JP2009033342A - Tracking apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tracking apparatus for preventing tracking performance from deteriorating due to vibration disturbance from the fuselage side. <P>SOLUTION: The tracking apparatus is provided with a first coarse movement mechanism 11 that rotates centered about an azimuth axis 10, a second coarse movement mechanism 21, supported by the first coarse movement mechanism to rotate centered about an elevation axis 20 different from the azimuth axis 10, a first fine movement mechanism 41, supported by the second coarse movement mechanism 21 to rotate centered about a first rotating axis 40, a second fine movement mechanism 51, supported by the second coarse movement mechanism 21 to rotate centered about a second rotating axis 50, in a direction which is different from that of the first rotating axis 40, and a target position recognizing means 30, supported by the first and second fine movement mechanisms 41 and 51 to output position data of a target, and suppresses tracking errors due to rotary drive of the first and second coarse movement mechanisms 11 and 21, by rotatively driving the first and second fine movement mechanisms 41 and 51. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a tracking device that directs an image sensor such as a camera to a moving target.

  In recent years, ITV cameras have been used to track objects in security facilities at large facilities such as airports and plants, security equipment at facilities related to lifelines such as power plants and water facilities, and traffic information support systems such as ITS. Many systems have been commercialized for continuous monitoring and obtaining detailed information. These systems assume not only the ground-mounted type but also vehicles, ships, aircrafts, and the like as platforms, and perform disturbance suppression against vibration / sway by a structure that is small and takes vibration resistance into consideration. Furthermore, it has become important to increase the turning speed and to direct the object in a short time so that a plurality of objects can be tracked sequentially.

  However, when such a tracking system is mounted on a vehicle, an aircraft, or the like, there is a problem that vibration generated on the airframe side acts as a disturbance on the tracking system and affects the tracking performance.

In a conventional tracking system, vibration transmission is attenuated by connecting the airframe side and the tracking system via an anti-vibration rubber, an anti-vibration base, or the like (see Patent Document 1). In addition, a technique for suppressing disturbance by increasing the disturbance suppression characteristic of the tracking system control system is known.
JP 2006-349131 A

  In the above technology, the magnitude of vibration transmission from the aircraft side depends on the vibration isolation system, so the design is limited by the size of the tracking system and operating conditions, and sufficient vibration isolation effect cannot be obtained There is also. Also, when increasing the disturbance suppression characteristics of the tracking system control system, the tracking system is equipped with an imaging device, etc., so the drive load is often increased and a sufficient control band for suppressing the disturbance is provided. There was a problem that it was difficult.

  In view of the above-described problems of the prior art, an object of the present invention is to provide a tracking device that suppresses deterioration in tracking performance due to vibration disturbance.

  According to an aspect of the present invention, the first coarse movement mechanism that rotates about the azimuth axis, and the first coarse movement mechanism that is supported by the first coarse movement mechanism and rotates about the elevation axis in a direction different from the azimuth axis. A second coarse movement mechanism, a first fine movement mechanism that is supported by the second coarse movement mechanism and rotates about a first rotation axis, and is supported by the second coarse movement mechanism, and the first coarse movement mechanism A second fine movement mechanism that rotates around a second rotation axis in a direction different from the rotation axis of the first, and a target that is supported by the first and second fine movement mechanisms, images a target, and outputs position data thereof A position recognition unit; a coarse mechanism drive unit that rotationally drives the first and second coarse mechanism; a fine mechanism drive unit that rotationally drives the first and second fine mechanism mechanisms; Output from the target position recognizing unit and the angular velocity detecting unit that detects the angular velocity of the coarse movement mechanism 2. Coarse motion mechanism angular velocity command generation for generating a coarse motion mechanism angular velocity command value for causing the first and second coarse motion mechanisms to track the target based on the detected position data and the angular velocity detected by the angular velocity detection unit A coarse motion mechanism drive control unit that controls the coarse motion mechanism drive unit based on the generated coarse motion mechanism angular velocity command value, and the first based on position data output from the target position recognition unit. And a fine movement mechanism angle command generation unit for generating a fine movement mechanism angle command value for rotationally driving the second fine movement mechanism, and a correction for correcting the fine movement mechanism angle command value based on the angular velocity detected by the angular velocity detection unit. A correction angle command generation unit for generating an angle command value, and a fine movement mechanism angle command value generated by the fine movement mechanism angle command generation unit are corrected by a correction angle command value generated by the correction command generation unit. Tracking apparatus is provided for a fine movement mechanism driving control unit for controlling the fine movement mechanism driving unit based on the fine movement mechanism control command has, further comprising a.

