CN114003045B - 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 PDFInfo
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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
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, 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 iterative 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 XgYgZgTracking line coordinate system XmYmZm；
A2, setting a sampling period, and acquiring the azimuth angle beta of the photoelectric tracker in the photoelectric coordinate system, the pitch angle epsilon of the photoelectric tracker in the photoelectric coordinate system and the tracking deviation amount of the azimuth angle of the photoelectric tracker in the tracking line coordinate system in real time
Tracking deviation amount of pitch angle of photoelectric tracker in tracking line coordinate system
And tracking the distance D between the target in the linear coordinate system and the origin of the photoelectric coordinate system.
In particular, the origin O of the photoelectric coordinate systemgIs the intersection point of the azimuth rotation axis of the azimuth axis servo system and the pitch rotation axis of the pitch axis servo system, YgPhotoelectric tracker with axisThe direction of the tracking line at zero position, parallel to the mounting base plane of the photoelectric tracker, XgThe axis being parallel to the mounting base of the photoelectric tracker and perpendicular to YgAxis, pointing to the right in the direction of zero of the tracking line, ZgAxis perpendicular to plane OgXgYg(ii) a Azimuth defined according to the left-hand rule and pitch defined by OgXgYgThe plane is a zero position and is lifted upwards to be positive;
origin O of the tracking line coordinate systemmWith the origin O of the photoelectric coordinate systemgCoincidence of YmThe axis is the direction in which the tracking line of the photoelectric tracker points to the target, XmThe axis is the pitch axis of the photoelectric tracker, parallel to the mounting base plane of the photoelectric tracker and perpendicular to YmAxis, along YmThe axial direction pointing to the right, ZmAxis perpendicular to plane OmXmYm(ii) a The tracking deviation of the azimuth angle is defined according to the right-hand rule, and the tracking deviation of the pitch angle is defined by OmXmYmThe 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: (A-. eta.)A) X λ k; if the value is negative, the output signal is: (A + eta)A)×λk；
Wherein A is each operating parameter, ηAError limit values corresponding to the working parameters;
lambda is an output limit value, and k is a normalization 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:
Xout＝a1×Xolast+b1×Xilast+b0×Xin
Xolast＝Xout
Xilast＝Xin
in the formula, XinAs the filter input, XoutIs the filter output;
Xilastas input to the last sample period filter, XolastThe output of the filter for the last sampling period;
a1、b1、b0are 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 and in the X direction by a recursion iteration methodg、Yg、ZgPosition 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 X in photoelectric coordinate system by using steady coefficient and adopting recursive filtering tracking control methodg、Yg、ZgPosition values, speed values and acceleration values in three directions;
d2, converting X in the photoelectric coordinate systemg、Yg、ZgConverting position value, speed value and acceleration value in three directions intoX under the tracking line coordinate systemm、Ym、ZmPosition 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:
wherein, L is the speed compensation quantity of the azimuth speed ring without acceleration component;
p is the speed compensation quantity of the pitching speed ring without the acceleration component;
Vxfor tracking X under a linear coordinate systemmA directional velocity value;
Vyfor tracking Y under the linear coordinate systemmA directional velocity value;
Mx、My、Mzfor tracking X under a linear coordinate systemm、Ym、ZmPosition values in three directions;
the calculation formula of the acceleration component is:
wherein, L' is the acceleration component of the speed compensation quantity of the azimuth speed ring;
p' is the acceleration component of the velocity compensation amount of the pitch velocity loop;
Vzfor Z under the tracking line coordinate systemmVelocity in directionA value;
Axfor tracking X under a linear coordinate systemmAn acceleration value in a direction;
Ayfor tracking Y under the linear coordinate systemmAn acceleration value in a direction;
the calculation formula of the final tracking feedforward compensation amount is as follows:
in the formula, F is the tracking feedforward compensation quantity of an azimuth speed loop under a tracking line coordinate system;
q is the tracking feedforward compensation quantity of a pitch-down speed loop of a tracking line coordinate system;
K1、K2is 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, 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 iterative 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 XgYgZgTracking line coordinate system XmYmZm；
Origin O of photoelectric coordinate systemgIs the intersection point of the azimuth rotation axis of the azimuth axis servo system and the pitch rotation axis of the pitch axis servo system, YgThe axis is the direction of the tracking line of the photoelectric tracker at zero position and is parallel to the mounting base surface of the photoelectric tracker, XgThe axis being parallel to the mounting base of the photoelectric tracker and perpendicular to YgAxis, pointing to the right in the direction of zero of the tracking line, ZgAxis perpendicular to plane OgXgYg(ii) a Azimuth defined according to the left-hand rule and pitch defined by OgXgYgThe plane is a zero position and is lifted upwards to be positive;
origin O of the tracking line coordinate systemmWith the origin O of the photoelectric coordinate systemgCoincidence of YmThe axis is the direction in which the tracking line of the photoelectric tracker points to the target, XmThe axis is the pitch axis of the photoelectric tracker, parallel to the mounting base plane of the photoelectric tracker and perpendicular to YmAxis, along YmThe axial direction pointing to the right, ZmAxis perpendicular to plane OmXmYm(ii) a The tracking deviation of the azimuth angle is defined according to the right-hand rule, and the tracking deviation of the pitch angle is defined by OmXmYmThe plane is zero position and is raised upwards to negative.
