CN104793631B - A kind of target acquistion method based on dynamic scan mode - Google Patents
A kind of target acquistion method based on dynamic scan mode Download PDFInfo
- Publication number
- CN104793631B CN104793631B CN201510074164.3A CN201510074164A CN104793631B CN 104793631 B CN104793631 B CN 104793631B CN 201510074164 A CN201510074164 A CN 201510074164A CN 104793631 B CN104793631 B CN 104793631B
- Authority
- CN
- China
- Prior art keywords
- target
- scanning
- dynamic scan
- strategy
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a kind of target acquistion method based on dynamic scan mode, optoelectronic device develops field under being related to optoelectronic device to develop especially moving platform.For the electro-optical tracking device under photoelectric tracking measuring equipment particularly operation platform, because photodetector visual field is small, in the presence of the items error such as simultaneity factor error, position error so that the characteristics of target is not easy capture.Using the error features of assessment target acquistion, different strategies are formulated, and design operation mode loads the processes such as strategy.Realizing outer guiding data can not capture target, and on the premise of not needing manipulator to be captured target manually, make full use of the control strategy and method of outer guiding data, dynamic scan function and manual intervention, increase the probability of target acquistion.
Description
Technical field
The invention belongs to opto-electric tracking and measurement field, it is related to the system design and reality of photoelectric tracking measuring equipment target acquistion
It is existing, and in particular to a kind of target acquistion method based on dynamic scan mode.
Background technology
Photodetector is the core devices of photoelectric tracking measuring equipment, is limited by optical design and index of correlation,
Typically under the conditions of identical operating distance, its visual field is less than other types of detector.Thus in optoelectronic device real-time working
In, it is necessary to be captured to target using other information --- this process is referred to as outer guiding.Enter in outer guiding target
When entering detector field of view, due to the presence of various errors so that although equipment is dynamic all the time sometimes points to target region,
Target but cannot be introduced into visual field.And for the electro-optical tracking device on motion platform, by outer guiding to the capture of target then more
It is difficulty.Specifically there are following several errors：
● the position error of target：Error determines by location equipment error, such as：Typical GPS location error is left in 10m
The right side, and radar fix error is then bigger；
● the position error of equipment：Determined by the location equipment error to equipment itself；
● the systematic error of optoelectronic device：Determined by the optics and mechanical structure of optoelectronic device, under motion platform
It is also contemplated that the alignment error of attitude measurement error and inertial navigation equipment；
● atmosphere errors：Due to Atmospheric Refraction Error；
● other coupling data errors.
Under the effect of above error, to the capture of target sometimes for continuing for quite a long time, and can not then lead to sometimes
Cross capture of the outer guiding data realization to target.The main cause for producing above phenomenon is the randomness of error, sensor noise
Coupled characteristic between characteristic distributions and error.When running into target and not capturing phenomenon, manipulator typically has two ways to enter
Row treatment, one kind is, using outer guiding data closed loop, to wait target to enter visual field；A kind of is by the way of capture manually, to search
Rope target.But because the position of the target within the time period of target acquistion is also in change, whether manipulator very contradiction can stop
Outer guiding is captured and is transferred to capture target manually.If selecting manual acquisition procedure, target maneuver operation may be such that
Capture cannot succeed；If selection is waited, again the time of uncontrollable target acquistion.How the operation of manipulator is utilized, together
When make full use of outer guiding data again, and the capture time of target can be shortened, be that photoelectric tracking measuring equipment is especially transported
The emphasis of optoelectronic device design under moving platform.
The content of the invention
Present invention solves the technical problem that being：In the presence of various errors, regarded when target can not be directed into
During field, closed loop is carried out using outer guiding data, while make full use of manipulator to modify the loop of closed loop, reduction target
Capture time --- accelerate the process to target acquistion.The method that the present invention uses dynamic scan, the guiding numerical value to target enters
Row extension, realizes capturing target in the case where there is manipulator to participate in.
