CN109708667B - Double-dynamic target tracking and guiding method based on laser gyro - Google Patents
Double-dynamic target tracking and guiding method based on laser gyro Download PDFInfo
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Abstract
The invention discloses a double-dynamic target tracking and guiding method based on a laser gyro, which comprises the following steps of 1: real-time acquisition of GPS coordinates T of target under dynamic platformGReal-time GPS coordinates A of the tracking systemGReal-time attitude (α, β, γ) of the platform, initial attitude (α)0,β0,γ0) (ii) a Step 2: converting the ground-fixed coordinates of the target into the coordinates of a moving platform of the target, and 3: converting a calibration horizon and a tracking system axis, determining a conversion relation between the tracking system axis and a horizon in which the tracking system is located, and acquiring a conversion angle from the horizon to the tracking system axis; and 4, step 4: the inertial laser gyro is fixedly installed at any position of a platform, a tracking system is installed on the platform, the zero point of an encoder of the inertial laser gyro is not adjusted after the installation is finished, only one-time calibration is completed, and in subsequent dynamic platform application, if the relative installation position is not changed any more, the inertial laser gyro can be directly applied, and a dual-dynamic target tracking and guiding algorithm is researched aiming at the requirement of the dynamic platform for tracking and guiding a moving target.
Description
Technical Field
The invention relates to the technical field of target tracking, in particular to a double-dynamic target tracking guiding method based on a laser gyro.
Background
The target tracking guide refers to a process of guiding an aerial dynamic flying target to a visual field of the photoelectric tracking system. The capture, tracking and aiming of the photoelectric target are all carried out on the premise that the target is guided into a tracking visual field. Double-dynamic means that in addition to the target keeping dynamic flight, the position and attitude of the platform where the tracking system is located also dynamically change in real time. In order to realize real-time guidance of the target under such a condition, in addition to real-time determination of the position of the target in the air, real-time grasp of the position and posture change condition of the tracking system platform is required. The dynamic target tracking guidance of the tracking system on the static platform is verified experimentally, while the situation that the tracking system is on the dynamic platform is not studied deeply, and a determined operable theoretical architecture model is not formed.
Disclosure of Invention
The invention aims to provide a double-dynamic target tracking and guiding method based on a laser gyro, which is used for solving the problems that in the prior art, the situation that a tracking system is positioned on a dynamic platform is not deeply researched, and a determined operable theoretical architecture model is not formed.
The invention solves the problems through the following technical scheme:
a double-dynamic target tracking and guiding method based on a laser gyro comprises the following steps:
step 1: real-time acquisition of GPS coordinates T of target under dynamic platformGReal-time GPS coordinates A of the tracking systemGReal-time attitude (α, β, γ) of the platform, initial attitude (α)0,β0,γ0) Wherein alpha represents a course angle, beta represents a pitch angle, and gamma represents a roll angle;
step 2: converting the ground-fixed coordinate of the target obtained in the step 1 into a motion platform coordinate of the target, wherein in the conversion process, firstly, the ground-fixed rectangular coordinate of a GPS coordinate calculator of the motion platform, the quasi-ground-fixed coordinate relative to the motion platform according to the ground-fixed coordinate and the ground-fixed coordinate of the motion platform, the horizon coordinate of the target at the motion platform according to the quasi-ground-fixed coordinate of the target relative to the motion platform and the GPS coordinate of the motion platform, the rectangular coordinate of the target in the motion platform according to the horizon coordinate of the target at the motion platform and the posture of the motion platform, and finally the spherical coordinate of the target in the motion platform according to the rectangular coordinate of the target in the motion platform are calculated;
and step 3: converting a calibration horizon and a tracking system axis, determining a conversion relation between the tracking system axis and a horizon in which the tracking system is located, and acquiring a conversion angle from the horizon to the tracking system axis;
and 4, step 4: the inertial laser gyro is fixedly installed at any position of a platform, a tracking system is installed on the platform, the zero point of an encoder of the inertial laser gyro is not adjusted after the installation is finished, only one-time calibration is needed to be completed, and the inertial laser gyro can be directly applied in subsequent dynamic platform application if the relative installation position does not change any more.
