amount of the azimuth angle, the tracking deviation amount of the pitch angle and the distance;
c2, converting the rectangular coordinate component of the target under the tracking line coordinate system into a photoelectric coordinate system, and obtaining the rectangular coordinate component of the target under the photoelectric coordinate system;
c3, obtaining the target in the photoelectric coordinate system by a recursion iteration method
Figure 690962DEST_PATH_IMAGE010
、
Figure 154436DEST_PATH_IMAGE011
、
Figure 875267DEST_PATH_IMAGE012
Position values, velocity values, acceleration values in three directions, and determining convergence time thereof.
Specifically, the method for superimposing the feedforward compensation amount by using the digital second-order loop tracking algorithm in step S5 is to calculate the feedforward compensation amount of the azimuth velocity loop and the pitch velocity loop by using the digital second-order loop tracking algorithm, and superimpose the feedforward compensation amount on the control loop of the photoelectric tracker in step S3.
Specifically, the method of calculating the final tracking feedforward compensation amount in step S6 includes:
d1, calculating the photoelectric coordinate system by using the steady state coefficient and adopting a recursive filtering tracking control method
Figure 306248DEST_PATH_IMAGE010
、
Figure 403517DEST_PATH_IMAGE011
、
Figure 485612DEST_PATH_IMAGE012
Position values, speed values and acceleration values in three directions;
d2, converting the photoelectric coordinate system into a coordinate system
Figure 111765DEST_PATH_IMAGE010
、
Figure 30042DEST_PATH_IMAGE011
、
Figure 931002DEST_PATH_IMAGE012
Converting position values, speed values and acceleration values in three directions into a tracking line coordinate system
Figure 103489DEST_PATH_IMAGE018
、
Figure 431702DEST_PATH_IMAGE020
、
Figure 306117DEST_PATH_IMAGE021
Position values, speed values and acceleration values in three directions;
d3, calculating the speed compensation quantity of the azimuth speed ring and the pitch speed ring without acceleration component under the tracking line coordinate system,
d4, calculating an acceleration component in the azimuth velocity loop compensation quantity and an acceleration component in the pitch velocity loop compensation quantity in the tracking line coordinate system;
and D5, calculating the final tracking feedforward compensation quantity of the azimuth velocity loop and the pitch velocity loop under the tracking line coordinate system when the target is tracked.
Specifically, the calculation formula of the velocity compensation amount without the acceleration component is:
Figure 10768DEST_PATH_IMAGE035
in the formula (I), the compound is shown in the specification,
Figure 552608DEST_PATH_IMAGE036
a velocity compensation amount for the azimuth velocity loop that does not contain an acceleration component;
Figure 590006DEST_PATH_IMAGE037
a velocity compensation amount that is a pitch velocity loop free of an acceleration component;
Figure 217297DEST_PATH_IMAGE038
for tracking under a linear coordinate system
Figure 460059DEST_PATH_IMAGE039
A directional velocity value;
Figure 607138DEST_PATH_IMAGE040
for tracking under a linear coordinate system
Figure 11575DEST_PATH_IMAGE041
A directional velocity value;
Figure 126161DEST_PATH_IMAGE042
、
Figure 907035DEST_PATH_IMAGE043
、
Figure 423467DEST_PATH_IMAGE044
for tracking under a linear coordinate system
Figure 513652DEST_PATH_IMAGE045
、
Figure 849955DEST_PATH_IMAGE046
、
Figure 434520DEST_PATH_IMAGE047
Position values in three directions;
the calculation formula of the acceleration component is:
Figure 805459DEST_PATH_IMAGE048
in the formula (I), the compound is shown in the specification,
Figure 568010DEST_PATH_IMAGE049
an acceleration component that is a velocity compensation quantity for the azimuth velocity loop;
Figure 391609DEST_PATH_IMAGE050
an acceleration component that is a velocity compensation amount for the pitch velocity loop;
Figure 980198DEST_PATH_IMAGE051
for tracking under a linear coordinate system
Figure 313965DEST_PATH_IMAGE052
A directional velocity value;
Figure 762264DEST_PATH_IMAGE053
for tracking under a linear coordinate system
Figure 355050DEST_PATH_IMAGE039
An acceleration value in a direction;
Figure 546997DEST_PATH_IMAGE054
for tracking under a linear coordinate system
Figure 158107DEST_PATH_IMAGE041
An acceleration value in a direction;
the calculation formula of the final tracking feedforward compensation amount is as follows:
Figure 292154DEST_PATH_IMAGE055
in the formula (I), the compound is shown in the specification,
Figure 90346DEST_PATH_IMAGE056
the compensation quantity is the tracking feedforward compensation quantity of the azimuth velocity ring under the tracking line coordinate system;
Figure 85984DEST_PATH_IMAGE057
the feedforward compensation quantity is the tracking feedforward compensation quantity of a downward pitch velocity loop of a tracking line coordinate system;
Figure 505595DEST_PATH_IMAGE058
、
Figure 295696DEST_PATH_IMAGE059
is a correction factor.