The technical solution adopted by the present invention is：A kind of target acquistion method based on dynamic scan mode, realizes step such as
Under：
Step (1) assessment, the error characteristics for setting up photoelectric tracking measuring equipment, that is, set up the visual field size of photodetector
With error features of the target in photoelectric tracking measuring equipment coordinate system；
Step (2) determines scanning function：According to step (1) feature, scope, speed and the tool of scanning function scanning are set up
Body algorithm, scanning function design when it is noted that item be：1) error characteristics of target acquistion determine sweep limits and scanning shape
Formula；2) detector field of view coverage determines the speed of scanning；
Step (3) determines to use strategy：When judgement determination of the Main Basiss manipulator to target acquistion process, start and sweep
Process is retouched, when stops scanning process, when keep scanning deviation constant, when removed scanning deviation and restart scanning；
The operating habit of step (4) foundation manipulator, to carrying out curing operation, the i.e. difference of design operation hand using strategy
The corresponding corresponding strategy of mode of operation；
Step (5) judges whether guiding target succeeds in bootup process by manipulator, under the conditions of unsuccessful, according to
According to guiding data and scanning function, start scanning strategy carries out News Search within the specific limits to target；It is successful in search
In the case of, determined to stop scanning by manipulator, while keeping departure, wait other tracking modes to be converted.If necessary to again
During capture target, departure is removed in selection, restarts dynamic scan search target.
Wherein, in (1st) step and (2nd) step, using target and the error features of photoelectric tracking measuring equipment, if
Count, set up scanning function.
Wherein, the principle of scanning function design is in (2nd) step：For detector, the smaller scanning of detector field of view
Speed is smaller, and sweep limits is bigger；For vectoring error, which error is bigger, and sweep limits should also be as bigger accordingly.
Wherein, in (3rd) step, according to the demand of photoelectric measurement equipment, the strategy to be used in design equipment.
Wherein, in (4th) step, according to the demand of manipulator, the mode of operation of manual intervention is designed, and by operation side
Formula and use strategy are combined.
Wherein, in (5th) step, during whole target acquistion so that servo-drive system is in closed loop states all the time,
Equipment points to outer region where guiding data all the time, and manipulator is manually done by using strategy to target acquistion process
In advance.
The present invention compared with prior art main advantage is that：
1) present invention can carry out servo closed loop using outer guiding data so that photoelectric tracking measuring equipment is constantly in finger
In the middle of the synchronous axial system of target location.Dynamic scan process is added on the basis of data are guided, light can be fully compensate for
The small problem for being difficult to capture brought in electric explorer visual field, is conducive to improving target acquisition probability in the short time.
2) when target is in the middle of photodetector visual field, manipulator stops scanning process but retains deviation plan the present invention
Slightly, can be that manipulator confirms whether the target for entering detector field of view is correct the reserved more time, and can conveniently grasp simultaneously
Make hand conversion tracking mode.Above operating process simultaneously, can realize that shorten people performs step in loop by corresponding strategy
Suddenly.
Brief description of the drawings
Fig. 1 is dynamic scan to target acquistion design process；
Fig. 2 is helical scanning overlay area；
Fig. 3 is orientation zigzag scanning overlay area；
Fig. 4 is mixed sweep overlay area；
Fig. 5 is the curve and theoretical outer guiding data curve comparison schematic diagram of dynamic scan process.
Specific embodiment
The following is specific implementation method of the invention.But following embodiment is only limitted to explain the present invention, guarantor of the invention
Shield scope should include the full content of claim, and person skilled in art can be realized by following examples
The full content of the claims in the present invention.
Target position data is mainly converted to photoelectricity and set by photoelectric tracking measuring equipment to the process of the outer guiding of target
Data under standby coordinate system, are orientation and pitching numerical value (At,Et), wherein t represents the time.