A2, setting a sampling period, and acquiring the azimuth angle beta of the photoelectric tracker in the photoelectric coordinate system, the pitch angle epsilon of the photoelectric tracker in the photoelectric coordinate system and the tracking deviation amount of the azimuth angle of the photoelectric tracker in the tracking line coordinate system in real time
Tracking deviation amount of pitch angle of photoelectric tracker in tracking line coordinate system
And tracking the distance D between the target in the linear coordinate system and the origin of the photoelectric coordinate system.
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.
β、ε、
D, etc. can be obtained directly from the photoelectric 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: (A-. eta.)A) X λ k; if the value is negative, the output signal is: (A + eta)A)×λk；
Wherein A is each operating parameter, ηAError limit values corresponding to the working parameters;
lambda is an output limit value, and k is a normalization 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 timea，
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:
Xout＝a1×Xolast+b1×Xilast+b0×Xin
Xolast＝Xout
Xilast＝Xin
in the formula, XinAs the filter input, XoutIs the filter output;
Xilastas input to the last sample period filter, XolastThe output of the filter for the last sampling period;
a1、b1、b0for the filter discrete equation coefficients, those skilled in the art can calculate them by the following formula:
f is the filter bandwidth;
t is a sampling period, and 0.01s can 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 and in the X direction by a recursion iteration methodg、Yg、ZgPosition 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 (K)3K4K5) And calculating X in the photoelectric coordinate system by adopting a recursive filtering tracking control methodg、Yg、ZgPosition 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.
(L LV LA)T＝(L+LV·T+LA·T2 LV+LA·T LA)T-(DV·T+DA·T2)*(K3K4K5)T
Wherein L is Xg、Yg、ZgIn which the position value in one direction, LV is XgYgZgWherein the velocity value in one direction, LA is Xg、Yg、ZgAnd 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 X in the photoelectric coordinate systemg、Yg、ZgConverting position values, speed values and acceleration values in three directions into X values under a tracking line coordinate systemm、Ym、ZmPosition 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:
wherein, L is the speed compensation quantity of the azimuth speed ring without acceleration component;
p is the speed compensation quantity of the pitching speed ring without the acceleration component;
Vxfor tracking X under a linear coordinate systemmA directional velocity value;
Vyfor tracking Y under the linear coordinate systemmA directional velocity value;
Mx、My、Mzfor tracking X under a linear coordinate systemm、Ym、ZmPosition 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:
wherein, L' is the acceleration component of the speed compensation quantity of the azimuth speed ring;
p' is the acceleration component of the velocity compensation amount of the pitch velocity loop;
Vzfor Z under the tracking line coordinate systemmA directional velocity value;
Axfor tracking X under a linear coordinate systemmAn acceleration value in a direction;
Ayfor tracking Y under the linear coordinate systemmAn 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:
in the formula, F is the tracking feedforward compensation quantity of an azimuth speed loop under a tracking line coordinate system;
q is the tracking feedforward compensation quantity of a pitch-down speed loop of a tracking line coordinate system;
K1、K2in 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 K is increased1When the tracking of the pitch axis servo system is delayed, the coefficient K is increased2Taking the value of (A); when the tracking of the azimuth axis servo system is advanced, K is reduced1When the pitch axis servo system tracks the lead, the coefficient K is reduced2Taking 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 (9)
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;
the method for acquiring the working parameters of the photoelectric tracker comprises the following steps:
a1, establishing an optoelectronic coordinate system XgYgZgTracking line coordinate system XmYmZm；
A2, setting a sampling period, and acquiring the azimuth angle beta of the photoelectric tracker in the photoelectric coordinate system, the pitch angle epsilon of the photoelectric tracker in the photoelectric coordinate system and the tracking deviation amount of the azimuth angle of the photoelectric tracker in the tracking line coordinate system in real time
Tracking deviation amount of pitch angle of photoelectric tracker in tracking line coordinate system
Tracking the distance D between the target and the origin of the photoelectric coordinate system under the linear coordinate system;
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;
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: (A-. eta.)A) X λ k; if the value is negative, the output signal is: (A + eta)A)×λk；
Wherein A is each operating parameter, ηAError limit values corresponding to the working parameters; lambda is an output limit value, and k is a normalization 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:
Xout＝a1×Xolast+b1×Xilast+b0×Xin
Xolast＝Xout
Xilast＝Xin
in the formula, XinAs the filter input, XoutIs the filter output;
Xilastas input to the last sample period filter, XolastThe output of the filter for the last sampling period;
a1、b1、b0is the filter discrete equation coefficient;
s4, acquiring stable tracking time, and judging whether the stable tracking time is greater than the set stable time, 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 iterative 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 as claimed in claim 1, wherein the electro-optical tracker comprises an azimuth axis servo system and a pitch axis servo system, the azimuth axis servo system is used for controlling an azimuth angle of a tracking line of the electro-optical tracker, the pitch axis servo system is used for controlling a pitch angle of the tracking line of the electro-optical tracker, and parameter output modules are arranged in the azimuth axis servo system and the pitch axis servo system.