The method provided by the invention researches a dual-dynamic target tracking and guiding algorithm aiming at the requirement of tracking and guiding the dynamic target on a dynamic platform. And performing theoretical modeling and theoretical error analysis on the algorithm, and providing a guide model for measuring the attitude based on the laser gyro. On the basis, aiming at the characteristic that the zero position of the shafting of the tracking system has rigidity change along with the platform after the tracking system is installed, a shafting calibration model of the tracking system for fixed star observation is provided. In order to verify the effectiveness and the practicability of the algorithm, a dual-dynamic target tracking and guiding test is carried out, a dynamic target is successfully introduced into a tracking view field of a tracking system, a guiding task of the target is completed, the platform can be kept static, a bright star at a known position in the air is selected at clear night, the closed-loop tracking state of the tracking system on the bright star target is kept, and the problems that in the prior art, the condition that the tracking system is located on the dynamic platform is not deeply researched, and a determined operable theoretical framework model is not formed are well solved.
Preferably, the heading angle in the step 1 is positive from positive north clockwise, the range is 0 to 360 degrees, the pitch angle is positive from the horizontal plane upwards, the range is-90 degrees to 90 degrees, the roll angle is positive from-180 degrees to 180 degrees along the positive left side of the y axis, and the heading angle is the angle of clockwise rotation of the x-y plane of the gyroscope around the z axis in the gyroscope; the pitch angle is the angle of counterclockwise rotation of the y-z plane of the gyroscope around the x axis in the gyroscope; the roll angle is the angle in the gyroscope at which the x-z plane of the gyroscope rotates counterclockwise about the y-axis.
Preferably, the GPS coordinate of the GPS moving platform in step 2 is C (λ, Φ, H), according to the formula:
the earth-solid rectangular coordinate C can be calculatedg(xcg,ycg,zcg) Wherein:
rE6378km for the average equatorial radius of the earth, and f 1/298.26 for the standard oblateness of the earth.
Preferably, the ground-fixed coordinate of the target in step 2 is Sg(xsg,ysg,zsg) The ground fixed coordinate of the motion platform is Cg(xcg,ycg,zcg) According to the formula:
the quasi-terrestrial fixed coordinate S of the target relative to the motion platform can be calculatedcg(xscg,yscg,zscg) And translating the ground-fixed coordinate system to the motion platform to obtain the quasi-ground-fixed coordinate system of the motion platform.
Preferably, according to the formula:
the object can be calculated to obtain the horizon coordinate S of the object at the moving platformcp(xscp,yscp,zscp) Rotating the quasi-terrestrial coordinate system at the position of the motion platform around a z axis by lambda, then rotating the quasi-terrestrial coordinate system around a y axis by 90 degrees-phi, and finally rotating the quasi-terrestrial coordinate system around the z axis by 90 degrees to obtain the terrestrial coordinate system at the position of the motion platform.
Preferably, rectangular coordinates S in the motion platform are usedc(xsc,ysc,zsc) According to the formula:
the spherical coordinate S of the target in the motion platform can be calculatedc(Asc,Esc,Rsc)。
Preferably, after the laser gyroscope and the tracking system are installed in step 4, if the return value of the tracking system to the encoder of the target tracking closed loop is Satp(Aatp,Eatp,Ratp) Then the following relationship exists:
wherein, R is a conversion matrix from a horizon system to a tracking system axis system, namely R is R1·R2Wherein R is1A conversion matrix from a gyro axis to a tracking system axis is a conversion relation needing calibration, R2Is a conversion matrix from the horizon system to the gyro axis system.
Preferably, the conversion relationship between the gyro axis and the horizon at this time can be characterized according to the three attitude angles (α, β, γ) of the gyro output, that is:
R1＝Ry(γ0)Rx(β0)Rz(-α0) Is a 3 x 3 matrix, and R is calculated1At least more than three different directions are needed to construct a full-rank reversible matrix, namely, the formula can be transformed to obtain Satp＝R1·R2·SdpWherein S isatpIs a 3 x 3 matrix constructed by encoder return values observed by a tracking system on three different position targets respectively, and also SdpIs a 3 x 3 matrix constructed by the observation azimuth and the elevation of the three targets under the horizon system, and can be transformed into
The method is characterized in that the platform is kept still, and the bright star at the known position in the air can be selected at the sunny night to keep the closed-loop tracking state of the tracking system on the bright star target.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention researches a dual-dynamic target tracking and guiding algorithm aiming at the requirement of tracking and guiding a dynamic target on a dynamic platform. And performing theoretical modeling and error analysis on the algorithm, and providing a guide model based on the laser gyro attitude measurement. On the basis, aiming at the characteristic that the zero position of the shafting of the tracking system has rigidity change along with the platform after the tracking system is installed, a shafting calibration model of the tracking system for fixed star observation is provided. In order to verify the effectiveness and the practicability of the algorithm, a dual-dynamic target tracking and guiding test is developed, a dynamic target is successfully introduced into a tracking view field of a tracking system, a guiding task of the target is completed, and the problems that in the prior art, deep research on the condition that the tracking system is on a dynamic platform is not carried out, and a determined operable theoretical framework model is not formed are well solved.