An object tracking terminal of an optoelectronic tracker comprises a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program to implement the steps of an object tracking method of the optoelectronic tracker.
A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of a method for object tracking of an opto-electronic tracker as described above.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the method comprises the steps of judging whether a target in a tracking visual area of the photoelectric tracker is in a moving state or not, and if the target is in the moving state, controlling an azimuth axis servo system and a pitch axis servo system to enable a tracking line of the photoelectric tracker to be aligned with the target;
various parameters of the photoelectric tracker are collected, and output data are filtered, so that mechanical errors caused by mechanical vibration and the like are eliminated, and the data output precision is improved;
and then calculating the stable tracking time, comparing the stable tracking time with the stable tracking time, if the stable tracking time cannot meet the temperature time, changing the stable tracking time by superposing feedforward compensation quantity to obtain final tracking feedforward compensation quantity, and controlling the motion of an azimuth axis servo system and a pitch axis servo system by the compensation quantity to realize the stable tracking of the photoelectric tracker on the target, thereby solving the problem that the tracking may be delayed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.
Fig. 1 is a flow chart of a target tracking method of an optoelectronic tracker according to the present invention.
Fig. 2 is a flow chart according to a second embodiment of the present invention.
Fig. 3 is a flow chart according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the invention.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
In the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The photoelectric tracker comprises an azimuth axis servo system and a pitching axis servo system, and mainly comprises an azimuth torque motor, a pitching torque motor, a direct-current stabilized voltage power supply, a control panel, a power amplifier panel and the like,
the pitching axis consists of a camera, an optical component, a speed measuring machine, a torque motor, a rotary transformer and the like. The servo control system is communicated with the comprehensive console through a serial port chip, receives an instruction of the comprehensive console, performs operation of a related algorithm through a controller main chip to generate a motor control instruction, and drives a motor to move through a power amplifier to complete functions of searching, tracking, positioning and the like. The power-on, power-off, zooming and other functions of the detector can be controlled according to the instruction of the comprehensive console, and meanwhile, the state, angle, speed and other information of the pointer are transmitted to the comprehensive console in real time.
The system motion comprises an azimuth axis and a pitching circumferential axis, an azimuth axis servo system is used for controlling the azimuth angle of a tracking line of the photoelectric tracker, a pitching axis servo system is used for controlling the pitching angle of the tracking line of the photoelectric tracker, and parameter output modules are arranged in the azimuth axis servo system and the pitching axis servo system.
Example one
As shown in fig. 1, the present embodiment provides a target tracking method for a photoelectric tracker, including:
s1, detecting that a target exists in the tracking visual area by the photoelectric tracker, obtaining a first position where the target is located, and aligning a tracking line of the photoelectric tracker to the first position;
the existing system of the photoelectric tracker can judge whether a target to be tracked exists in a tracking visual area, marks the position of the target at the moment, sets the position as a first position, and then controls a servo system of the photoelectric tracker to align the tracking line at the corresponding position.
S2, judging whether the target is still at the first position at the moment, if not, judging that the target is in a moving state, and controlling a tracking line of the photoelectric tracker to move along with the target;
and after the tracking line is moved to the position corresponding to the first setting, detecting whether the target is still located at the first position, if not, determining that the object is in the moving state, continuously setting the position of the target at the moment as a second position, and then repeating the step S1 to enable the tracking line to continuously move to the second position to realize the initial tracking.
If the object is in a non-moving state, the following steps are not performed, tracking is not required, and only the target is monitored, and if the object moves, the steps S1 and S2 are continued.
S3, collecting working parameters of the photoelectric tracker, and eliminating mechanical errors in the working process of the photoelectric tracker;
the working parameters of the photoelectric tracker are obtained through various sensors, measuring instruments and other components in the photoelectric tracker, the working parameters are output through a parameter output module, the output parameters are processed, and the working errors of a servo system are preliminarily eliminated.
S4, acquiring stable tracking time, and judging whether the stable tracking time is greater than the set stable time or not, wherein the stable tracking time is the convergence time for acquiring the position value, the speed value and the acceleration value of the target calculated by using a recursion iteration method;
and performing recursion iteration on the obtained working parameters in the step S3 to obtain convergence time, wherein the convergence time is stable tracking time, and a stable time is set according to working experience of a person skilled in the art and a conventional implementation result, and comparing the stable tracking time with the stable time to determine whether the photoelectric tracker can stably track the target.