  According to another aspect of the present invention, a first coarse movement mechanism that rotates about an azimuth axis, and an elevation axis that is supported by the first coarse movement mechanism and that is in a direction different from the azimuth axis. A second coarse movement mechanism that rotates, a first fine movement mechanism that is supported by the second coarse movement mechanism and that rotates about a first rotation axis, and is supported by the second coarse movement mechanism; A second fine movement mechanism that rotates around a second rotation axis in a direction different from the first rotation axis, and is supported by the first and second fine movement mechanisms, images a target, and outputs position data thereof. And the angular velocity target value of each of the first and second coarse movement mechanisms and the angle of each of the first and second fine movement mechanisms in tracking the target based on the output position data. A target value calculator for calculating a target value, and the first and second coarse motion machines A rate sensor that detects the angular velocity of the first and second coarse motion mechanism controllers that control the driving of the first and second coarse motion mechanisms based on the detected angular velocity and the target angular velocity output from the image sensor; An error component for detecting an error component in the tracking of the target of the first and second coarse movement mechanisms by performing signal processing on the angular velocity detected by the rate sensor and the angular target value calculated by the target value calculator. A detector, a suppression command generator for generating a fine movement mechanism control command value for suppressing the detected error component by driving the first and second fine movement mechanisms, and the generated fine movement mechanism control command value And a fine movement mechanism controller that controls the driving of the first and second fine movement mechanisms based on the above.

  According to the present invention, the tracking accuracy can be improved.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same portions are denoted by the same reference numerals, and redundant description is omitted.

(Embodiment 1)
FIG. 1 is a diagram showing an example of the overall configuration of a tracking device 1 according to Embodiment 1 of the present invention. As shown in FIG. 1, the tracking device 1 is roughly divided into a first coarse movement mechanism 11, a first angular velocity detection means 13, a second coarse movement mechanism 21, a second angular velocity detection means 23, a target position. Recognizing means 30, first fine movement mechanism 41, second fine movement mechanism 51, coarse movement mechanism angular velocity command generation section 60, coarse movement mechanism drive control section 70, fine movement mechanism angle instruction generation section 80, correction angle instruction generation section 90, Further, a fine movement mechanism drive control unit 100 is provided.

  The first coarse movement mechanism 11 rotates around the first gimbal shaft 10. The second coarse movement mechanism 21 is supported by the first coarse movement mechanism 11 and rotates around the second gimbal shaft 20 in a direction different from that of the first gimbal shaft 10. The second gimbal shaft 20 is ideally orthogonal to the first gimbal shaft 10 in view of the influence of inertia due to its own weight and controllability.

  Further, the first coarse movement mechanism 11 is rotationally driven by the first coarse movement mechanism driving means 12 and its posture is changed. Similarly, the second coarse movement mechanism 21 is rotationally driven by the second coarse movement mechanism driving means 22.

  The angular velocity data of the first coarse movement mechanism 11 is detected by the first angular velocity detection means 13. Similarly, the angular velocity data of the second coarse movement mechanism 21 is detected by the second angular velocity detection means 23.