(2) The device can be directly applied in subsequent dynamic platform application if the relative installation position is not changed any more after one-time installation. Keeping the platform static, selecting the bright star at the known position in the air at the sunny night, and keeping the closed-loop tracking state of the tracking system on the bright star target.
Drawings
FIG. 1 is a schematic diagram of a guiding error curve of a dynamic sports car test in an embodiment;
FIG. 2 is a graph of pilot data error under a combination of factors in an embodiment of the present invention;
FIG. 3 is a graph illustrating a target guiding error curve in continuous time according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
with reference to the attached drawings, a double-dynamic target tracking and guiding method based on a laser gyro comprises the following steps:
step 1: real-time acquisition of GPS coordinates T of target under dynamic platformGReal-time GPS coordinates A of the tracking systemGReal-time attitude (α, β, γ) of the platform, initial attitude (α)0,β0,γ0) Wherein alpha represents a course angle, beta represents a pitch angle, and gamma represents a roll angle;
step 2: converting the ground-fixed coordinate of the target obtained in the step 1 into a motion platform coordinate of the target, wherein in the conversion process, firstly, the ground-fixed rectangular coordinate of a GPS coordinate calculator of the motion platform, the quasi-ground-fixed coordinate relative to the motion platform according to the ground-fixed coordinate and the ground-fixed coordinate of the motion platform, the horizon coordinate of the target at the motion platform according to the quasi-ground-fixed coordinate of the target relative to the motion platform and the GPS coordinate of the motion platform, the rectangular coordinate of the target in the motion platform according to the horizon coordinate of the target at the motion platform and the posture of the motion platform, and finally the spherical coordinate of the target in the motion platform according to the rectangular coordinate of the target in the motion platform are calculated;
and step 3: converting a calibration horizon and a tracking system axis, determining a conversion relation between the tracking system axis and a horizon in which the tracking system is located, and acquiring a conversion angle from the horizon to the tracking system axis;
and 4, step 4: the inertial laser gyro is fixedly installed at any position of a platform, a tracking system is installed on the platform, the zero point of an encoder of the inertial laser gyro is not adjusted after the installation is finished, only one-time calibration is needed to be completed, and the inertial laser gyro can be directly applied in subsequent dynamic platform application if the relative installation position does not change any more.
The course angle in the step 1 is positive from positive north clockwise, the range is 0-360 degrees, the pitch angle is positive from the horizontal plane upwards, the range is-90 degrees, the height of the roll angle along the positive left side of the y axis is positive-180 degrees, and the course angle is the angle of clockwise rotation of the x-y plane of the gyroscope around the z axis in the gyroscope; the pitch angle is the angle of counterclockwise rotation of the y-z plane of the gyroscope around the x axis in the gyroscope; the roll angle is the angle in the gyroscope at which the x-z plane of the gyroscope rotates counterclockwise about the y-axis.
In step 2, the GPS coordinate of the GPS motion platform is C (lambda, phi, H), and according to the formula:
the earth-solid rectangular coordinate C can be calculatedg(xcg,ycg,zcg) Wherein:
rE6378km for the average equatorial radius of the earth, and f 1/298.26 for the standard oblateness of the earth.
The ground-fixed coordinate of the target is Sg(xsg,ysg,zsg) The ground fixed coordinate of the motion platform is Cg(xcg,ycg,zcg) According to the formula:
the quasi-terrestrial fixed coordinate S of the target relative to the motion platform can be calculatedcg(xscg,yscg,zscg) Namely, the earth-fixed coordinate system is translated to the moving platform to obtain the similar earth-fixed coordinate system of the moving platform.
Then according to the formula:
the object can be calculated to obtain the horizon coordinate S of the object at the moving platformcp(xscp,yscp,zscp) Rotating the quasi-terrestrial coordinate system at the position of the motion platform around a z axis by lambda, then rotating the quasi-terrestrial coordinate system around a y axis by 90 degrees-phi, and finally rotating the quasi-terrestrial coordinate system around the z axis by 90 degrees to obtain the terrestrial coordinate system at the position of the motion platform.