S5, if the stable tracking time is less than the set stable time, calculating the feedforward compensation quantity by using a digital second-order loop tracking algorithm and adding the feedforward compensation quantity to S3;
s6, if the stable tracking time is larger than the set stable time, calculating the final tracking feedforward compensation quantity and adding the final tracking feedforward compensation quantity to S3;
if it is determined that the output parameter of step S3 does not control the photoelectric tracker to stably track the moving target, the control loops of the azimuth axis servo system and the pitch axis servo system are compensated by the feedforward compensation amount so as to satisfy the convergence time.
If the output parameters of the step S3 are determined to be able to control the photoelectric tracker to stably track the moving target, the final tracking feedforward compensation amount is output to compensate the control loops of the azimuth axis servo system and the pitch axis servo system, so as to compensate the working parameters of the photoelectric tracker during the tracking process.
And S7, repeatedly executing S3 to S6, calculating the final tracking feedforward compensation amount in real time, and tracking the moving target. And the stable tracking of the photoelectric tracker to the target is realized by calculating and compensating the azimuth velocity ring and the pitch velocity ring in real time.
Example two
This embodiment is a specific description of step S3, as shown in fig. 2.
The method for acquiring the working parameters of the photoelectric tracker comprises the following steps:
a1, establishing an optoelectronic coordinate system
Figure 581184DEST_PATH_IMAGE001
Tracking line coordinate system
Figure 583775DEST_PATH_IMAGE002
；
Origin of photoelectric coordinate system
Figure 638319DEST_PATH_IMAGE008
Is the intersection point of the azimuth rotating shaft of the azimuth shaft servo system and the pitch rotating shaft of the pitch shaft servo system,
Figure 848589DEST_PATH_IMAGE009
the axis is the direction of the tracking line of the photoelectric tracker in zero position and is parallel to the installation base surface of the photoelectric tracker,
Figure 355794DEST_PATH_IMAGE010
the axis being parallel to the mounting base of the photoelectric tracker and perpendicular to
Figure 427655DEST_PATH_IMAGE011
The shaft points to the right side along the zero position direction of the tracking line,
Figure 336705DEST_PATH_IMAGE012
with axis perpendicular to plane
Figure 953763DEST_PATH_IMAGE013
(ii) a Azimuth is defined according to the left-hand rule, elevation angle is defined by
Figure 213843DEST_PATH_IMAGE014
The plane is a zero position and is lifted upwards to be positive;
origin of a tracking line coordinate system
Figure 823816DEST_PATH_IMAGE015
With the origin of the photoelectric coordinate system
Figure 852951DEST_PATH_IMAGE016
The two layers are overlapped with each other,
Figure 624598DEST_PATH_IMAGE017
the axis is the direction of the tracking line of the photoelectric tracker pointing to the target,
Figure 621242DEST_PATH_IMAGE018
the axis is the pitch axis of the photoelectric tracker, parallel to the mounting base plane of the photoelectric tracker and perpendicular to the mounting base plane
Figure 34906DEST_PATH_IMAGE019
Axle, rim
Figure 918548DEST_PATH_IMAGE020
The axial direction is directed to the right side,
Figure 392255DEST_PATH_IMAGE021
with axis perpendicular to plane
Figure 846501DEST_PATH_IMAGE022
(ii) a The tracking offset of the azimuth angle is defined according to the right-hand rule, and the tracking offset of the pitch angle is defined by
Figure 798277DEST_PATH_IMAGE022
The plane is zero position and is raised upwards to negative.
A2, setting a sampling period and acquiring the azimuth angle of the photoelectric tracker in a photoelectric coordinate system in real time
Figure 802005DEST_PATH_IMAGE003
Pitching angle of photoelectric tracker
Figure 181033DEST_PATH_IMAGE004
Tracking deviation amount of azimuth angle of photoelectric tracker in tracking line coordinate system
Figure 886690DEST_PATH_IMAGE005
Tracking deviation of pitch angle of photoelectric tracker
Figure 642157DEST_PATH_IMAGE006
Distance between target and origin of photoelectric coordinate system
Figure 500391DEST_PATH_IMAGE007
。
The shorter the sampling period is, the higher the tracking accuracy is, but the higher the performance requirement of the photoelectric tracker is, and the sampling period can be set according to actual conditions.
Figure 50321DEST_PATH_IMAGE060
Etc. may be obtained directly from the opto-electronic tracker.
The method for eliminating the mechanical error comprises the following steps:
b1, setting an azimuth angle, a pitch angle, a tracking deviation amount of the azimuth angle, a tracking deviation amount of the pitch angle and an error limit value of the distance;
the error limit value is obtained by the following method: and moving the azimuth axis servo system and the pitch axis servo system a minimum distance, and recording the output parameter of the photoelectric tracker at the moment, wherein the parameter is the error limit value.
B2, comparing each working parameter with the corresponding error limit value, and if the absolute value of the working parameter is smaller than the error limit value, discarding the data; i.e. it may be a mechanical error that causes the electro-optical tracker to output data.