3. An opto-electronic tracker according to claim 2The target tracking method of (1), wherein the origin O of the photoelectric coordinate systemgIs the intersection point of the azimuth rotation axis of the azimuth axis servo system and the pitch rotation axis of the pitch axis servo system, YgThe axis is the direction of the tracking line of the photoelectric tracker at zero position and is parallel to the mounting base surface of the photoelectric tracker, XgThe axis being parallel to the mounting base of the photoelectric tracker and perpendicular to YgAxis, pointing to the right in the direction of zero of the tracking line, ZgAxis perpendicular to plane OgXgYg(ii) a Azimuth defined according to the left-hand rule and pitch defined by OgXgYgThe plane is a zero position and is lifted upwards to be positive;
origin O of the tracking line coordinate systemmWith the origin O of the photoelectric coordinate systemgCoincidence of YmThe axis is the direction in which the tracking line of the photoelectric tracker points to the target, XmThe axis is the pitch axis of the photoelectric tracker, parallel to the mounting base plane of the photoelectric tracker and perpendicular to YmAxis, along YmThe axial direction pointing to the right, ZmAxis perpendicular to plane OmXmYm(ii) a The tracking deviation of the azimuth angle is defined according to the right-hand rule, and the tracking deviation of the pitch angle is defined by OwXmYmThe plane is zero position and is raised upwards to negative.
4. The object tracking method of the photoelectric tracker of claim 3, wherein the method for obtaining the stable tracking time in step S4 comprises:
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 and in the X direction by a recursion iteration methodg、Yg、ZgPosition values, velocity values, acceleration values in three directions, and determining convergence time thereof.
5. The method for tracking the target of the electro-optical tracker of claim 4, 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.
6. The object tracking method of the photoelectric tracker of claim 5, wherein the method for calculating the final tracking feedforward compensation amount in step S6 comprises:
d1, calculating X in photoelectric coordinate system by using steady coefficient and adopting recursive filtering tracking control methodg、Yg、ZgPosition values, speed values and acceleration values in three directions;
d2, converting X in the photoelectric coordinate systemg、Yg、ZgConverting position values, speed values and acceleration values in three directions into X values under a tracking line coordinate systemm、Ym、ZmPosition 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.
7. The object tracking method of the photoelectric tracker according to claim 6, wherein the velocity compensation amount without acceleration component is calculated by the following formula:
wherein, L is the speed compensation quantity of the azimuth speed ring without acceleration component;
p is the speed compensation quantity of the pitching speed ring without the acceleration component;
Vxfor tracking X under a linear coordinate systemmA directional velocity value;
Vyfor tracking Y under the linear coordinate systemmA directional velocity value;
Mx、My、Mzfor tracking X under a linear coordinate systemm、Ym、ZmPosition values in three directions;
the calculation formula of the acceleration component is:
wherein, L' is the acceleration component of the speed compensation quantity of the azimuth speed ring;
p' is the acceleration component of the velocity compensation amount of the pitch velocity loop;
Vzfor Z under the tracking line coordinate systemmA directional velocity value;
Axfor tracking X under a linear coordinate systemmAn acceleration value in a direction;
Ayfor tracking Y under the linear coordinate systemmAn acceleration value in a direction;
the calculation formula of the final tracking feedforward compensation amount is as follows:
in the formula, F is the tracking feedforward compensation quantity of an azimuth speed loop under a tracking line coordinate system;
q is the tracking feedforward compensation quantity of a pitch-down speed loop of a tracking line coordinate system;
K1、K2is a correction factor.
8. 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 1-7 when executing the computer program.
9. 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 1-7.
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