CN103344258A - Device and method for testing performance of servo system of electro-optic theodolite - Google Patents

Abstract

The invention relates to a photoelectric theodolite servo system performance testing device, comprising: a simulated target generator and a servo system control display device; the simulated target generator is used to generate target motion sequence pictures and determine the corresponding target position of each picture; the The servo system control display is used to: make the servo system of the photoelectric theodolite control the rotation of the photoelectric theodolite according to the amount of simulated target miss; record the rotation angle position of the photoelectric theodolite; display the simulated moving target image of each target image under the rotation of the photoelectric theodolite. The photoelectric theodolite servo system performance testing device and testing method of the present invention can accurately evaluate the tracking performance of the servo system controlling the photoelectric theodolite, and the test system intuitively shows the target tracking stability of the servo system through the motion state of the target in the image, and can simulate An image of the actual target tracking effect of the servo system.

Description

Photoelectric theodolite servo system performance test device and test method

technical field

The invention relates to the field of detection of rotation performance of a servo system, in particular to a performance test device and a test method of a photoelectric theodolite servo system.

Background technique

The photoelectric theodolite is a high-precision spatial position measurement device, which is widely used in sea, land and air weapon test ranges and astronomical observations. It uses laser, infrared, TV, radar and other detectors to obtain the deviation between the moving target in its field of view and the center of the field of view, and then transmits it to the servo tracking system for correction and tracking, so that the theodolite can aim at the target and guide other tracking equipment.

In order to achieve stable target tracking and guidance, the theodolite must have a good servo system and use complex control algorithms to achieve precision requirements. The servo system needs to be developed, matched and debugged according to different theodolite characteristics and accuracy requirements.

In order to verify whether the control algorithm of the photoelectric theodolite servo system is effective and suitable for the accuracy requirements of the theodolite, the traditional simulation experiment method is to use the TV system to display the target position, and then adjust it back to the center of the field of view according to the display offset. Track the rotating photoelectric target to measure whether the motion curve of the servo system fits the sinusoidal curve. This method depends on the TV system, and the performance test of the servo system is not intuitive. The quality of the measurement target of the TV system seriously affects the accuracy of the performance evaluation of the servo system.

Contents of the invention

The present invention aims to solve the technical problems in the prior art, and provides a photoelectric theodolite servo system performance testing device and testing method, which are free from the influence of the TV system, can accurately measure the performance of the servo system and have intuitive performance.

In order to solve the problems of the technologies described above, the technical solution of the present invention is specifically as follows:

A photoelectric theodolite servo system performance test device, comprising: an analog target generator and a servo system control display;

The simulated target generator is used to generate target motion sequence pictures and determine the corresponding target position of each picture;

The servo system control display is used for:

Make the servo system of the photoelectric theodolite control the rotation of the photoelectric theodolite according to the amount of simulated target miss; record the rotation angle position of the photoelectric theodolite; display the simulated moving target image of each target image under the rotation of the photoelectric theodolite.

The test method of the photoelectric theodolite servo system performance test device in the above-mentioned technical scheme, this test method comprises the following steps:

Generate target motion sequence pictures and determine the target position corresponding to each picture by the simulated target generator;

Send the target position corresponding to each picture to the servo system of the photoelectric theodolite through the communication interface;

The servo system performs correction and tracking according to the deviation between the target miss amount in its field of view and the center of the field of view, and at the same time sends the angle position information of the photoelectric theodolite to the servo system control display through the communication interface;

The servo system controls the display to record the angle position information and fits the position change of the target in the image according to the angle position change of the photoelectric theodolite.

The present invention has following beneficial effect:

The photoelectric theodolite servo system performance testing device and testing method of the present invention can accurately evaluate the tracking performance of the servo system controlling the photoelectric theodolite, and the test system intuitively shows the target tracking stability of the servo system through the motion state of the target in the image, and can simulate Image of the actual target tracking effect of the servo system.

The photoelectric theodolite servo system performance testing device and testing method of the present invention realize the performance measurement by means of a software system developed by a computer and communicating with the photoelectric theodolite servo system through a communication interface. It has the characteristics of objective measurement results, intuitive and accurate performance, and can measure the performance of the servo system in any target movement mode. The photoelectric theodolite servo system performance testing device and testing method of the present invention can completely replace the traditional photoelectric tracking target testing method, which not only saves equipment manufacturing costs, but also eliminates errors caused by other systems, and is also flexible and convenient.

Description of drawings

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is the structural representation of the photoelectric theodolite servo system performance testing device of the present invention.

Fig. 2 is a schematic diagram of signal transmission of the photoelectric theodolite servo system performance testing device shown in Fig. 1 .

Fig. 3 is a schematic diagram of the process of generating a simulated target image in the photoelectric theodolite servo system performance testing method of the present invention.

Fig. 4 is a schematic flow chart of the evaluation performance flow of the servo system control process of the photoelectric theodolite servo system performance testing method of the present invention.

Detailed ways

Invention idea of the present invention is:

The photoelectric theodolite servo system performance test system input contains a sequence of pictures of a target, and the position of the target in each picture has a certain movement law. The location of the object in each image is known. Send the known moving target position to the photoelectric theodolite servo system through the communication interface. The servo system performs correction and tracking according to the deviation between the target miss amount in the field of view and the center of the field of view, and at the same time sends the angle position information of the photoelectric theodolite to the performance testing system through the communication interface. The performance test system records the angle position information and fits the position change of the target in the image according to the angle position change of the photoelectric theodolite, and displays it to the test personnel through the image. It intuitively shows the image effect of the moving space target in the measurement and tracking state of the photoelectric theodolite servo system.

The present invention will be described in detail below in conjunction with the accompanying drawings.

The basic structure of the equipment used in the present invention is shown in Fig. 1 and Fig. 2: the whole system includes two parts, the simulation target generator and the servo system control displayer, and the functions of each part are as follows.

Mock target generator:

The simulated target generator is used to generate target motion sequence pictures and the target position corresponding to each picture. The trajectory of the target on each simulation map is generated by a specified formula, and the accuracy of the target position can be specified as any level of accuracy required by the theodolite.

Servo system control display:

This module is used to make the servo system control the rotation of the photoelectric theodolite according to the amount of simulated target miss. Record the rotation angle position of the photoelectric theodolite to evaluate the control technology performance of the servo system. Display the simulated moving target image of each target image when the photoelectric theodolite rotates.

As shown in Figure 3, the simulated target generator can generate any type of simulated target image sequence according to the needs of the theodolite by using software processing. The resolution of the simulated image is set according to the image sensor actually used by the theodolite. The trajectory of the target is set according to the application test needs of the servo system. The pixel position of the target in each virtual image is based on the optical field angle of the photoelectric theodolite, the frame rate and resolution of the image sensor, and the specified target X and Y directions. The speed and acceleration of the motion are calculated. In order to test the motion effect of the servo system under various conditions, the trajectory of the target can be specified as a circle, an ellipse, or a straight line, and the speed can be uniform, accelerated, or static. The position of the target in each simulated image can be recorded in the form of text, and the record format includes the generated image file name and the corresponding target X, Y direction position, or the target position can be directly recorded in the image, and the displayer is called through the servo system control automatically parsed.

As shown in Figure 4, the servo system controls the presenter to open the generated simulated target image sequence, and display and play according to a predetermined frame rate. At the same time, the target position in the image is sent to the servo system through the communication interface according to the specified protocol. The servo system takes the received target miss amount as the target miss amount sent by the TV system, controls the rotation of the photoelectric theodolite to correct the deviation between the target in the field of view and the center of the field of view, and realizes the target simulation tracking. The servo system sends the encoder angle of the photoelectric theodolite to the servo system control display according to the image frame rate. The servo system control displayer records the encoder angle in the form of text or table or draws it on the system interface, and at the same time uses the received encoder angle of the photoelectric theodolite to calculate the angle change between each frame of image. The number of offset pixels of the target in each frame of image is calculated by using the change angle, the field of view angle of the optical system, and the image resolution. Fit the offset of the target with the target position in the image to calculate the simulated real display position of the target when the theodolite rotates. Display the offset target on the interface as an image. After playing multiple frames of images, if the servo system can always display the target in the center of the generated image according to the above method, it means that the performance of the servo system meets the performance requirements. At the same time, use the recorded encoder angle to draw a curve to evaluate whether the performance of the servo system meets the index requirements.

Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (2)

1. A photoelectric theodolite servo system performance testing device is characterized in that, comprising: an analog target generator and a servo system control display device; The simulated target generator is used to generate target motion sequence pictures and determine the corresponding target position of each picture; The servo system control display is used for: Make the servo system of the photoelectric theodolite control the rotation of the photoelectric theodolite according to the amount of simulated target miss; record the rotation angle position of the photoelectric theodolite; display the simulated moving target image of each target image under the rotation of the photoelectric theodolite. 2. the test method of a kind of photoelectric theodolite servo system performance testing device claimed in claim 1, is characterized in that, this test method comprises the following steps: Generate target motion sequence pictures and determine the target position corresponding to each picture by the simulated target generator; Send the target position corresponding to each picture to the servo system of the photoelectric theodolite through the communication interface; The servo system performs correction and tracking according to the deviation between the target miss amount in its field of view and the center of the field of view, and at the same time sends the angle position information of the photoelectric theodolite to the servo system control display through the communication interface; The servo system controls the display to record the angle position information and fits the position change of the target in the image according to the angle position change of the photoelectric theodolite.

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