B3, if the absolute value of the working parameter is larger than the error limit, judging the positive and negative values of the working parameter, if the absolute value is positive, outputting a signal as follows:
Figure 994006DEST_PATH_IMAGE023
(ii) a If the value is negative, the output signal is:
Figure 38317DEST_PATH_IMAGE024
；
in the formula (I), the compound is shown in the specification,
Figure 751058DEST_PATH_IMAGE025
for each of the operating parameters it is desirable to,
Figure 737469DEST_PATH_IMAGE026
error limit values corresponding to the working parameters;
Figure 168450DEST_PATH_IMAGE027
in order to output the limit value,
Figure 514987DEST_PATH_IMAGE028
is a normalized coefficient;
the method for obtaining the normalization coefficient comprises the following steps: moving the azimuth axis servo system and the pitch axis servo system to the maximum position, and acquiring the output data at the time
Figure 82234DEST_PATH_IMAGE061
，
Figure 239546DEST_PATH_IMAGE062
。
Because the output data is normalized, in order to avoid the situation that the output data is too small, the present embodiment adds an output limit value, and amplifies the output signal in a certain proportion.
B4, filtering the output of B3 through a filter and using a recursive algorithm, which can be understood and implemented by those skilled in the art, the formula of which is:
Figure 157823DEST_PATH_IMAGE029
in the formula (I), the compound is shown in the specification,
Figure 543936DEST_PATH_IMAGE030
is the input of the filter and is,
Figure 231270DEST_PATH_IMAGE031
is the filter output;
Figure 293904DEST_PATH_IMAGE032
is the input to the last sample period filter,
Figure 433898DEST_PATH_IMAGE033
the output of the filter for the last sampling period;
Figure 387816DEST_PATH_IMAGE034
for the filter discrete equation coefficients, those skilled in the art can calculate them by the following formula:
Figure 929656DEST_PATH_IMAGE063
Figure 428771DEST_PATH_IMAGE064
is the filter bandwidth;
Figure 790482DEST_PATH_IMAGE065
for a sampling period, 0.01s may be selected.
EXAMPLE III
This embodiment explains steps S4-S6, as shown in FIG. 3.
The method for acquiring the stable tracking time in step S4 includes:
c1, calculating the rectangular coordinate component of the target in the tracking line coordinate system through the tracking deviation amount of the azimuth angle, the tracking deviation amount of the pitch angle and the distance;
the rectangular coordinate component can be obtained by trigonometric function, that is, XYZ value of the target in the tracking line coordinate system.
C2, converting the rectangular coordinate component of the target under the tracking line coordinate system into a photoelectric coordinate system, and obtaining the rectangular coordinate component of the target under the photoelectric coordinate system;
the photoelectric coordinate system and the tracking line coordinate system have a correlation relationship, so that a person skilled in the art can establish a corresponding conversion matrix according to the correlation relationship by converting the rectangular coordinate component in the tracking line coordinate system to the rectangular coordinate component in the photoelectric coordinate system.
C3, obtaining the target in the photoelectric coordinate system by a recursion iteration method
Figure 783977DEST_PATH_IMAGE010
、
Figure 445902DEST_PATH_IMAGE011
、
Figure 385693DEST_PATH_IMAGE012
Position values, velocity values, acceleration values in three directions, and determining convergence time thereof.
After acquiring the rectangular coordinate component of the target, according to the target moving condition in the sampling period, acquiring a position value, a velocity value and an acceleration value by a recursion iterative method, wherein the recursion iterative method is a common method in the field, has convergence time and is set as stable tracking time.
When the stable tracking time is less than the set stable time, the photoelectric tracker is proved to be just in a tracking state and not reach the stable tracking state, and the tracking control quantity is calculated by adopting a digital secondary loop algorithm in the time period because the filtering parameter of iterative calculation is not converged.
The method for superimposing the feedforward compensation amount by using the digital second-order loop tracking algorithm is to calculate the feedforward compensation amount of the azimuth velocity loop and the pitch velocity loop by using the digital second-order loop tracking algorithm, and superimpose the feedforward compensation amount to the control loop of the photoelectric tracker in step S3.
If the stable tracking time is longer than the stable time, the photoelectric tracker is proved to enter a stable tracking state, and the final tracking feedforward compensation quantity is calculated, wherein the method comprises the following steps:
d1 using steady state coefficient
Figure 500280DEST_PATH_IMAGE066
And calculating the photoelectric coordinate system by adopting a recursive filtering tracking control method
Figure 592739DEST_PATH_IMAGE010
、
Figure 374750DEST_PATH_IMAGE011
、
Figure 966399DEST_PATH_IMAGE012
Position values, speed values and acceleration values in three directions;
the steady state coefficient is also determined according to a filtering algorithm and test correction, and the group of coefficients is verified through tests of a multi-type product, is suitable for the two-axis photoelectric tracker, and can be corrected within a value range according to actual conditions.
