CN103344258B - Servo system of electro-optic theodolite performance testing device and method of testing - Google Patents
Servo system of electro-optic theodolite performance testing device and method of testing Download PDFInfo
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- CN103344258B CN103344258B CN201310280381.9A CN201310280381A CN103344258B CN 103344258 B CN103344258 B CN 103344258B CN 201310280381 A CN201310280381 A CN 201310280381A CN 103344258 B CN103344258 B CN 103344258B
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Abstract
The present invention relates to a kind of servo system of electro-optic theodolite performance testing device, including: simulated target maker and servo system control renderer; Described simulated target maker is for producing target travel sequence of pictures and determining the target location that every pictures is corresponding; Described servo system control renderer is used for: makes the servosystem of electro-optic theodolite control electro-optic theodolite according to simulated target miss distance and rotates; Recording light electro-theodolite set rotary angle position; Show every width target image skimulated motion target image under electro-optic theodolite rotation situation. The servo system of electro-optic theodolite performance testing device of the present invention and method of testing, can accurately assess the tracking performance of servo system control electro-optic theodolite, test system illustrates the target following stability of servosystem intuitively by the kinestate of target in image, it is possible to simulate the real target following effect image of servosystem.
Description
Technical field
The present invention relates to a kind of servosystem rotating property detection field, particularly to a kind of servo system of electro-optic theodolite performance testing device and method of testing.
Background technology
Electro-optic theodolite is a kind of high-precision spatial position measuring equipment, is widely used in weapon test target range, sea, land and sky and astronomical observation. It utilize the detector such as laser, infrared, TV, radar obtain moving target in its visual field with the deviation of field of view center, then it is transferred to servo tracking system be corrected follow the tracks of, make theodolite aim at this target and guide other tracking equipment.
Theodolite guides to realize stable target following, it is necessary to have good servosystem, adopts complicated control algolithm to realize required precision. Servosystem needs to develop according to different theodolite characteristics and required precision, mate and debug.
Whether the control algolithm in order to verify servo system of electro-optic theodolite is effective, accuracy requirement if appropriate for this theodolite, traditional emulation experiment method is to utilize television system display target cursor position, then further according to display offset amount, adjust back field of view center, utilize the photoelectricity target of television system tracking rotary to measure the curve movement result of servosystem whether with sine curve fitting. This method depends on television system, and the performance test of servosystem is directly perceived, and the result quality of television system measurement target has a strong impact on the accuracy of servosystem Performance Evaluation.
Summary of the invention
The invention solves the problems that technical problem of the prior art, it is provided that a kind of break away from television system impact, it is possible to accurately measure servosystem performance and performance intuitively, servo system of electro-optic theodolite performance testing device and method of testing.
In order to solve above-mentioned technical problem, technical scheme is specific as follows:
A kind of servo system of electro-optic theodolite performance testing device, including: simulated target maker and servo system control renderer;
Described simulated target maker is for producing target travel sequence of pictures and determining the target location that every pictures is corresponding;
Described servo system control renderer is used for:
The servosystem making electro-optic theodolite controls electro-optic theodolite according to simulated target miss distance and rotates; Recording light electro-theodolite set rotary angle position; Show every width target image skimulated motion target image under electro-optic theodolite rotation situation.
The method of testing of the servo system of electro-optic theodolite performance testing device in technique scheme, this method of testing comprises the following steps:
Produced target travel sequence of pictures by described simulated target maker and determine the target location that every pictures is corresponding;
Target location corresponding for every pictures is sent to by communication interface the servosystem of electro-optic theodolite;
Servosystem is corrected with the deviation of field of view center following the tracks of according to object missing distance in its visual field, sends electro-optic theodolite angular position information to servo system control renderer by communication interface simultaneously;
Servo system control renderer recording angular positional information also simulates the change in location of target in image according to electro-optic theodolite change in angular position situation.