  The target position recognizing means 30 is supported by the first and second fine movement mechanisms 41 and 51 and outputs position data of a target to be tracked. As the target position recognizing means 30, for example, an area sensor such as a CMOS sensor camera can be used in addition to an industrial television camera, an infrared camera, and a CCD camera.

  The first fine movement mechanism 41 is supported by the second coarse movement mechanism 21 and rotates around the first rotation shaft 40. In order to simplify the control system, the first rotating shaft 40 is preferably parallel to the second gimbal shaft 10. The second fine movement mechanism 51 is supported by the second coarse movement mechanism 21 and rotates around the second rotation shaft 50 in a direction different from the first rotation shaft 40. The second rotating shaft 50 is ideally perpendicular to the first rotating shaft 40 in view of the influence of inertia due to its own weight and controllability.

  Further, the first fine movement mechanism 41 is rotationally driven by the first fine movement mechanism driving means 42 and its posture is changed. Similarly, the second fine movement mechanism 51 is rotationally driven by the second fine movement mechanism driving means 52.

  The first angular velocity target value calculation unit 61 is a first angular velocity target value for changing the posture of the first coarse movement mechanism 11 in tracking the target based on the position data output from the target position recognition means 30. Is calculated. Similarly, the second angular velocity target value calculation unit 62 uses the second data for changing the posture of the second coarse movement mechanism 21 in tracking the target based on the position data output from the target position recognition means 30. Calculate the angular velocity target value.

  The coarse motion mechanism angular velocity command generation unit 60 includes the angular velocity target value calculated by the first and second angular velocity target value calculation units 61 and 62 and the angular velocity data detected by the first and second angular velocity detection means 13 and 23. Based on the above, a coarse motion mechanism angular velocity command value for each of the first and second coarse motion mechanisms 11 and 21 is generated.

  The coarse motion mechanism drive control unit 70 performs coarse control on each of the first and second coarse motion mechanism drive units 12 and 22 based on the coarse motion mechanism angular velocity command value generated by the coarse motion mechanism angular velocity command generation unit 60. A dynamic mechanism control command is issued. Then, the first and second servo control units 71 and 72 individually perform servo control on the first and second coarse movement mechanisms 11 and 21.

  The first angle target value calculation unit 81 calculates a first angle target value for changing the attitude of the first fine movement mechanism 41 during target tracking based on the position data output from the target position recognition means 30. Similarly, the second target angle value calculator 82 calculates a second target angle value for changing the attitude of the second fine movement mechanism 51 in target tracking based on the position data output from the target position recognition unit 30. calculate.

  The fine movement mechanism angle command generation unit 80 is based on the angle target values generated by the first and second angle target value calculation units 81 and 82, and the fine movement mechanism angle with respect to each of the first and second fine movement mechanisms 41 and 51. Generate a command value.

  The first correction angle calculation unit 91 calculates a first correction angle for changing the attitude of the first fine movement mechanism 41 in tracking the target based on the angular velocity data detected by the first angular velocity detection means 13. . Similarly, the second correction angle calculation unit 92 changes the posture of the second fine movement mechanism 51 in tracking the target based on the angular velocity data detected by the second angular velocity detection means 23. Is calculated.

  The correction angle command generation unit 90 generates correction angle command values for the first and second fine movement mechanisms 41 and 51 based on the correction angles calculated by the first and second correction angle calculation units 91 and 92. To do.

  The fine movement mechanism drive control unit 100 obtains a fine movement mechanism control command value based on the fine movement mechanism angle command value generated by the fine movement mechanism angle command generation unit 80 and the correction angle command value generated by the correction angle command generation unit 90. A fine movement mechanism control command is issued to each of the first and second fine movement mechanism driving means 42 and 52. Then, the first and second servo control units 101 and 102 individually perform servo control on the first and second fine movement mechanisms 41 and 51.