Figure 833861DEST_PATH_IMAGE068
Wherein L is
Figure 418426DEST_PATH_IMAGE010
、
Figure 38632DEST_PATH_IMAGE011
、
Figure 316030DEST_PATH_IMAGE012
Wherein the position value in one direction, LV is
Figure 874050DEST_PATH_IMAGE069
Wherein the velocity value in one direction, LA is
Figure 527885DEST_PATH_IMAGE010
、
Figure 238484DEST_PATH_IMAGE011
、
Figure 421203DEST_PATH_IMAGE012
And the acceleration value in one direction, T is a sampling period, and the angle mark T is a matrix mark. DV is the speed value under the steady state, and DA is the acceleration value under the steady state.
D2, converting the photoelectric coordinate system into a coordinate system
Figure 997678DEST_PATH_IMAGE010
、
Figure 924046DEST_PATH_IMAGE011
、
Figure 738418DEST_PATH_IMAGE012
Converting position values, speed values and acceleration values in three directions into a tracking line coordinate system
Figure 606886DEST_PATH_IMAGE018
、
Figure 405078DEST_PATH_IMAGE020
、
Figure 869557DEST_PATH_IMAGE021
Position values, speed values and acceleration values in three directions;
similar to step C2, one skilled in the art can convert the parameters in the photoelectric coordinate system to the tracking line coordinate system according to the conversion matrix.
D3, calculating the speed compensation quantity of the azimuth speed ring and the pitch speed ring without the acceleration component under the tracking line coordinate system, wherein the calculation formula of the speed compensation quantity without the acceleration component is as follows:
Figure 69594DEST_PATH_IMAGE035
in the formula (I), the compound is shown in the specification,
Figure 610428DEST_PATH_IMAGE036
a velocity compensation amount for the azimuth velocity loop that does not contain an acceleration component;
Figure 630337DEST_PATH_IMAGE037
a velocity compensation amount that is a pitch velocity loop free of an acceleration component;
Figure 164086DEST_PATH_IMAGE038
for tracking under a linear coordinate system
Figure 953051DEST_PATH_IMAGE039
A directional velocity value;
Figure 897742DEST_PATH_IMAGE040
for tracking under a linear coordinate system
Figure 670526DEST_PATH_IMAGE041
A directional velocity value;
Figure 742387DEST_PATH_IMAGE042
、
Figure 651437DEST_PATH_IMAGE043
、
Figure 517762DEST_PATH_IMAGE044
for tracking under a linear coordinate system
Figure 262995DEST_PATH_IMAGE045
、
Figure 138547DEST_PATH_IMAGE046
、
Figure 167683DEST_PATH_IMAGE047
Position values in three directions;
d4, calculating an acceleration component in the azimuth velocity loop compensation quantity and an acceleration component in the pitch velocity loop compensation quantity in a tracking line coordinate system, wherein the calculation formula of the acceleration component is as follows:
Figure 939330DEST_PATH_IMAGE048
in the formula (I), the compound is shown in the specification,
Figure 201553DEST_PATH_IMAGE049
an acceleration component that is a velocity compensation quantity for the azimuth velocity loop;
Figure 349638DEST_PATH_IMAGE050
an acceleration component that is a velocity compensation amount for the pitch velocity loop;
Figure 233280DEST_PATH_IMAGE051
for tracking under a linear coordinate system
Figure 441407DEST_PATH_IMAGE052
A directional velocity value;
Figure 161233DEST_PATH_IMAGE053
for tracking under a linear coordinate system
Figure 113008DEST_PATH_IMAGE039
An acceleration value in a direction;
Figure 851157DEST_PATH_IMAGE054
for tracking under a linear coordinate system
Figure 495765DEST_PATH_IMAGE041
An acceleration value in a direction;
d5, when calculating target tracking, the final tracking feedforward compensation quantity of the azimuth velocity loop and the pitch velocity loop under the tracking line coordinate system has the calculation formula:
Figure 952154DEST_PATH_IMAGE055
in the formula (I), the compound is shown in the specification,
Figure 956888DEST_PATH_IMAGE056
the compensation quantity is the tracking feedforward compensation quantity of the azimuth velocity ring under the tracking line coordinate system;
Figure 815123DEST_PATH_IMAGE057
the feedforward compensation quantity is the tracking feedforward compensation quantity of a downward pitch velocity loop of a tracking line coordinate system;
Figure 630632DEST_PATH_IMAGE058
、
Figure 308738DEST_PATH_IMAGE059
in order to correct the coefficient, the coefficient can be modified for different systems and can be determined by simulating a tracking air route test or a dynamic flight test on a real target.