Using rectangular coordinates S in the motion platformc(xsc,ysc,zsc) According to the formula:
the spherical coordinate S of the target in the motion platform can be calculatedc(Asc,Esc,Rsc)。
And 4, after the laser gyroscope and the tracking system are installed, if the return value of the tracking system to the encoder of the target tracking closed loop is Satp(Aatp,Eatp,Ratp) Then the following relationship exists:
wherein, R is a conversion matrix from a horizon system to a tracking system axis system, namely R is R1·R2Wherein R is1A conversion matrix from a gyro axis to a tracking system axis is a conversion relation needing calibration, R2Is a conversion matrix from the horizon system to the gyro axis system. According to the three attitude angles (alpha, beta, gamma) output by the gyroscope, the conversion relation between the gyro axis system and the horizon system can be represented, and then the following can be obtained through conversion:
R1＝Ry(γ0)Rx(β0)Rz(-α0) Is a 3 x 3 matrix, and R is calculated1At least more than three different directions are needed to construct a full-rank reversible matrix, namely, the formula can be transformed to obtain Satp＝R1·R2·SdpWherein S isatpIs a 3 x 3 matrix constructed by encoder return values observed by a tracking system on three different position targets respectively, and the same waySdpIs a 3 x 3 matrix constructed by the observation azimuth and the elevation of the three targets under the horizon system, and can be transformed into
The method is characterized in that the platform is kept still, and the bright star at the known position in the air can be selected at the sunny night to keep the closed-loop tracking state of the tracking system on the bright star target.
If at a certain moment, the tracking system returns the encoder return value of the bright star and the horizon observation angle of the station site O point to the target, and the data of the encoder return value and the horizon observation value of the bright star are shown in the following table:
in the calibration period, the attitude output by the inertial navigation gyroscope and the GPS position of the station address O point, the inertial navigation output attitude angle and the station address position data are shown as the following table:
| inertial navigation attitude | Orientation 271.7 ° | Pitch-0.138 degree | Roll-0.508 degree |
| Position of site O point | Longitude L | Latitude B | Altitude h |
Inputting the values in the two tables into formula
In (3), a matrix R can be obtained1Further calculating the conversion angle (alpha) from the gyro axis to the tracking system axis0,β0,γ0) Comprises the following steps: (187.6842 °, 0.2683 °, 0.2401 °), calibration is complete.
In the guiding process, there are several factors that can cause guiding errors, mainly: (1) calibrating errors of a gyro reference axis and a tracking system reference axis, namely attitude measurement errors; (2) a platform GPS position error measured by a gyroscope; (3) GPS position error on the target.
These three main error factors are generally considered to be of the order: (1) each attitude angle has an error of 0.2 degrees between the gyro reference axis and the tracking system reference axis; (2) a position error of 15m exists in a gyro-measured platform GPS; (3) there is a 15m position error for GPS on the target. The error of the pilot data (A, E, R) is given below for the error levels of these three factors, respectively, and the final synthetic pilot error case is derived. According to the resolving model, the target guide data is the ground-fixed coordinate S of the targetg(xsg,ysg,zsg) (convertible from GPS coordinates), GPS coordinates C (λ, Φ, H) of the moving platform, and attitude (α, β, γ):
Asc＝fA(xsg,ysg,zsg,λ,φ,H,α,β,γ)
Esc＝fE(xsg,ysg,zsg,λ,φ,H,α,β,γ)
Rsc＝fR(xsg,ysg,zsg,λ,φ,H,α,β,γ)
in order to study the influence of errors of the target and platform related parameters on the accuracy of the guidance data, the root mean square error of the target guidance data under the condition that the parameters have errors is calculated in a simulation mode, namely:
wherein, X0，XiThe number of repetitions N used for the statistical averaging is 102, which indicates the exact value of the guidance data and the guidance data in the case where there is a parameter error.
The geodetic coordinates of the position of the tracking system platform are arbitrarily set to (120 °, 36 °, 0.01), i.e., 120 ° east longitude, 36 ° north latitude, 0.01km, calculated as the geodetic coordinates (-2580.1, 4468.9, 3724.0), the attitude of the platform is (90 °, 0 °, 0 °,) i.e., the heading 90 °, the pitch and roll are 0 °, the skew distance of the platform from the target is 2km, and if the target flight height is 1.73km, the elevation angle is E + 60 °, the position geodetic coordinates of the target may be set to (-2580.1+2 cos (E), (sin a), 4468.9+2 cos (E)) and cos (a), 3724.0+2 sin (E)), where a represents the azimuth angle of the tracking system and E represents the pitch angle, where a is 90 and E is 60, for error analysis.