The present invention has following beneficial effect:
The servo system of electro-optic theodolite performance testing device of the present invention and method of testing, can accurately assess the tracking performance of servo system control electro-optic theodolite, test system illustrates the target following stability of servosystem intuitively by the kinestate of target in image, it is possible to simulate the real target following effect image of servosystem.
The servo system of electro-optic theodolite performance testing device of the present invention and method of testing, by means of the software system of computer development, realize performance measurement by communication interface and servo system of electro-optic theodolite communication. Have that measurement result is objective, manifestation mode intuitively accurately, the features such as servosystem performance can be measured by arbitrary target motion mode. The servo system of electro-optic theodolite performance testing device of the present invention and method of testing can replace traditional photoelectric tracking target test mode completely, namely save equipment making cost, can remove again the error that other system is brought, simultaneously also flexible.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is the structural representation of the servo system of electro-optic theodolite performance testing device of the present invention.
Fig. 2 is the signal transmission schematic diagram of the servo system of electro-optic theodolite performance testing device shown in Fig. 1.
Fig. 3 is the simulated target image product process schematic diagram of the servo system of electro-optic theodolite performance test methods of the present invention.
Fig. 4 is the servo system control process assessment performance schematic flow sheet of the servo system of electro-optic theodolite performance test methods of the present invention.
Detailed description of the invention
The invention thought of the present invention is:
The input of servo system of electro-optic theodolite Performance Test System comprises the sequence of pictures of a target, and this target position in every width picture has certain movement rule. Target location in every width picture is all known. Known moving target position is sent to servo system of electro-optic theodolite by communication interface. Servosystem is corrected with the deviation of field of view center following the tracks of according to object missing distance in its visual field, sends electro-optic theodolite angular position information to Performance Test System by communication interface simultaneously.Performance Test System recording angular positional information also simulates the change in location of target in image according to electro-optic theodolite change in angular position situation, shows tester by image mode. Show the extraterrestrial target of the motion image effect under the measurement tracking mode of servo system of electro-optic theodolite intuitively.
Below in conjunction with accompanying drawing, the present invention is described in detail.
Equipment basic structure used in the present invention, as depicted in figs. 1 and 2: whole system includes simulated target maker and servo system control renderer two parts, and the effect of each several part is as follows.
Simulated target maker:
Simulated target maker is for producing target travel sequence of pictures and target location corresponding to every pictures. Target movement locus on every width simulation drawing is by specifying formula to generate, and target positioning error can be appointed as any dimension accuracy of theodolite requirement.
Servo system control renderer:
This module is used for making servosystem control electro-optic theodolite according to simulated target miss distance and rotates. Recording light electro-theodolite set rotary angle position, assesses the control technical performance of servosystem with this. Show every width target image skimulated motion target image under electro-optic theodolite rotation situation.
As it is shown on figure 3, simulated target maker adopts software processing mode to generate needs any type of simulated target image sequence according to theodolite. The resolution of analog image sets according to the imageing sensor of the actual employing of theodolite. The movement locus of target needs to set according to the application testing of servosystem, the target location of pixels in each width virtual image optical field of view angle according to electro-optic theodolite, the frame frequency of imageing sensor, resolution, it is intended that target X, the movement velocity of Y-direction, acceleration calculation draw. The movement locus of target can being specified for circular, oval, straight line in order to test servosystem movement effects under various conditions, speed can be at the uniform velocity, accelerate, static. Text mode record can be passed through in target position in each analog image, record format includes image file name and the target X of correspondence, the Y-direction position of generation or is recorded directly in image by target location, is automatically resolved when calling by servo system control renderer.
As shown in Figure 4, servo system control renderer opens the simulated target image sequence of generation, plays according to predetermined frame frequency display. Target location in image is sent to servosystem by communication interface by specified protocol simultaneously. The object missing distance that the object missing distance received is sent by servosystem as television system, control electro-optic theodolite rotate come correction target in visual field with the deviation of field of view center, it is achieved target simulation follow the tracks of. The encoder angular of electro-optic theodolite is sent to servo system control renderer according to picture frame frequency by servosystem. The form of encoder angular text or form is recorded or is drawn out on system interface by servo system control renderer, calculates angle situation of change between every two field picture with the encoder angular of the electro-optic theodolite received simultaneously. Angle changing, optical system field of view angle, image resolution ratio is adopted to calculate the skew pixel number of target in every two field picture. By the side-play amount of target and the target location matching in image, calculate the simulation of target under theodolite rotation situation and truly show position. By the target after skew to be shown on interface in the way of image, if target can be shown in center in the manner described above all the time that generate image represent that servosystem performance meets performance requirement playing servosystem after multiple image.It is depicted as curve with the encoder angular recorded, with whether this assessment servosystem performance meets index request simultaneously.
Obviously, above-described embodiment is only for clearly demonstrating example, and is not the restriction to embodiment. For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description. Here without also cannot all of embodiment be given exhaustive. And the apparent change thus extended out or variation are still among the protection domain of the invention.
Claims (1)
1. the method for testing of a servo system of electro-optic theodolite performance testing device, it is characterised in that this servo system of electro-optic theodolite performance testing device includes: simulated target maker and servo system control renderer;
Described simulated target maker is for producing target travel sequence of pictures and determining the target location that every pictures is corresponding;
Described servo system control renderer is used for:
The servosystem making electro-optic theodolite controls electro-optic theodolite according to simulated target miss distance and rotates; Recording light electro-theodolite set rotary angle position; Show every width target image skimulated motion target image under electro-optic theodolite rotation situation;
This method of testing comprises the following steps:
Produced target travel sequence of pictures by described simulated target maker and determine the target location that every pictures is corresponding;
Target location corresponding for every pictures is sent to by communication interface the servosystem of electro-optic theodolite;
The object missing distance that the object missing distance received is sent by servosystem as television system, control electro-optic theodolite rotate come correction target in visual field with the deviation of field of view center, it is achieved target simulation follow the tracks of;
Servosystem is corrected with the deviation of field of view center following the tracks of according to object missing distance in its visual field, sends electro-optic theodolite angular position information to servo system control renderer by communication interface simultaneously;
Servo system control renderer recording angular positional information also simulates the change in location of target in image according to electro-optic theodolite change in angular position situation.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103591967A (en) * | 2013-10-28 | 2014-02-19 | 中国科学院长春光学精密机械与物理研究所 | Method for generating optical Chirp signal for optical servo system frequency spectrum curve tests |
| CN103727961B (en) * | 2014-01-14 | 2016-07-06 | 中国科学院长春光学精密机械与物理研究所 | Method for correcting dynamic error of electro-optic theodolite |
| 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 |
| CN106403991A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Method for compensation and control of multi-optical path installation errors based on miss distance offset |
| CN109186537A (en) * | 2018-09-20 | 2019-01-11 | 中国科学院西安光学精密机械研究所 | Electro-optic theodolite optical system variant test method and system |
| CN109544493A (en) * | 2018-11-09 | 2019-03-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of real-time injection device of high speed optoelectronic theodolite target |
| CN111380399B (en) * | 2018-12-29 | 2021-08-20 | 中国科学院长春光学精密机械与物理研究所 | Projectile body capturing method, optical measurement equipment, terminal and storage medium |
| CN110940354B (en) * | 2019-12-02 | 2021-12-14 | 湖北航天技术研究院总体设计所 | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system |
| CN113608186B (en) * | 2021-09-13 | 2023-10-20 | 中国工程物理研究院应用电子学研究所 | Calibration method of radar system and photoelectric imaging system |
| CN114323563A (en) * | 2021-12-08 | 2022-04-12 | 中国电子科技集团公司第十一研究所 | Tracking performance testing device and method for photoelectric tracking system |
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