In the process of simulating the airway test or the dynamic flight test, the correction coefficient can be adjusted and determined through analyzing the tracking data, and the azimuth axis servo system and the pitch axis servo system can be adjusted according to the following rules: when the tracking of the azimuth axis servo system is delayed, the coefficient is increased
Figure 618628DEST_PATH_IMAGE070
When the tracking of the pitch axis servo system is delayed, the coefficient is increased
Figure 65790DEST_PATH_IMAGE071
Taking the value of (A); when the tracking of the azimuth axis servo system is advanced, the tracking is reduced
Figure 52200DEST_PATH_IMAGE072
When the pitch axis servo system tracks the lead, the coefficient is reduced
Figure DEST_PATH_IMAGE073
Taking the value of (A); finally, determining proper coefficients in the system error index range.
In the embodiment, the calculated feedforward compensation parameters include position, speed, acceleration and the distance between the target and the photoelectric tracker, which are key parameters representing the motion characteristics of the target in the target tracking process, and the parameters are processed and then superposed into the tracking control loop as feedforward compensation quantities during target tracking, so that the response speed and tracking capability of the photoelectric tracker to the moving target are improved, and the problem of dynamic hysteresis of the traditional tracking mode to the moving target tracking is solved.
Meanwhile, when the algorithm calculates the tracking feedforward compensation parameter, the disturbance caused by mechanical error in the process of tracking the target by the photoelectric tracker is compensated, the influence on the tracking stability and precision of the photoelectric tracker is reduced, the external disturbance resistance of the system is improved, and the robustness of the system is improved.
In addition, the present embodiment performs calculation in the photoelectric coordinate system by establishing the photoelectric coordinate system (which does not change) and the tracking line coordinate system (which changes according to the operation of the photoelectric tracker) when performing recursive calculation of data, reduces the workload thereof, and increases the calculation accuracy, obtaining accurate position values, velocity values, and acceleration values. If the calculation is performed directly in the tracking line coordinate system, the amount of calculation may be increased because it requires real-time adjustment of the corresponding data value due to a change in the coordinate system.
Example four
An object tracking terminal of an optoelectronic tracker comprises a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program to implement the steps of the object tracking method of the optoelectronic tracker.
The memory may be used to store software programs and modules, and the processor may execute various functional applications of the terminal and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an execution program required for at least one function, and the like.
The storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of a method for tracking an object of an opto-electronic tracker as described above.
Without loss of generality, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instruction data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state storage technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media is not limited to the foregoing. The system memory and mass storage devices described above may be collectively referred to as memory.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of description and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.

Claims (10)

1. A target tracking method of a photoelectric tracker is characterized by comprising the following steps:
s1, detecting that a target exists in the tracking visual area by the photoelectric tracker, obtaining a first position where the target is located, and aligning a tracking line of the photoelectric tracker to the first position;
s2, judging whether the target is still at the first position at the moment, if not, judging that the target is in a moving state, and controlling a tracking line of the photoelectric tracker to move along with the target;
s3, collecting working parameters of the photoelectric tracker, and eliminating mechanical errors in the working process of the photoelectric tracker;
s4, acquiring stable tracking time, and judging whether the stable tracking time is greater than the set stable time or not, wherein the stable tracking time is the convergence time for acquiring the position value, the speed value and the acceleration value of the target calculated by using a recursion iteration method;
s5, if the stable tracking time is less than the set stable time, calculating the feedforward compensation quantity by using a digital second-order loop tracking algorithm and adding the feedforward compensation quantity to S3;
s6, if the stable tracking time is larger than the set stable time, calculating the final tracking feedforward compensation quantity and adding the final tracking feedforward compensation quantity to S3;
and S7, repeatedly executing S3 to S6, calculating the final tracking feedforward compensation amount in real time, and tracking the moving target.