In the case where the target position error, the platform position error, and the platform attitude measurement error are present, it is necessary to analyze at what level the error of the guidance data is in the most likely case. And (3) synthesizing the analysis result of the single factor, taking the measurement error of dx existing in the x direction of the ground-fixed coordinate of the target position as a variable, wherein dx is in the range of 0.1-100 m, and other factors are respectively set as fixed quantities: the platform longitude measurement has 2.2 × 10-4 degree error (20m position error), and the heading angle, pitch angle and roll angle in the platform attitude angle have 0.1 degree error respectively, so as to obtain the guiding azimuth angle error, pitch angle error and synthetic error, as shown in fig. 2, it can be seen that in the guiding data, under the condition of 20m target position error, the azimuth angle error is 0.70 degrees, the pitch angle error is 0.36 degrees, and the synthetic error is 0.79 degrees.
The analysis of the test results is as follows:
for guiding precision analysis, according to the stored guiding data and tracking state data returned by the tracking system under the target closed loop tracking state, namely tracking system code values, the guiding data and the tracking system code values are synchronized in time, and the guiding value and the tracking system code value at the same moment are subtracted to obtain the actual guiding precision. The experimental content was divided into 3 steps: static target guidance, dynamic automobile guidance, and dynamic unmanned aerial vehicle guidance.
Static calibration test
The method comprises the following steps of lighting a target point, placing a GPS beside the lamp, transmitting the GPS to a comprehensive control computer through wireless data, simultaneously transmitting pose data of a vibration reduction platform acquired by laser inertial navigation measurement to the comprehensive control computer, resolving guide data by comprehensive control software, transmitting the guide data to a tracking system, capturing a point target of the target point by the tracking system, simultaneously recording tracking state data and the guide data of the tracking system by the comprehensive control software after the tracking system is closed, comparing the tracking state data and the guide data to obtain static guide accuracy, wherein the result is shown in the following table:
because of installation reasons, the target has a larger distance from the GPS antenna, so that the guiding error of the static target is larger, but the data in the table can still be controlled within 2 degrees.
Dynamic vehicle guidance
A dynamic roadster test is carried out at a point 1#, a GPS is placed on the car roof, the car runs back and forth, and the comprehensive control software calculates the guide data in real time. The tracking system is closed to the locomotive, and the comprehensive control software records the encoder data of the tracking system. The data of 20s are taken, and the two are subtracted to obtain the guiding error data. The error of the azimuth angle is about 0.15 degrees, and the error of the pitch angle is about-0.5 degrees. The test preliminarily verifies the accuracy of dynamic target guidance, and the result is shown in fig. 1, which shows that the guidance has the condition for developing the dynamic guidance of the unmanned aerial vehicle.
Dynamic unmanned aerial vehicle guidance
A tracking test of the tracking system on the unmanned aerial vehicle is developed on a dynamic platform, and the task of introducing a target into a coarse television view field of the tracking system is well completed by the guidance. As the updating period of longitude, latitude and altitude in the unmanned aerial vehicle position data is not fixed, the method of introducing the moment of locally receiving data as the calculation input condition is adopted, and the problem of severe fluctuation in the guiding process is successfully eliminated. In the test process, the maximum moving speed of the platform is 36km/h, the self attitude of the platform is changed while the platform moves, and the position change and the attitude change range of the dynamic platform are shown in the following table.
Under the above-mentioned movable platform, after tracking system closed loop to unmanned aerial vehicle, the guide data value that the encoder reading of simultaneous record tracking system feedback and sent to tracking system, the root mean square value of the difference between the two is as the guide precision value.
In a typical continuous 20s period, the guiding error curve of the unmanned aerial vehicle is shown in fig. 3, and from the test process, when the tracking system loses the target due to environmental occlusion, the guiding module can rapidly guide the target to the coarse television field of view of the tracking system.
Although the present invention has been described herein with reference to the illustrated embodiments thereof, which are intended to be preferred embodiments of the present invention, it is to be understood that the invention is not limited thereto, and that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure.