When the outer guiding data of selection carry out closed loop capture target, i.e. the data (A, E) of the closed loop that servo is selected are：
A=At (1)
E=Et (2)
When that can not capture target, it is necessary to start scanning function, the process of startup is to set the data (A, E) of closed loop
For：
A=fA(t)+At (3)
E=fE(t)+Et (4)
Wherein scanning strategy mainly has, and when assessment obtains error fix and the suitable pitching of target, what can be set up sweeps
Retouching function mainly has helical scanning：
fA(t)=ρ × t × cos (θ × t) (5)
fE(t)=ρ × t × sin (θ × t) (6)
ρ is the radius changing rate of helix, and t is the time, and θ is the angular speed of helical scanning.When scanning is more than setting model
When enclosing, reverse scanning again.Simultaneously in the case of uncertain goal directed error range, it is possible to use manipulator's manual control
The radius changing rate of helix, to increase or reduce hunting zone.Sweep center point is illustrated in figure 2 in (A：40 °, E：30°)
The scanning situation in region.
When assessment obtains error fix, the pitching phase difference of target, the scanning function that can be set up mainly has zigzag scanning
Method：
In above formula in (7) and (8), k1And k2It is sweep limits, the L tabular form times, current time t divided exactly scan period T,
Represent current time t to the complementation of scan period T.Scan position central point is illustrated in figure 3 at A=40 °, sweep limits is positive and negative
Sweep limits in the range of 5 °：
Different error conditions is directed to simultaneously, also can be using the method for mixed sweep, i.e., the scanning letter in orientation and pitching
Number is different, and such as orientation uses zigzag scanning, the method that pitching uses sine sweep：
fE(t)=ρ × sin (θ × t) (10)
It is the scope of scanning in formula (9) and (10), ρ is sinusoidal guiding amplitude, and t is the time, and θ is the angle of helical scanning
Speed.Sweep center point is illustrated in figure 4 in (A：0 °, E：0 °) the scanning situation in region.
As shown in figure 5, the curve of dynamic scan process and theoretical outer guiding data curve comparison schematic diagram.Scanning is using just
The mode of string scanning, positive and negative 1 ° of sweep limits.
When in scanning process, target enters when in visual field, manipulator can be scanned by stopping, but to keep target regarding
Stopped in, now the data (A, E) of servo closed loop are set to：
A=△ A+At (11)
E=△ E+Et (12)
In formula (11) and (12), △ A and △ E are to stop the scanning moment, and the orientation and pitching that scanning function is calculated are inclined
Residual quantity.Although consistent for every error all changing, due to the continuous feature of real-world objects, missed in the short time
The departure that difference is caused will not be varied widely, and this is also just for manipulator confirms target while when conversion tracking mode is provided
Between.
Claims (6)
1. a kind of target acquistion method based on dynamic scan mode, it is characterised in that realize that step is as follows：
Step (1), the error characteristics assessed, set up target and photoelectric tracking measuring equipment, that is, set up the visual field of photodetector
The error characteristics of size and target in photoelectric tracking measuring equipment coordinate system；
Step (2), determine scanning function：According to step (1) characteristic, the scope of scanning function scanning, speed and specific are set up
Algorithm, scanning function design when it is noted that item be：1) error characteristics of target determine sweep limits and scanning form；2) visit
Survey the speed that device field coverage determines scanning；
Step (3), determination use strategy：Judgement according to manipulator to target acquistion process determines：When scanning process is started,
When stop scanning process, when keep scanning deviation constant, when remove scanning deviation and restart scanning；
Step (4), the operating habit according to manipulator, the different behaviour to carrying out curing operation, i.e. design operation hand using strategy
Make the corresponding strategy of mode；
Step (5), in bootup process, judge whether guiding target succeeds by manipulator, under the conditions of unsuccessful, according to drawing
Derivative evidence and scanning function, start scanning strategy carries out News Search within the specific limits to target；Searching for successful situation
Under, determined to stop scanning by manipulator, while keeping departure, wait other tracking modes to be converted；If necessary to capture again
During target, departure is removed in selection, restarts dynamic scan search target.