2. The method for tracking the target of the photoelectric tracker according to claim 1, wherein the photoelectric tracker comprises an azimuth axis servo system and a pitch axis servo system, the azimuth axis servo system is used for controlling the azimuth angle of the tracking line of the photoelectric tracker, the pitch axis servo system is used for controlling the pitch angle of the tracking line of the photoelectric tracker, and parameter output modules are arranged in the azimuth axis servo system and the pitch axis servo system;
the method for acquiring the working parameters of the photoelectric tracker in the step S3 comprises the following steps:
a1, establishing an optoelectronic coordinate system
Figure 733202DEST_PATH_IMAGE001
Tracking line coordinate system
Figure 771565DEST_PATH_IMAGE002
；
A2, setting a sampling period and acquiring the azimuth angle of the photoelectric tracker in a photoelectric coordinate system in real time
Figure 312268DEST_PATH_IMAGE003
Pitching angle of photoelectric tracker
Figure 955739DEST_PATH_IMAGE004
Tracking deviation amount of azimuth angle of photoelectric tracker in tracking line coordinate system
Figure 353222DEST_PATH_IMAGE005
Tracking deviation of pitch angle of photoelectric tracker
Figure 82144DEST_PATH_IMAGE006
Distance between target and origin of photoelectric coordinate system
Figure 160959DEST_PATH_IMAGE007
。
3. The method as claimed in claim 2, wherein the origin of the photoelectric coordinate system
Figure 658936DEST_PATH_IMAGE008
Is the intersection point of the azimuth rotating shaft of the azimuth shaft servo system and the pitch rotating shaft of the pitch shaft servo system,
Figure 230250DEST_PATH_IMAGE009
the axis is the direction of the tracking line of the photoelectric tracker in zero position and is parallel to the installation base surface of the photoelectric tracker,
Figure 446468DEST_PATH_IMAGE010
the axis being parallel to the mounting base of the photoelectric tracker and perpendicular to
Figure 328973DEST_PATH_IMAGE011
The shaft points to the right side along the zero position direction of the tracking line,
Figure 681457DEST_PATH_IMAGE012
with axis perpendicular to plane
Figure 686322DEST_PATH_IMAGE013
(ii) a Azimuth angle is determined by left handThen define the pitch angle
Figure 124257DEST_PATH_IMAGE014
The plane is a zero position and is lifted upwards to be positive;
origin of a tracking line coordinate system
Figure 544874DEST_PATH_IMAGE015
With the origin of the photoelectric coordinate system
Figure 17444DEST_PATH_IMAGE016
The two layers are overlapped with each other,
Figure 927631DEST_PATH_IMAGE017
the axis is the direction of the tracking line of the photoelectric tracker pointing to the target,
Figure 852861DEST_PATH_IMAGE018
the axis is the pitch axis of the photoelectric tracker, parallel to the mounting base plane of the photoelectric tracker and perpendicular to the mounting base plane
Figure 77169DEST_PATH_IMAGE019
Axle, rim
Figure 466562DEST_PATH_IMAGE020
The axial direction is directed to the right side,
Figure 750913DEST_PATH_IMAGE021
with axis perpendicular to plane
Figure 163440DEST_PATH_IMAGE022
(ii) a The tracking offset of the azimuth angle is defined according to the right-hand rule, and the tracking offset of the pitch angle is defined by
Figure 925860DEST_PATH_IMAGE022
The plane is zero position and is raised upwards to negative.
4. The object tracking method of the photoelectric tracker according to claim 3, wherein the method of eliminating the mechanical error in step S3 comprises:
b1, setting an azimuth angle, a pitch angle, a tracking deviation amount of the azimuth angle, a tracking deviation amount of the pitch angle and an error limit value of the distance;
b2, comparing each working parameter with the corresponding error limit value, and if the absolute value of the working parameter is smaller than the error limit value, discarding the data;
b3, if the absolute value of the working parameter is larger than the error limit, judging the positive and negative values of the working parameter, if the absolute value is positive, outputting a signal as follows:
Figure 169759DEST_PATH_IMAGE023
(ii) a If the value is negative, the output signal is:
Figure 625011DEST_PATH_IMAGE024
；
in the formula (I), the compound is shown in the specification,
Figure 524834DEST_PATH_IMAGE025
for each of the operating parameters it is desirable to,
Figure 90945DEST_PATH_IMAGE026
error limit values corresponding to the working parameters;
Figure 189351DEST_PATH_IMAGE027
in order to output the limit value,
Figure 815504DEST_PATH_IMAGE028
is a normalized coefficient;
b4, filtering the output of B3 by a filter and using a recursive algorithm, wherein the formula of the recursive algorithm is as follows:
Figure 202623DEST_PATH_IMAGE029
in the formula (I), the compound is shown in the specification,
Figure 306845DEST_PATH_IMAGE030
is the input of the filter and is,
Figure 525337DEST_PATH_IMAGE031
is the filter output;
Figure 322392DEST_PATH_IMAGE032
is the input to the last sample period filter,
Figure 931228DEST_PATH_IMAGE033
the output of the filter for the last sampling period;
Figure 104720DEST_PATH_IMAGE034
are filter discrete equation coefficients.
5. The object tracking method of the photoelectric tracker according to claim 3 or 4, wherein the method of obtaining the stable tracking time in step S4 is:
c1, calculating the rectangular coordinate component of the target in the tracking line coordinate system through the tracking deviation amount of the azimuth angle, the tracking deviation amount of the pitch angle and the distance;
c2, converting the rectangular coordinate component of the target under the tracking line coordinate system into a photoelectric coordinate system, and obtaining the rectangular coordinate component of the target under the photoelectric coordinate system;
c3, obtaining the target in the photoelectric coordinate system by a recursion iteration method
Figure 177718DEST_PATH_IMAGE010
、
Figure 145674DEST_PATH_IMAGE011
、
Figure 241806DEST_PATH_IMAGE012
Position values, velocity values, acceleration values in three directions, and determining convergence time thereof.