  FIG. 2 is an overview of the tracking device 1 according to the present embodiment. The first gimbal axis 10 is an azimuth axis (hereinafter referred to as “AZ axis”), and the second gimbal axis 20 is an elevation axis (hereinafter referred to as “EL axis”). The tracking device 1 is a two-axis turning device having a two-axis structure in which the AZ axis and the EL axis are orthogonal at one point. Further, fine movement mechanisms 40 and 50 are supported on the EL axis, and the fine movement mechanism is provided with target position recognition means 30 for recognizing the position of the target. Here, the gimbal mechanisms are the coarse movement mechanisms 11 and 21, and the fine movement mechanisms 41 and 51 are provided on the coarse movement mechanism.

  FIG. 3 is an enlarged view of a main part of the fine movement mechanisms 41 and 51 in the tracking device 1 shown in FIG. Here, fine movement mechanisms 41 and 51 are constituted by a biaxial rotation mechanism and are attached to the EL portion of the coarse movement mechanism. By rotating each fine movement mechanism around the Xc axis and Yc axis in the camera coordinate system Σc, the angle of the target position recognizing means 30 of the central disk portion can be minutely changed.

  FIG. 4 is a block diagram illustrating an example of a correction control system in the tracking device 1. Here, since each of the AZ axis and the EL axis, which are the rotation axes of the gimbal mechanism (coarse movement mechanism), is associated with the rotation axis of the fine movement mirror mechanism (fine movement mechanism) on a one-to-one basis, control for one axis is performed. It is represented as a block diagram. Hereinafter, the correction control method in FIG. 4 will be described in detail.

  First, in the image sensor, an aiming target (target) is recognized, and its position data is output to a target value generator.

  Next, in the target value generator, target values for tracking the aiming target are generated for each axis in accordance with the recognition result of the image sensor, and for the gimbal controller, the angular velocity target value of the gimbal mechanism, the fine motion mirror The angle target value of the fine movement mirror mechanism is output to the controller.

  Next, in the gimbal controller, control based on the coarse motion mechanism control command is performed so that the angular velocity data matches the angular velocity target value of the gimbal mechanism.

  At the same time, the fine movement controller performs control based on the fine movement mechanism control command so that the angle of the fine movement mechanism reaches the target angle value.

  However, in the correction control system shown in FIG. 4, since the gimbal mechanism has a large load inertia, it cannot be driven at high speed, and the suppression characteristic against disturbance is limited to the low frequency region. On the other hand, the fine mirror mechanism has a small load inertia and can be driven at a high speed, but since the angle target value is based on the output of the image sensor, the high frequency region is not controlled. For this reason, there exists a problem that the disturbance suppression effect with respect to the disturbance of a high frequency area | region will become low.

  Therefore, FIG. 5 shows a block diagram of a correction control system obtained by improving the correction control system of FIG. In FIG. 5, an error component detector and a suppression command generator are added to the correction control system of FIG. In the correction control system of FIG. 5, as in the case of the correction control system of FIG. 4, the gimbal controller performs control to match the angular velocity data with the angular velocity target value of the gimbal mechanism. However, the fine movement control method is different from that shown in FIG. 4, in which the error component detector calculates the tracking error in the coarse movement control system, and the suppression instruction generator corrects the tracking error. Obtained and controlled by the fine movement mirror controller based on this fine movement mechanism control command value. Hereinafter, the difference in this control method will be described in detail.

  First, in the error component detector, the angular target value output from the target value generator based on the image sensor is low-pass filter (LPF), and the angular velocity data detected by the rate sensor is integrated after high-pass filter (HPF). And output to the suppression command generator.

Next, in the suppression command generator, the weighting factor K _{L for} the low-pass filter (LPF) value output from the error component detector, and the weighting factor K _H for the value integrated after the low-pass filter (HPF). Are respectively outputted to the fine movement mirror controller as the fine movement mechanism angle command value and the correction angle command value of the fine movement mirror mechanism.