2. a kind of target acquistion method based on dynamic scan mode according to claim 1, it is characterised in that：Described
(1) in step and (2nd) step, using target and the error characteristics of photoelectric tracking measuring equipment, design, set up scanning function.
3. a kind of target acquistion method based on dynamic scan mode according to claim 1, it is characterised in that：(2nd)
The principle of scanning function design is in step：For detector, the smaller sweep speed of detector field of view is smaller, and sweep limits is got over
Greatly；For error characteristics, which error is bigger, and sweep limits should also be as bigger accordingly.
4. a kind of target acquistion method based on dynamic scan mode according to claim 1, it is characterised in that：Described
(3) in step, according to the demand of photoelectric tracking measuring equipment, the strategy to be used in design equipment.
5. a kind of target acquistion method based on dynamic scan mode according to claim 1, it is characterised in that：Described
(4) in step, according to the demand of manipulator, the mode of operation of manual intervention is designed, and combine by mode of operation and using strategy.
6. a kind of target acquistion method based on dynamic scan mode according to claim 1, it is characterised in that：Described
(5) in step, during whole target acquistion so that servo-drive system is in closed loop states all the time, equipment points to outer guiding all the time
Region where data, manipulator carries out manual intervention by using strategy to target acquistion process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510074164.3A CN104793631B (en) | 2015-02-12 | 2015-02-12 | A kind of target acquistion method based on dynamic scan mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510074164.3A CN104793631B (en) | 2015-02-12 | 2015-02-12 | A kind of target acquistion method based on dynamic scan mode |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104793631A CN104793631A (en) | 2015-07-22 |
| CN104793631B true CN104793631B (en) | 2017-06-27 |
Family
ID=53558515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510074164.3A Active CN104793631B (en) | 2015-02-12 | 2015-02-12 | A kind of target acquistion method based on dynamic scan mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104793631B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111024121B (en) * | 2019-12-13 | 2023-03-31 | 中国科学院光电技术研究所 | System and method for autonomous precision identification of photoelectric equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5389967A (en) * | 1991-09-13 | 1995-02-14 | Samsung Electronics Co., Ltd. | Object tracking apparatus and method of camcorder |
| GB1605413A (en) * | 1971-12-18 | 1997-07-16 | Elliott Bros | Improvements in or relating to tracking systems |
| CN101207440A (en) * | 2007-12-19 | 2008-06-25 | 哈尔滨工业大学 | Capture performance test method of space optical communication system |
| CN102323593A (en) * | 2011-08-24 | 2012-01-18 | 北京国科环宇空间技术有限公司 | Two-dimensional dynamic target capturing system |
| CN103090883A (en) * | 2013-01-15 | 2013-05-08 | 中国电子科技集团公司第二十七研究所 | Device and method for calibrating dynamic tracking precision of photoelectric tracking system |
| CN103439977A (en) * | 2013-08-23 | 2013-12-11 | 西安应用光学研究所 | High-speed target tracking control method applied to photoelectric tracker |
| CN104034511A (en) * | 2014-06-12 | 2014-09-10 | 中国科学院上海技术物理研究所 | Detecting method for photoelectric tracking performance |
-
2015
- 2015-02-12 CN CN201510074164.3A patent/CN104793631B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1605413A (en) * | 1971-12-18 | 1997-07-16 | Elliott Bros | Improvements in or relating to tracking systems |
| US5389967A (en) * | 1991-09-13 | 1995-02-14 | Samsung Electronics Co., Ltd. | Object tracking apparatus and method of camcorder |