6. The method for tracking the target of the electro-optical tracker of claim 5, wherein the method for superimposing the feedforward compensation amount by using the digital second-order loop tracking algorithm in step S5 is to calculate the feedforward compensation amount of the azimuth velocity loop and the pitch velocity loop by using the digital second-order loop tracking algorithm, and superimpose the feedforward compensation amount on the control loop of the electro-optical tracker in step S3.
7. The object tracking method of the photoelectric tracker according to claim 6, wherein the method of calculating the final tracking feedforward compensation amount in step S6 comprises:
d1, calculating the photoelectric coordinate system by using the steady state coefficient and adopting a recursive filtering tracking control method
Figure 687831DEST_PATH_IMAGE010
、
Figure 940302DEST_PATH_IMAGE011
、
Figure 79160DEST_PATH_IMAGE012
Position values, speed values and acceleration values in three directions;
d2, converting the photoelectric coordinate system into a coordinate system
Figure 662588DEST_PATH_IMAGE010
、
Figure 912303DEST_PATH_IMAGE011
、
Figure 959894DEST_PATH_IMAGE012
Converting position values, speed values and acceleration values in three directions into a tracking line coordinate system
Figure 269652DEST_PATH_IMAGE018
、
Figure 340377DEST_PATH_IMAGE020
、
Figure 393783DEST_PATH_IMAGE021
Position values, speed values and acceleration values in three directions;
d3, calculating the speed compensation quantity of the azimuth speed ring and the pitch speed ring without acceleration components under the tracking line coordinate system;
d4, calculating an acceleration component in the azimuth velocity loop compensation quantity and an acceleration component in the pitch velocity loop compensation quantity in the tracking line coordinate system;
and D5, calculating the final tracking feedforward compensation quantity of the azimuth velocity loop and the pitch velocity loop under the tracking line coordinate system when the target is tracked.
8. The object tracking method of the photoelectric tracker according to claim 7, wherein the velocity compensation amount without the acceleration component is calculated by the following formula:
Figure 295880DEST_PATH_IMAGE035
in the formula (I), the compound is shown in the specification,
Figure 776540DEST_PATH_IMAGE036
a velocity compensation amount for the azimuth velocity loop that does not contain an acceleration component;
Figure 68981DEST_PATH_IMAGE037
a velocity compensation amount that is a pitch velocity loop free of an acceleration component;
Figure 926079DEST_PATH_IMAGE038
for tracking under a linear coordinate system
Figure 682682DEST_PATH_IMAGE039
A directional velocity value;
Figure 334243DEST_PATH_IMAGE040
for tracking under a linear coordinate system
Figure 379560DEST_PATH_IMAGE041
A directional velocity value;
Figure 774769DEST_PATH_IMAGE042
、
Figure 323562DEST_PATH_IMAGE043
、
Figure 473921DEST_PATH_IMAGE044
for tracking under a linear coordinate system
Figure 740954DEST_PATH_IMAGE045
、
Figure 674275DEST_PATH_IMAGE046
、
Figure 405471DEST_PATH_IMAGE047
Position values in three directions;
the calculation formula of the acceleration component is:
Figure 664414DEST_PATH_IMAGE048
in the formula (I), the compound is shown in the specification,
Figure 153164DEST_PATH_IMAGE049
speed compensation for azimuthal velocity ringsAn acceleration component of the quantity;
Figure 155755DEST_PATH_IMAGE050
an acceleration component that is a velocity compensation amount for the pitch velocity loop;
Figure 741457DEST_PATH_IMAGE051
for tracking under a linear coordinate system
Figure 905722DEST_PATH_IMAGE052
A directional velocity value;
Figure 147348DEST_PATH_IMAGE053
for tracking under a linear coordinate system
Figure 688050DEST_PATH_IMAGE039
An acceleration value in a direction;
Figure 131189DEST_PATH_IMAGE054
for tracking under a linear coordinate system
Figure 731934DEST_PATH_IMAGE041
An acceleration value in a direction;
the calculation formula of the final tracking feedforward compensation amount is as follows:
Figure 195277DEST_PATH_IMAGE055
in the formula (I), the compound is shown in the specification,
Figure 601987DEST_PATH_IMAGE056
the compensation quantity is the tracking feedforward compensation quantity of the azimuth velocity ring under the tracking line coordinate system;
Figure 99965DEST_PATH_IMAGE057
the feedforward compensation quantity is the tracking feedforward compensation quantity of a downward pitch velocity loop of a tracking line coordinate system;
Figure 606032DEST_PATH_IMAGE058
、
Figure 822250DEST_PATH_IMAGE059
is a correction factor.
9. An object tracking terminal of an electro-optical tracker comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1-8 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-8.
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