Next, in the fine motion mirror controller, the fine motion mechanism angle command value and the correction angle command value are added, and a control command (fine motion mechanism control command) for the fine motion mirror mechanism is issued. Although the error processing can be accurately detected by performing the signal processing according to the frequency, the weighting factors K _L and K _H are not always 1: 1, so that the signal processing is a fine movement mechanism. It is preferable to carry out before the addition processing of the angle command value and the correction angle command value.

  Then, when the fine movement mirror mechanism is rotationally driven based on the fine movement mechanism control command from the fine movement mirror controller, an error component that cannot be suppressed on the coarse movement mechanism side is regarded as a tracking error, and this can be suppressed on the fine movement mechanism side. It becomes possible.

  FIG. 6 is a diagram illustrating a relationship between the presence / absence of application of the correction control according to the present embodiment and the tracking error. In FIG. 6, the broken line indicates the tracking error value when the correction control is not performed, and the solid line indicates the tracking error value when the correction control is performed. Therefore, when an error due to disturbance occurs in the coarse movement mechanism, a tracking error as indicated by a broken line occurs in the target position recognition means 30. In contrast, by performing correction control, the tracking error is reduced as shown by the solid line, and the tracking accuracy is improved. The tracking error correction width is effective when the distance from the target is long even if it is very small.

  As described above, by performing the correction control of the present embodiment, it is possible to reduce the influence of the disturbance that cannot be suppressed by the control of the coarse movement mechanism by the control of the fine movement mechanism, and to improve the tracking error. In addition, since the correction control target is not limited to a specific frequency, the correction control can be performed on a wide frequency band. That is, there is an effect that adjustment can be performed so as to stabilize disturbances of all frequencies.

(Embodiment 2)
FIG. 7 is a block diagram illustrating an example of a correction control system in the tracking device 1 according to the second embodiment. In the correction control system according to the present embodiment, as in the case of the first embodiment, the gimbal controller performs control to match the angular velocity data with the angular velocity target value of the gimbal mechanism. On the other hand, in the fine movement mirror controller, control is performed based on a fine movement mechanism control command value for correcting a suppression error in the coarse movement control system obtained from the error component detector and the suppression command generator. However, the control method is different from the correction control system of FIG. Hereinafter, the difference in this control method will be described in detail.

  First, in the error component detector, a Fourier transform process is performed on the value obtained by integrating the angular velocity data detected by the rate sensor, and the Fourier coefficient of the calculated specific frequency is a sine wave generator (a suppression command generator). Is output.

  Next, in the sine wave generator, the specific frequency component is synthesized in accordance with the Fourier coefficient calculated by the error component detector, and the synthesized value is output to the fine mirror controller as a corrected angle command value.

  Next, in the fine movement mirror controller, fine movement is performed based on a value obtained by adding the fine movement mechanism angle command value obtained based on the position data output from the image sensor and the correction angle command value generated by the sine wave generator. A control command (fine movement mechanism control command) is issued to the mirror mechanism.

  The fine movement mechanism is driven to rotate based on the fine movement mechanism control command from the fine movement mirror controller, so that an error component that cannot be suppressed by the gimbal mechanism is set as a tracking error, which can be suppressed on the fine movement mechanism side. It becomes.

  FIG. 8 is a flowchart illustrating a specific example of correction control based on Fourier transform processing.

  First, in the error component detector, the angular velocity detection value output from the rate sensor is sampled at a time interval of Ts [s], and the integral value is obtained (step 801).

  Next, the integrated value of the sampled angular velocity detection value is recorded in the memory A (step 802).

  Next, it is determined whether or not the sampled angular velocity detection value satisfies the specified number of samples (step 803).

  Here, when the specified number of samples has been completed, the following three processes are simultaneously performed in parallel (steps 804A, 804B, and 804C).

  On the other hand, if the specified number of samples has not been completed, the process returns to step 801, and the processing of steps 801 to 803 is repeated until the specified number of samples is satisfied.