| CN101207440A (en) * | 2007-12-19 | 2008-06-25 | 哈尔滨工业大学 | Capture performance test method of space optical communication system |
| CN102323593A (en) * | 2011-08-24 | 2012-01-18 | 北京国科环宇空间技术有限公司 | Two-dimensional dynamic target capturing system |
| CN103090883A (en) * | 2013-01-15 | 2013-05-08 | 中国电子科技集团公司第二十七研究所 | Device and method for calibrating dynamic tracking precision of photoelectric tracking system |
| CN103439977A (en) * | 2013-08-23 | 2013-12-11 | 西安应用光学研究所 | High-speed target tracking control method applied to photoelectric tracker |
| CN104034511A (en) * | 2014-06-12 | 2014-09-10 | 中国科学院上海技术物理研究所 | Detecting method for photoelectric tracking performance |
Non-Patent Citations (6)
| Title |
|---|
| 具有目的域的光电稳定跟踪系统满意控制策略;陈益;《中国博士学位论文全文数据库信息科技辑（月刊）》;20120115(第01期);I136-99 * |
| 卫星光通信数据处理单元设计及扫描捕获方法研究;王祗文;《中国优秀硕士学位论文全文数据库信息科技辑（月刊）》;20111215(第S2期);I136-1096 * |
| 卫星光通信终端跟瞄控制方法研究;贾琪;《中国优秀硕士学位论文全文数据库信息科技辑（月刊）》;20110515(第05期);I136-340 * |
| 地基光测设备误差修正;王晓东;《中国博士学位论文全文数据库工程科技Ⅱ辑（月刊）》;20090415(第04期);C031-7 * |
| 机载光电跟踪测量的目标定位误差分析和研究;金光;《中国优秀博硕士学位论文全文数据库 (博士)工程科技Ⅱ辑（半年刊）》;20020615(第01期);C031-7 * |
| 自由空间激光通信系统高概率、快速捕获技术研究;赵玉鹏;《中国优秀硕士学位论文全文数据库信息科技辑（月刊）》;20080215(第02期);I136-93 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104793631A (en) | 2015-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106182004A (en) | The method of the industrial robot automatic pin hole assembling that view-based access control model guides | |
| CN103487058B (en) | A kind of method improving APS star sensor dynamic property | |
| CN104482934B (en) | The super close distance autonomous navigation device of a kind of Multi-sensor Fusion and method | |
| Wang et al. | Lightweight 3-D localization and mapping for solid-state LiDAR | |
| CN107991680B (en) | SLAM method under dynamic environment based on laser radar | |
| CN109696663A (en) | A kind of vehicle-mounted three-dimensional laser radar scaling method and system | |
| CN104501740A (en) | Handheld laser three-dimension scanning method and handheld laser three-dimension scanning equipment based on mark point trajectory tracking | |
| CN101097599B (en) | Biometrics device | |
| CN109946564B (en) | Distribution network overhead line inspection data acquisition method and inspection system | |
| CN109976339B (en) | Vehicle-mounted distribution network inspection data acquisition method and inspection system | |
| CN109375211B (en) | Radar and multi-optical equipment-based mobile unmanned platform target searching method | |
| CN103453889A (en) | Calibrating and aligning method of CCD (Charge-coupled Device) camera | |
| CN103586870B (en) | Steam generator climbing robot | |
| CN102902975B (en) | Sun positioning method based on complementary metal-oxide-semiconductor transistor (CMOS) navigation camera | |
| CN106092059A (en) | A kind of works Horizontal Displacement Monitoring Method based on multi-point fitting | |
| CN113507579B (en) | Inter-satellite laser link capturing method and system for space gravitational wave detection | |
| CN104215968B (en) | A kind of computational methods of blocking time window of cloud layer to quick optical satellite | |
| CN104793631B (en) | A kind of target acquistion method based on dynamic scan mode | |
| CN104199118B (en) | Search and the Photodetection system of tracking one | |
| CN104133993A (en) | Narrow-view-field star matching method based on error vector matching | |
| Li et al. | UAV high-voltage power transmission line autonomous correction inspection system based on object detection | |
| CN105606089B (en) | Based on the polarotactic navigation sensor and working method for improving imitative husky ant POL neuron | |
| CN201952525U (en) | Control system for monocrystalline silicon diameter measurement | |
| CN103791901B (en) | A kind of star sensor data processes system | |
| CN105806331A (en) | Positioning method for indoor robot and indoor robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |