CN103235545B - Simulation test method and device for photoelectric tracking system - Google Patents
Simulation test method and device for photoelectric tracking system Download PDFInfo
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Abstract
The invention relates to a simulation test method and a simulation test device of a photoelectric tracking system.A code automatic generation environment is adopted, a Simulink model of a tracking control algorithm is used for generating a C code for realizing the algorithm, and the C code is downloaded to a controller of the photoelectric tracking system; performing virtual scene simulation of the photoelectric tracking system on a scene simulation computer, and rendering a required virtual scene in real time; the scene simulation computer transmits target miss distance information in a virtual scene to the controller, the controller drives the photoelectric tracking system executing mechanism to track the target in the virtual scene according to the miss distance information, the visual axis posture of the photoelectric tracking system is returned to the scene simulation computer, the scene simulation computer updates the posture of an observation point in the virtual scene according to the visual axis posture of the photoelectric tracking system and generates new target miss distance information, the tracking process of the photoelectric tracking system is simulated by repeating the process, and the obtained tracking data is used for testing, analyzing and designing a tracking control algorithm.
Description
Technical field
The invention belongs to virtual reality and system emulation field, relate to when carrying out emulation testing to the tracing control unit of photoelectric follow-up, how in room conditions for photoelectric follow-up provides the virtual scene meeting fc-specific test FC demand, and how easily and flexibly various tracking control algorithm and parameter to be emulated, to reach, the tracing control unit of photoelectric follow-up to be tested, the object of analysis and design.
Background technology
Photoelectric follow-up can detect target, catches and follow the tracks of, and is widely used in a lot of field.The quality of the tracing control performance of photoelectric follow-up is one of most important index evaluating its overall performance, at photoelectricity in tracker development process, to the analysis of tracing control unit, design and test and just seem particularly important.Its main process sums up as follows: be first realize the tracking control algorithm that tracing control unit uses, then be utilize relevant test method to test algorithm, and instruct analysis again and the bamboo product of algorithm according to test result, finally to be met the tracing control unit of photoelectric follow-up development demand.
Traditional flow process realizing tracking control algorithm is: first according to the control algolithm that the design such as plant characteristic, Specifications of photoelectric follow-up is suitable, then set up realistic model according to algorithm and carry out simulating, verifying, final hand-coding codes implement algorithm also downloads on controller, carries out emulating or carrying out further design and study to algorithm again after experimental verification.Such implementation procedure needs to carry out a large amount of codes and writes work, and cannot carry out the amendment of algorithm correlation model and parameter easily, and it is long that the result caused is exactly the construction cycle, with high costs.
The most basic method of testing the tracing control unit of photoelectric follow-up is by actual outfield experiments, and namely photoelectric follow-up follows the tracks of to detect its performance to the airbound target such as target drone, guided missile.But the great drawback that outfield experiments exists is: with high costs, is greatly subject to the restriction of man power and material, and the experiment of repeatability cannot be carried out.Based on this, researchist is seeking the means of testing under indoor conditions.
Typical Indoor Simulation method of testing comprises equivalent sine method, equivalent target method and rotary target mark method of testing.Equivalent sine method uses equivalent sine to guide photoelectricity through the tracking of tracker, to the test that tracing control unit carries out under complete idealized state, when realistic objective maneuverability is stronger, tracking error with realistic objective is had very large discrepancy by the tracking error of equivalent sine, and thus the scope of application is little.The motion process of target is reduced at the uniform velocity by equivalent target method, contour, rectilinear motion, and the motion feature of realistic objective is more complex than the Target Motion Character that equivalent target method is supposed far away, therefore equivalent target method is difficult to test out the tracking performance of photoelectric follow-up to realistic objective.Rotating target is that a kind of electric rotating machine that relies on drives parallel light tube to simulate the device of outfield motion, the moving target with different angular velocity and angular acceleration can be simulated by the length etc. of change motor speed, light pipe, but its shortcoming is obvious equally: movement locus single fixing, moving region is limited, cannot simulate the movement locus simultaneously meeting specific angle speed and angular acceleration well, therefore its usable range also receives certain restriction.