  In step 804A, the storage area of the memory A is cleared, and the process returns to step 801.

  In step 804B, the sampled angular velocity detection value is substituted into memory B, which is a storage area different from memory A, and the process proceeds to step 805B.

Next, Fourier series expansion is performed on the angular velocity integral value stored in the memory B (step 805B). Here, if the specific frequency period is T, the relationship between the sampling time and the number of samples is expressed by the following formula (1).

When the angular velocity integral value is e (t), the Fourier series expansion is expressed by the following mathematical formula (2).

Here, a ₁ , a ₂ , a _n , b ₁ , b ₂ , b _n , and e ₀ are Fourier coefficients and represent the magnitude and phase of the order multiple component of each specific frequency.

Next, each m-th order Fourier coefficient is obtained by the following equation (3) (step 806B).

Since the angular velocity integral value e (t) is obtained as discrete information, the discrete Fourier coefficient is expressed by the following mathematical formula (4).

Also, the above mathematical formula (3) can be modified as an arithmetic expression in which the Fourier coefficient obtained from the observation information at time k is sequentially added to the Fourier coefficient obtained one sample before. Is expressed by the following mathematical formula (5).

  Then, the specific component of the angular velocity integral value is separated and extracted into a sine (sin) component and a cosine (cos) component by Equation (5), and the Fourier coefficient table A is updated (step 807B). The Fourier coefficient table is updated every T time.

  In Step 804C, the value of the Fourier coefficient table A is substituted into the coefficient table B and output to the sine wave generator (suppression command generator), and the process proceeds to Step 805C. Here, the reason why the value of A in the Fourier coefficient table is substituted for B is to perform sampling holding of the angular velocity integral value and Fourier series expansion in parallel.

  Next, a sine wave generator (suppression command generator) generates a sine wave having a multiple of a specific frequency corresponding to the Fourier coefficient, and synthesizes this sine wave (step 805C).

  Next, a correction angle command value is obtained based on the value obtained by multiplying the composite wave by the gain coefficient K (step 806C). That is, the error angle on the gimbal mechanism side extracted by the Fourier transform process is converted into a correction angle command value for correcting by driving the fine movement mirror mechanism.

  Next, the fine angle mechanism control command value is generated by adding the angle target value calculated by the target calculator to the corrected angle command value, and is output to the fine mirror controller (step 807C).

  Then, in the fine movement mirror controller, the fine movement mirror mechanism is driven based on the fine movement mechanism angle command value (step 808C).

  By controlling the driving of the fine mirror mechanism in this way, tracking errors that cannot be suppressed by the gimbal mechanism can be suppressed. In addition, when the order that appears significantly in a specific frequency component is known in advance, the size of the Fourier coefficient table can be reduced by limiting m in Equation (5) to the specific frequency component. is there. Specific examples of “significantly appearing orders” include frequencies generated on the mounting side, such as a rotor frequency when the helicopter is mounted and an engine frequency when the helicopter is mounted. The same applies to a specific frequency (structural resonance frequency) due to structural resonance.

  Further, the correction control system according to the present embodiment specializes the target of disturbance suppression to a specific frequency. That is, since a multiple wave of a specific frequency is adjusted as an index, unlike the case of the first embodiment, there is an effect that the frequency that becomes a specific peak can be suppressed to the maximum.

  Note that the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. For example, the fine movement mechanism is not limited to the biaxial rotation mechanism, and there is a possibility of three axes of tilt, pan, and zoom. In addition, since it is sufficient that the change of the imaging surface is two degrees of freedom, it is conceivable to change the imaging surface by displacement instead of angle. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. That is, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

The figure which shows the example of whole structure of the tracking apparatus which concerns on Embodiment 1 of this invention. 1 is an overview diagram of a tracking device according to Embodiment 1 of the present invention. The principal part enlarged view of the fine movement mechanism of the tracking apparatus which concerns on Embodiment 1 of this invention. 1 is a block diagram showing a correction control system according to Embodiment 1 of the present invention. 1 is a block diagram showing a correction control system according to Embodiment 1 of the present invention. The figure which shows the relationship between the presence or absence of application of the correction control which concerns on Embodiment 1 of this invention, and a tracking error. The block diagram of the correction | amendment control system which concerns on Embodiment 2 of this invention. 10 is a flowchart showing a specific example of processing of the correction control system according to the second embodiment of the present invention.

Explanation of symbols

10 ... 1st gimbal axis (AZ axis), 11 ... 1st coarse movement mechanism,
12: First coarse movement mechanism driving means, 13: First angular velocity detecting means,
20 ... second gimbal axis (EL axis), 21 ... second coarse movement mechanism,
22 ... second coarse movement mechanism drive means, 23 ... second angular velocity detection means,
30: Target position recognition means,
40: first fine rotation shaft, 41: first fine movement mechanism,
50 ... second fine movement rotating shaft, 51 ... second fine movement mechanism,
60: Coarse motion mechanism angular velocity command generation unit, 70: Coarse motion mechanism drive control unit,
80 ... fine movement mechanism angle command generation unit, 90 ... correction angle command generation unit,
100: Fine movement mechanism drive control unit.

Claims (10)

A first coarse movement mechanism that rotates about an azimuth axis;
A second coarse movement mechanism that is supported by the first coarse movement mechanism and rotates about an elevation axis in a direction different from the azimuth axis;
A first fine movement mechanism that is supported by the second coarse movement mechanism and rotates about the first rotation axis;
A second fine movement mechanism that is supported by the second coarse movement mechanism and rotates around a second rotation axis in a direction different from the first rotation axis;
A target position recognition unit that is supported by the first and second fine movement mechanisms, images a target, and outputs position data;
A coarse mechanism driving section for rotationally driving the first and second coarse mechanisms;
A fine movement mechanism drive unit for rotationally driving the first and second fine movement mechanisms;
An angular velocity detector that detects angular velocities of the first and second coarse movement mechanisms;
Based on the position data output from the target position recognition unit and the angular velocity detected by the angular velocity detection unit, a coarse movement mechanism angular velocity command value for causing the first and second coarse movement mechanisms to track the target is obtained. A coarse motion mechanism angular velocity command generation unit to generate;
A coarse mechanism drive control unit for controlling the coarse mechanism drive unit based on the generated coarse mechanism angular velocity command value;
A fine movement mechanism angle command generation unit that generates a fine movement mechanism angle command value for rotationally driving the first and second fine movement mechanisms based on the position data output from the target position recognition unit;
A correction angle command generation unit that generates a correction angle command value for correcting the fine movement mechanism angle command value based on the angular velocity detected by the angular velocity detection unit;
A fine movement mechanism that controls the fine movement mechanism drive unit based on a fine movement mechanism control command obtained by correcting the fine movement mechanism angle command value generated by the fine movement mechanism angle command generation unit with a correction angle command value generated by the correction command generation unit. A drive control unit;
A tracking device comprising:   The coarse movement mechanism angular velocity command generation unit calculates an angular velocity target value of each of the first and second coarse movement mechanisms in tracking the target based on the position data output from the target position recognition unit, The tracking device according to claim 1, wherein the coarse motion angular velocity command value for reducing a difference between the angular velocity detected by the angular velocity detecting unit and the angular velocity target value is generated.   The correction angle command generation unit calculates a correction angle for correcting the fine movement mechanism angle command value based on the angular velocity detected by the angular velocity detection unit, and generates the correction angle command value based on the correction angle. The tracking device according to claim 1 or 2, wherein   The tracking according to any one of claims 1 to 3, wherein the fine movement mechanism control command is generated based on a value obtained by adding the correction angle command value to the fine movement mechanism angle command value. apparatus. A first coarse movement mechanism that rotates about an azimuth axis;
A second coarse movement mechanism that is supported by the first coarse movement mechanism and rotates about an elevation axis in a direction different from the azimuth axis;
A first fine movement mechanism that is supported by the second coarse movement mechanism and rotates about the first rotation axis;
A second fine movement mechanism that is supported by the second coarse movement mechanism and rotates around a second rotation axis in a direction different from the first rotation axis;
An image sensor that is supported by the first and second fine movement mechanisms, images a target, and outputs position data;
Based on the output position data, the angular velocity target value of each of the first and second coarse movement mechanisms and the angular target value of each of the first and second fine movement mechanisms in tracking the target are calculated. A target value calculator;
A rate sensor for detecting an angular velocity of the first and second coarse movement mechanisms;
A coarse motion mechanism controller for controlling the driving of the first and second coarse motion mechanisms based on the detected angular velocity and the angular velocity target value output from the image sensor;
An error component for detecting an error component in the tracking of the target of the first and second coarse movement mechanisms by performing signal processing on the angular velocity detected by the rate sensor and the angular target value calculated by the target value calculator. A detector;
A suppression command generator for generating a fine movement mechanism control command value for suppressing the detected error component by driving the first and second fine movement mechanisms;
A fine movement mechanism controller for controlling the driving of the first and second fine movement mechanisms based on the generated fine movement mechanism control command value;
A tracking device comprising: The error component detector integrates a first signal processing value obtained by low-frequency signal processing of the angle target value calculated by the target value calculator and an angular velocity output from the rate sensor after high-frequency signal processing. 2 signal processing values are detected as the error component,
The suppression command generator multiplies each of the first and second signal processing values detected by the error component detector by a predetermined weight coefficient and adds the result, and the error component is added to the first and second error components. The tracking device according to claim 5, wherein the fine movement mechanism control command to be suppressed by driving the fine movement mechanism is generated.   The tracking device according to claim 6, wherein the weighting factors multiplied by the first and second signal processing values are different. A first coarse movement mechanism that rotates about an azimuth axis;
A second coarse movement mechanism that is supported by the first coarse movement mechanism and rotates about an elevation axis in a direction different from the azimuth axis;
A first fine movement mechanism that is supported by the second coarse movement mechanism and rotates about the first rotation axis;
A second fine movement mechanism that is supported by the second coarse movement mechanism and rotates around a second rotation axis in a direction different from the first rotation axis;
An image sensor that is supported by the first and second fine movement mechanisms, images a target, and outputs position data;
Based on the output position data, the angular velocity target value of each of the first and second coarse movement mechanisms and the angular target value of each of the first and second fine movement mechanisms in tracking the target are calculated. A target value calculator;
A rate sensor for detecting an angular velocity of the first and second coarse movement mechanisms;
A coarse motion mechanism controller for controlling the driving of the first and second coarse motion mechanisms based on the detected angular velocity and the angular velocity target value output from the image sensor;
After the angular velocity detected by the rate sensor is integrated, a Fourier transform process is performed to obtain a Fourier coefficient corresponding to a specific frequency, which is detected as an error component in the tracking of the target of the first and second coarse movement mechanisms. An error component detector;
Based on a sine wave of a multiple component of the specific frequency corresponding to the detected Fourier coefficient, a correction angle command value for suppressing the error component by driving the first and second fine movement mechanisms is generated. A suppression command generator for generating a fine movement mechanism control command value by adding the angle target value calculated by the target value calculator to the correction angle command value;
A fine movement mechanism controller for controlling the driving of the first and second fine movement mechanisms based on the generated fine movement mechanism control command value;
A tracking device comprising:   The tracking device according to claim 8, wherein the correction angle command value is generated by multiplying a composite wave of the sine wave by a predetermined gain coefficient.   The tracking device according to claim 8 or 9, wherein the error component detector stores a Fourier coefficient corresponding to the specific frequency as a Fourier coefficient table in advance.