Claims (4)
1. A double-dynamic target tracking and guiding method based on a laser gyro is characterized by comprising the following steps:
step 1: real-time acquisition of GPS coordinates T of dynamic targetsGReal-time GPS coordinates A of the tracking systemGReal-time attitude (α, β, γ) of the tracking system platform, initial attitude (α)0,β0,γ0) Wherein alpha represents a course angle, beta represents a pitch angle, and gamma represents a roll angle;
step 2: converting the ground-fixed coordinates of the target obtained in the step 1 into coordinates of the target under a tracking system platform, wherein in the conversion process, the ground-fixed rectangular coordinates are calculated according to the GPS coordinates of the motion platform, the quasi-ground-fixed coordinates of the target relative to the motion platform are calculated according to the ground-fixed coordinates of the target and the ground-fixed coordinates of the motion platform, the ground-fixed coordinates of the target at the motion platform are calculated according to the quasi-ground-fixed coordinates of the target relative to the motion platform and the GPS coordinates of the motion platform, the rectangular coordinates of the target in the motion platform are calculated according to the ground-fixed coordinates of the target at the motion platform and the posture of the motion platform, and the spherical coordinates of the target in the motion platform are calculated according to the rectangular coordinates;
and step 3: converting a calibration horizon and a tracking system axis, determining a conversion relation between the tracking system axis and a horizon in which the tracking system is located, and acquiring a conversion angle from the horizon to the tracking system axis;
and 4, step 4: the inertial laser gyro is fixedly arranged at any position of the motion platform, the tracking system is arranged on the tracking system platform, and the zero point of the encoder of the inertial laser gyro is not adjusted after the zero point of the encoder is arranged;
in step 2, the GPS coordinate of the GPS motion platform is C (lambda, phi, H), and according to the formula:
wherein:
calculating to obtain the ground fixed coordinate C of the motion platformg(xcg,ycg,zcg) In the formula rE6378km for average equatorial radius of the earth, f 1/298.26 for standard oblateness of the earth;
the ground-fixed coordinate of the target in the step 2 is Sg(xsg,ysg,zsg) The ground fixed coordinate of the motion platform is Cg(xcg,ycg,zcg) According to the formula:
calculating to obtain the class-to-ground fixed coordinate S of the target relative to the motion platformcg(xscg,yscg,zscg)；
According to the formula:
calculating to obtain the horizontal coordinate S of the target at the moving platformcp(xscp,yscp,zscp) (ii) a Where T-z (90) denotes a 90 counterclockwise rotation about the z-axis of the earth's fixed coordinate system, TyRepresenting a counterclockwise rotation about the y-axis of the earth-fixed coordinate system;
using rectangular coordinates S in the motion platformc(xsc,ysc,zsc) According to the formula:
calculating to obtain the spherical coordinates S of the target in the motion platformc(Asc,Esc,Rsc)。
2. The laser gyro-based dual dynamic target tracking guidance method of claim 1, characterized in that: the heading angle in the step 1 is positive from positive north clockwise, the range of 0 to 360 degrees, the pitch angle is positive from the horizontal plane upwards, the range of-90 degrees to 90 degrees, and the positive left height of the roll angle along the y axis is positive, and the range of-180 degrees to 180 degrees.
3. The laser gyro-based dual-dynamic target tracking and guiding method as claimed in claim 1, wherein in step 4, after the laser gyro and the tracking system are installed, if the encoder return value of the tracking system to the target tracking closed loop is Satp(Aatp,Eatp,Ratp) Then the following relationship exists:
wherein, R is a conversion matrix from a horizon system to a tracking system axis system, namely R is R1+R2Wherein R is1For a gyro axis to tracking system axis transformation matrix, R2A conversion matrix from a horizon system to a gyro axis system is obtained; edpPitching angle visible to target for tracking system under horizon system, AdpAn azimuth angle visible to the target for the tracking system under the horizon; in the same way, EatpFor the tracking system to see the target in its own shafting under the visual pitch angle, AatpThe azimuth angle of the tracking system which is visible to the target under the self axis system.
4. The dual-dynamic target tracking and guiding method based on the laser gyro of claim 3, wherein the real-time attitude (α, β, γ) of the tracking system platform based on the gyro output can characterize the conversion relationship between the gyro axis system and the horizon system at the moment, that is:
R1＝Ry(γ0)Rx(β0)Rz(-α0) Transforming the formula to obtain Satp＝R1·R2·SdpWherein S isatpIs a 3 x 3 matrix constructed by encoder return values observed by a tracking system on three targets at different positions respectively, SdpThe three-dimensional space-time three-dimensional space.
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