RTW (Real-TimeWorkshop) is a critical function module in the Simulink tool box of Matlab, it is a kind of Code automatic build environment, utilize it directly can be generated by the tracking control algorithm Simulink model set up based on plurality of target system standard C language code file or be compiled into and can run module.
Scene Simulation be virtual reality technology and system simulation technology combine produce a special kind of skill, be widely used among the fields such as military affairs, aviation, engineering.It mainly realizes simulation to real world by computer-related technologies, produces the virtual environment comprising the various human sensory such as vision, sense of touch, the sense of hearing, and allow people, carry out between machine and virtual environment in real time, dynamic interaction.
Summary of the invention
The technical problem to be solved in the present invention is: in photoelectric follow-up development process in the past, the tracing control Unit Design cycle is long, cost is high, the problem that means of testing limitation is large, and the present invention designs a kind of emulation test method and device of photoelectric follow-up.
For reaching described object, the first aspect of technical solution of the present invention, provide a kind of emulation test method of the tracing control unit to photoelectric follow-up, emulation testing step is as follows:
Step S1: the tracking control algorithm Simulink model setting up photoelectric follow-up;
Step S2: by the Code automatic build environment RTW of Matlab software, by tracking control algorithm Simulink model, generates the standard C language code file realizing tracking control algorithm, and downloads in the controller of photoelectric follow-up by code file;
Step S3: carry out vision simulation to the virtual scene of photoelectric follow-up on vision simulation computing machine, goes out the virtual scene of demand by vision simulation real-time rendering;
Step S4: vision simulation computing machine sends the object missing distance information in virtual scene the controller of photoelectric follow-up to, controller according to the topworks of miss distance information-driven photoelectric follow-up to the target following in virtual scene, and the optical axis attitude of topworks is returned vision simulation computing machine in real time, vision simulation computing machine is according to the attitude of observation point in optical axis posture renewal virtual scene and produce new object missing distance information; Repeat the renewal of miss distance information and optical axis attitude, simulate the tracing process of photoelectric follow-up, obtain the data emulating tracing process;
Step S5: the tracing control unit of data to photoelectric follow-up of utilization emulation tracing process is tested, design and study.
For reaching described object, the second aspect of technical solution of the present invention, a kind of simulation testing device of the tracing control unit to photoelectric follow-up is provided, described device is made up of vision simulation computing machine, computing machine and photoelectric follow-up, photoelectric follow-up is divided into controller and topworks, wherein:
Vision simulation computing machine is used for carrying out vision simulation, vision simulation computing machine connects two displays, a display is for showing user control interface, and user completes the control to vision simulation function by control inerface, and another display then shows real-time rendering virtual scene out;
Vision simulation computing machine is connected by serial ports with controller, and vision simulation computing machine sends the miss distance information of target in virtual scene to controller, and receives topworks's optical axis attitude that controller returns;
Computing machine is connected with controller, and computing machine for setting up the tracking control algorithm Simulink model of photoelectric follow-up, and generates standard C language code file by Code automatic build environment RTW and downloads in controller;
Controller is connected with topworks, and controller rotates according to object missing distance information-driven topworks and follows the tracks of the target in virtual scene; Controller obtains the optical axis attitude of topworks by angular measurement sensor, and returns to vision simulation computing machine in real time; Vision simulation computing machine is according to the attitude of observation point in optical axis posture renewal virtual scene and produce new object missing distance information; Repeat the process repeatedly upgraded of above miss distance information and optical axis attitude, simulate the tracing process of photoelectric follow-up, the tracing control unit of the tracking data obtained to photoelectric follow-up is tested, design and study.
The present invention's beneficial effect is compared with prior art as follows:
Emulation test system of the present invention utilizes Code automatic build environment RTW directly optimize, the transplantable standard C language code from tracking control algorithm Simulink model generation, eliminates a large amount of codes and writes work and correlation parameter can on-line tuning easily; Utilize Scene Simulation to render to meet photoelectric follow-up imaging characteristic and effect, meet the virtual scene of various emulation testing demand as test scene for photoelectric follow-up, avoid high and in conventional chamber, emulation test method limitation the is large problem of outfield experiments cost; The two is bonded a kind of emulation test method and device of photoelectric follow-up of hardware-in-the-loop simulation mode, reach the object that the tracing control unit of photoelectric follow-up is tested, not only convenient, flexible, and there is repeatability and specific aim, be extremely conducive to the design and study of tracing control unit.
1, the present invention's Code automatic build environment RTW completes by the conversion of algorithm Simulink model to standard C language code file, eliminates a large amount of codes and writes work and correlation parameter can on-line tuning easily, shorten the construction cycle.
2, the present invention utilizes Scene Simulation real-time rendering to go out virtual scene for photoelectric follow-up to carry out tracking and testing, scene is more genuine and believable, the target trajectory meeting various testing requirement can be simulated simultaneously, solve the problem that traditional indoor test method limitation is large.
3, the present invention is in conjunction with real time workshop environment RTW and Scene Simulation, form a kind of emulation test method and device of photoelectric follow-up of hardware-in-the-loop simulation mode, reach the object that the tracing control unit of photoelectric follow-up is tested, not only convenient, flexible, and there is repeatability and specific aim, be extremely conducive to the design and study of the tracing control unit of actual photoelectric follow-up.
Accompanying drawing explanation
Fig. 1 illustrates that photoelectric follow-up of the present invention is the emulation test method composition frame chart of electro-optic theodolite;
Fig. 2 illustrates that photoelectric follow-up of the present invention is the hardware structure diagram of the simulation testing device of electro-optic theodolite;
Fig. 3 illustrates that photoelectric follow-up of the present invention is the pictorial diagram of the specific embodiment of electro-optic theodolite;
Fig. 4 illustrates that photoelectric follow-up of the present invention is the tracking error of the emulation testing experiment 1 of the specific embodiment of electro-optic theodolite;
Fig. 5 illustrates that photoelectric follow-up of the present invention is the tracking error of the emulation testing experiment 2 of the specific embodiment of electro-optic theodolite;
Fig. 6 illustrates that photoelectric follow-up of the present invention is the tracking error of the emulation testing experiment 3 of the specific embodiment of electro-optic theodolite.
Embodiment
Below embodiments of the invention are described.But following embodiment is only limitted to explain the present invention, and protection scope of the present invention should comprise the full content of claim, and by following examples, namely person skilled in art can realize the full content of the claims in the present invention.
The specific embodiment of to be photoelectric follow-up of the present invention the be electro-optic theodolite below illustrated.When photoelectric follow-up is electro-optic theodolite, photoelectric nacelle or other similar electro-optical tracking device, realize the emulation testing to its tracing control unit, equally can according to Method And Principle of the present invention and step.
As shown in Figure 1 to the emulation test method of the tracing control unit of photoelectric follow-up, the photoelectric follow-up in the present embodiment is electro-optic theodolite, and emulation testing step is as follows:
Step S1: the tracking control algorithm Simulink model setting up photoelectric follow-up;
Step S2: by the Code automatic build environment RTW of Matlab software, by tracking control algorithm Simulink model, generates the standard C language code file realizing tracking control algorithm, and downloads in the controller of photoelectric follow-up by code file;
Step S3: carry out vision simulation to the virtual scene of photoelectric follow-up on vision simulation computing machine, goes out the virtual scene of demand by vision simulation real-time rendering;
Step S4: vision simulation computing machine sends the object missing distance information in virtual scene the controller of photoelectric follow-up to, controller according to the topworks of miss distance information-driven photoelectric follow-up to the target following in virtual scene, and the optical axis attitude of topworks is returned vision simulation computing machine in real time, vision simulation computing machine is according to the attitude of observation point in optical axis posture renewal virtual scene and produce new object missing distance information; Repeat the renewal of miss distance information and optical axis attitude, simulate the tracing process of photoelectric follow-up, obtain the data emulating tracing process;
Step S5: the tracing control unit of data to photoelectric follow-up of utilization emulation tracing process is tested, design and study.
The simulation testing device of the tracing control unit to photoelectric follow-up shown in the present embodiment is as Fig. 2, and described photoelectric follow-up is electro-optic theodolite, forms primarily of vision simulation computing machine, computing machine and electro-optic theodolite.Electro-optic theodolite can be divided into controller and topworks two parts, wherein:
Vision simulation computing machine is used for carrying out vision simulation.Vision simulation computing machine connects two displays, and a display is for showing user control interface, and user completes the control to vision simulation function by control inerface, and another display then shows real-time rendering virtual scene out; Vision simulation computing machine is connected by serial ports with controller, and vision simulation computing machine sends the miss distance information of target in virtual scene to controller, and receives the optical axis attitude of the electro-optic theodolite that controller returns.
Computing machine is connected with controller, and computing machine for setting up the tracking control algorithm Simulink model of electro-optic theodolite, and generates standard C language code file by Code automatic build environment RTW and downloads in controller.
Controller is connected with topworks, and controller rotates according to object missing distance information-driven topworks and follows the tracks of the target in virtual scene; Controller obtains the optical axis attitude of topworks by angular measurement sensor, and returns to vision simulation computing machine in real time; Vision simulation computing machine is according to the attitude of observation point in optical axis posture renewal virtual scene and produce new object missing distance information; Repeat the process repeatedly upgraded of above miss distance information and optical axis attitude, simulate the tracing process of electro-optic theodolite, the tracking data obtained is used for testing the tracing control unit of electro-optic theodolite, design and study.
According to the simulation testing device hardware configuration shown in the emulation test method composition frame chart shown in Fig. 1 and Fig. 2, we complete specific embodiment, virtual scene vision simulation produced in the mode of hardware-in-the-loop simulation and electro-optic theodolite combine, and realizing tracking control algorithm easily by Code automatic build environment RTW, its pictorial diagram is as shown in Figure 3.Specific implementation step is as follows:
(1) the tracking control algorithm Simulink model of electro-optic theodolite is set up;
For the PI control algolithm of classics, to the electro-optic theodolite topworks in the upper right corner in Fig. 3, first frequency response instrument is utilized to measure its Angle Position open loop characteristic curve, then according to this Angle Position open loop characteristic Curve Design PI controller, and in Matlab, the Simulink model of this PI controller is set up.
(2) by the Code automatic build environment RTW in the Simulink tool box of Matlab, the Simulink model of the PI controller obtained by step (1), generate the C language code file realizing this PI controller, and code file is downloaded in the controller of electro-optic theodolite;
Code automatic build environment RTW is utilized to be comprised the following steps by Simulink model generation C language code file in described step (2):
Step 21: select fixed step size to resolve mode in the configuration of RTW;
Step 22: select suitable solver type in the configuration of RTW;
According to the difference of Simulink model, applicable solver type is different.In this specific embodiment, select 4 rank Runge-Kutta solvers.
Step 23: select suitable Models computed step-length in the configuration of RTW;
According to the difference of the sample frequency of the tracing control unit of photoelectric follow-up, applicable to resolve step-length different.In this specific embodiment, according to the sample frequency of the tracing control unit of electro-optic theodolite used, resolving step size settings is 0.001 second.
Step 24: in the configuration of RTW, is set as global variable by needing the model parameter of carrying out on-line tuning;
In the present embodiment, by the corresponding C language code file of the Simulink model generation of PI controller by RTW, need the model parameter of carrying out on-line tuning to be scale parameter and the integral parameter of PI controller, be therefore global variable by these two setting parameters in the configuration of RTW.
Step 25: in the configuration of RTW, selects suitable aims of systems;
During by RTW generating code file, select different goal systems, as grt.tlc, ert.tlc, rsim.tlc, xPC etc., the object code file of generation is also not quite similar.In this specific embodiment, the goal systems of selection is xPC.
XPC is a kind of that Matlab provides developed, tested and configured real-time system computing machine solution route for product prototype.XPC target have employed " two-shipper " technological approaches of host-target machine, and host and target machine can be dissimilar computing machines.Wherein, host is for running Simulink model, and target machine is for performing generated code, is connected therebetween realize communication by Ethernet or Serial Port Line.The performance history of xPC target protocol is: first set up Simulink model and the parameter configuration of carrying out at host, then with RTW and VC compiler, model is compiled as a loading of executed file to target machine.Target machine, by xPC real-time kernel, runs the executable program that RTW generates, carries out exchanges data, namely achieve the real-time simulation test process of half material object by I/O passage and outside material object.
In the present embodiment, the computing machine in employing Fig. 3 is as host, and target machine is then served as by electro-optic theodolite controller in Fig. 3.
Step 26: after completing above RTW configuration, clicks build button and gets final product the C language code file of generation model and download on target machine.
(3) on vision simulation computing machine, utilize Scene Simulation, real-time rendering goes out the virtual scene that electro-optic theodolite is followed the tracks of target: the three-dimensional model setting up object needed for electro-optic theodolite virtual scene with 3 d modeling software MultiGen-Creator, and these objects comprise target, landform and electro-optic theodolite; Based on these object models and virtual target track emulation, with three dimensional visual simulation software MultiGen-Vega, real-time rendering goes out to meet the virtual scene of electro-optic theodolite tracking and testing demand.
Set up the three-dimensional model of object needed for electro-optic theodolite virtual scene with 3 d modeling software MultiGen-Creator in described step (3), mainly based on the modeling material (as geometry, texture photo etc.) of each object, utilize the functions such as the polygon modeling of Creator, Vector Modeling, terrain generation, in conjunction with the various modeling optimization techniques and methods of Creator, carry out the foundation of three-dimensional model.
(4) vision simulation computing machine is connected by serial ports with the controller of electro-optic theodolite, set up the communication of electro-optic theodolite virtual scene simulation computer and electro-optic theodolite, vision simulation computing machine sends the object missing distance information in the virtual scene playing up out the controller of electro-optic theodolite to, controller is followed the tracks of the target in virtual scene according to miss distance information-driven transit topworks, and the optical axis attitude of electro-optic theodolite is returned to vision simulation computing machine in real time, vision simulation computing machine is according to the attitude of observation point in the optical axis posture renewal virtual scene of electro-optic theodolite, new object missing distance information is just created after scene update.Repeat the process repeatedly upgraded of above miss distance information and optical axis attitude, simulate the tracing process of electro-optic theodolite.
(5) utilize that the tracing control unit of data to electro-optic theodolite of tracing process simulated is tested, design and study.
In a particular embodiment, following emulation testing experiment has been carried out to the PI controller of design in step (1), the XYZ rectangular coordinate system meeting the right-hand rule is used in experiment, unit is rice, Y-axis positive dirction position angle is 0, X-axis positive dirction position angle is-90 degree, and X-axis negative direction position angle is 90 degree.
● experiment 1
Virtual target movement locus is set as follows: electro-optic theodolite central visual axis is positioned at (0,0,0), target from X-axis negative direction towards X-axis positive dirction at the uniform velocity, contour, rectilinear flight, the t=0 moment point of arrival (0,3000,2000), the movement velocity of target is divided into 300 meter per seconds, 500 meter per seconds and 800 meter per seconds, three kinds of situations.
In an experiment, obtain this movement locus by two kinds of modes and carry out tracking and testing experiment: first kind of way directly on computers to be produced by Matlab, namely tracing control program oneself generation target azimuth angle position signal is followed the tracks of, and in fact this is exactly the equivalent target method in conventional chamber in emulation test method; The second way is the target travel scene gone out by vision simulation Effective Pictures By A Computer under this movement locus, passes to controller and follow the tracks of after extracting miss distance.Record tracking error when position angle is in positive and negative 70 degree under two kinds of modes, as Fig. 4 shows, wherein (a) corresponding target velocity is the situation of 300 meter per seconds, b () corresponding target velocity is the situation of 500 meter per seconds, c () corresponding target velocity is the situation of 800 meter per seconds, red dot-and-dash line is the tracking error of equivalent target method, and blue solid lines is the tracking error of this specific embodiment.Tracking error relatively under two kinds of modes, can find, they are closely.
● experiment 2
Virtual target movement locus is set as follows: the relative transit of hypothetical target on the angle of pitch as amplitude be 20 degree, frequency is the sinusoidal motion of 0.1 hertz.Same, produce movement locus respectively by computing machine (being in fact exactly the equivalent sine method in conventional chamber in emulation test method) and vision simulation computing machine and carry out tracking and testing experiment, and record tracking error such as Fig. 5 and show, Fig. 5 left side is the tracking error of equivalent sine method, is the tracking error of this specific embodiment on the right of Fig. 5.Through relatively finding, under two kinds of modes, tracking error is also closely.
● experiment 3
Virtual target movement locus is set as follows: electro-optic theodolite central visual axis is positioned at (0,0,0), target in XZ plane with point (0,4500,2000) be the uniform circular motion that the center of circle is 1500 meters as radius, the period of motion of target is divided into 6 seconds and 10 seconds two kinds of situations.
Same, produce movement locus respectively by computing machine (simulating the rotation Bar Method in emulation test method in conventional chamber in fact exactly) and vision simulation computing machine and carry out tracking and testing experiment, and record tracking error such as Fig. 6 and show, Fig. 6 left side corresponding 6 seconds cycles, corresponding 10 seconds cycles on the right of Fig. 6, blue solid lines is simulation rotary target target tracking error, and red dot-and-dash line is the tracking error of this specific embodiment.Through relatively finding, the tracking error under two kinds of modes is closely equally.
As can be seen from above 3 experiments, in this specific embodiment, vision simulation computer generation provides miss distance information to follow the tracks of for transit for the image processing system of electro-optic theodolite, and its tracking error, compared with emulation test method in conventional chamber, is basically identical.This illustrates that emulation test method in this specific embodiment and device are effective, really can reach the object of testing the tracing control unit of electro-optic theodolite.Emulation test method in this specific embodiment and device, not only convenient, flexible, and there is repeatability and specific aim, be extremely conducive to the test of the tracing control unit of actual photoelectric follow-up, design and study.
Hardware configuration of the present invention also can be other form, as long as can meet required function, as the user interface of vision simulation computing machine and virtual scene can be shown by same display.
The emulation test method of above-described photoelectric tracking control system and device; should be understood that; for those skilled in the art; under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (2)
1. an emulation test method for photoelectric follow-up, is characterized in that comprising the following steps:
Step S1: the tracking control algorithm Simulink model setting up photoelectric follow-up;
Step S2: by the Code automatic build environment RTW of Matlab software, by tracking control algorithm Simulink model, generates the standard C language code file realizing tracking control algorithm, and downloads in the controller of photoelectric follow-up by code file;
Step S3: carry out vision simulation to the virtual scene of photoelectric follow-up on vision simulation computing machine, goes out the virtual scene of demand by vision simulation real-time rendering;
Step S4: vision simulation computing machine sends the object missing distance information in virtual scene the controller of photoelectric follow-up to, controller according to the topworks of object missing distance information-driven photoelectric follow-up to the target following in virtual scene, and the optical axis attitude of topworks is returned vision simulation computing machine in real time, vision simulation computing machine is according to the attitude of observation point in optical axis posture renewal virtual scene and produce new object missing distance information; Repeat the renewal of object missing distance information and optical axis attitude, simulate the tracing process of photoelectric follow-up, obtain the data emulating tracing process;
Step S5: the tracing control unit of data to photoelectric follow-up of utilization emulation tracing process is tested, design and study.
2. a simulation testing device for photoelectric follow-up, is characterized in that, described device is made up of vision simulation computing machine, computing machine and photoelectric follow-up, and photoelectric follow-up is divided into controller and topworks, wherein:
Vision simulation computing machine is used for carrying out vision simulation, vision simulation computing machine connects two displays, a display is for showing user control interface, and user completes the control to vision simulation function by control inerface, and another display then shows real-time rendering virtual scene out; Vision simulation computing machine is connected by serial ports with controller, and vision simulation computing machine sends object missing distance information in virtual scene to controller, and receives topworks's optical axis attitude that controller returns;
Computing machine is connected with controller, and computing machine for setting up the tracking control algorithm Simulink model of photoelectric follow-up, and generates standard C language code file by Code automatic build environment RTW and downloads in controller;
Controller is connected with topworks, and controller rotates according to object missing distance information-driven topworks and follows the tracks of the target in virtual scene; Controller obtains the optical axis attitude of topworks by angular measurement sensor, and returns to vision simulation computing machine in real time; Vision simulation computing machine is according to the attitude of observation point in optical axis posture renewal virtual scene and produce new object missing distance information; Repeat the process repeatedly upgraded of above object missing distance information and optical axis attitude, simulate the tracing process of photoelectric follow-up, the tracing control unit of the tracking data obtained to photoelectric follow-up is tested, design and study.
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| CN104199313B (en) * | 2014-09-15 | 2017-06-20 | 中国农业科学院农业信息研究所 | A kind of intelligent robot emulation test system |
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