CN110127079A - Target flight system for simulating feature under remote sensing visual field based on six degree of freedom platform - Google Patents
Target flight system for simulating feature under remote sensing visual field based on six degree of freedom platform Download PDFInfo
- Publication number
- CN110127079A CN110127079A CN201910290433.8A CN201910290433A CN110127079A CN 110127079 A CN110127079 A CN 110127079A CN 201910290433 A CN201910290433 A CN 201910290433A CN 110127079 A CN110127079 A CN 110127079A
- Authority
- CN
- China
- Prior art keywords
- platform
- degree
- remote sensing
- freedom
- coordinate system
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The present invention relates to target flight system for simulating feature under a kind of remote sensing visual field based on six degree of freedom platform of the technical field of target flight property detection, the simulation system includes five modules: space coordinate demarcating module, is directed toward control module, six degree of freedom console module and sight vector indicating module at flight path generation module；The invention further relates to the analogy methods of aforementioned analog system.Remote sensing visual field down space target flight simulated behavior method disclosed by the invention based on six degree of freedom platform, can be used for improving the small disadvantage of conventional simulation device imaging viewing field, and the tracking for improving remote sensing system receives ability.Analogy method of the invention realizes simulation of the target flight characteristic under platform visual field, and verify by correctness of the sight vector indicating module to simulation, realizes the emulation that extraterrestrial target moves in big field range by introducing six degree of freedom platform.
Description
Technical field
It is the present invention relates to the technical field of target flight property detection, in particular to a kind of based on the distant of six degree of freedom platform
Feel target flight system for simulating feature under visual field.
Background technique
The simulation of extraterrestrial target flight characteristics is a kind of simulated target kinetic characteristic on the ground, for detecting remote sensing system pair
The recognition and tracking ability of extraterrestrial target.The simulation of extraterrestrial target grand movement can more realistically detect remote sensing system dynamic with
The performance of track target improves remote sensing system tracking accuracy.Currently, collimation-type target generator is will be in image planes by micro mirror array
Pixel with directional light be projected to detection reception system, in order to improve detection system tracking receive ability, it is desirable that micro mirror array
Can in big visual field simulation space target kinetic characteristic.In view of conventional target simulator optical field of view is limited, it is not suitable for
In a wide range of tracing detection of detection system；Therefore how in bigger field range high-resolution ground simulation space target
Movement become and need the problem that solves.Object has six-freedom degree in space, i.e., along three rectangular co-ordinate axis directions of x, y, z
One-movement-freedom-degree and rotational freedom around these three reference axis, to determine the position of object completely, just it must be appreciated that this six
A freedom degree, how under six degree of freedom platform visual field carry out target flight simulated behavior method, need in analogy method to
Give consideration.
Through the literature search of existing technologies, " Harbin Institute of Technology's journal " discloses as follows in November, 2008
Document, name of document are " the extraterrestrial target imaging model of space remote sensor is studied ", and document proposes a kind of new extraterrestrial target
Imaging model, analysis and experiment for the extraterrestrial target imaging characteristic that analogue simulation space remote sensor observes.It is assumed that empty
Between target geometry be spherical shape, using existing extraterrestrial target luminance calculation formula, establish the simulation calculations mould such as target satellite
Type；By using computation models such as space remote sensor CCD, optical system parameter and target satellites, extraterrestrial target can be obtained in ideal
The signal strength and image that point source responds on space remote sensor focal plane under observation condition；In view of space remote sensor and space
The relative motion relation of target establishes extraterrestrial target line imaging on space remote sensor focal plane under the conditions of actual observation
Blurred picture caused by energy distribution model and movement；It is comprehensive to use above-mentioned several models, it is distant in space flight to produce extraterrestrial target
Dynamic frame sequence image under the conditions of sensor difference imaging observation, to meet the detection and identification simulation algorithm research of extraterrestrial target
Demand.For the technical problems to be solved by the invention, it there are no relevant technology in the prior art and disclose.
Summary of the invention
In view of the drawbacks of the prior art, the purpose of the present invention is to provide a kind of remote sensing visual fields based on six degree of freedom platform
Lower target flight system for simulating feature.The present invention is directed to the flight characteristics of extraterrestrial target, realizes remote sensing platform by five modules
Generation, the instruction of six degree of freedom platform courses of visual field down space line of sight vector generate, and the driving of six degree of freedom platform is directed toward, real
When resolve remote sensing platform and dynamic object relativeness, pass through six degree of freedom platform realize target flight rail under remote sensing visual field
The simulation of mark, kinetic characteristic.The simulation problems that system of the invention can be moved for extraterrestrial target in the big field range of solution,
Realize good technical modelling effect.
The present invention is realized by following technical solution, and the present invention relates to a kind of remote sensing based on six degree of freedom platform
Target flight system for simulating feature under visual field, the simulation system include five modules: space coordinate demarcating module, flight path
Generation module is directed toward control module, six degree of freedom console module and sight vector indicating module；
The space coordinate demarcating module for realizing remote sensing platform and degree-of-freedom platform position relationship calibration；
Sight vector of the flight path generation module for target with respect to remote sensing platform generates, and includes three submodules
Block: target trajectory generation module, remote sensing platform track generation module, sight vector generation module；
The direction control module is generated for the instruction of six degree of freedom platform courses, the sight by target with respect to remote sensing platform
Under vector median filters to six degree of freedom platform coordinate system, and then inverting generates six degree of freedom platform and is directed toward control instruction, realizes sight
The direction of vector controls；
The six degree of freedom console module includes two parts: motion control unit and six degree of freedom platform mechanism；Movement control
Unit processed receives six degree of freedom control instruction, is converted into the motion control instruction of each motion control bar and driving, six degree of freedom
Platform mechanism realizes the six-freedom motion simulation of mounting platform by the compound motion of moving lever；
The sight vector indicating module is installed on six degree of freedom platform, realizes the finger of remote sensing visual field down space line of sight
Show, the verifying for entire simulation system.
Preferably, the space coordinate demarcating module characterization six degree of freedom platform is converted relative to the coordinate of remote sensing platform.
Preferably, the six degree of freedom platform coordinate system includes two coordinate systems: static coordinate system Os-XsYsZsAnd dynamic
Coordinate system Od-XdYdZd；Static coordinate system and ground are connected, and dynamic coordinate system is moved with upper mounting plate；Below static coordinate system
Platform geometric center OsFor origin, YsPerpendicular to lower platform face, XsIn lower platform face in the horizontal direction, ZsMeet right hand spiral shell
Revolve rule；Dynamic coordinate system is similar with static coordinate system；
Remote sensing platform is reference with platform body coordinate system, and the origin of platform body coordinate system is platform mass center Op, coordinate
Axis Xp, Yp, ZpThree axes of inertia corresponding with platform are parallel respectively；Remote sensing platform includes: distant with the calibration of six degree of freedom platform coordinate
The conversion of the body coordinate system and static coordinate system of feeling platform depends on the kinetic characteristic and attitudes vibration of remote sensing platform；Static state is sat
Mark system depends on the angular relationship of six degree of freedom platform moving mechanism with the conversion of dynamic coordinate system.
Preferably, the flight path generation module includes target trajectory generation module, remote sensing platform track generation mould
Block, sight vector generation module；Target trajectory generation module is connected coordinate system with the earth to define target flight characteristic；Remote sensing is flat
Platform track generation module considers the kinetic characteristic of remote sensing platform with Earth centered inertial system；Sight vector generation module consider target with it is distant
Feel the relative positional relationship of platform.
Preferably, the earth is connected coordinate system is defined as: using the earth's core O as origin, Z axis is that the axis of rotation of the earth refers to
To the arctic, X-axis is directed toward the first meridian, and Y-axis is determined according to right-hand screw rule；Earth inertial coordinates system is defined as: with ground
Heart OIFor origin, XIAxis is directed toward the first point of Aries, ZIAxis is that the axis of rotation of the earth is directed toward the arctic, YIAxis is determined according to right-hand screw rule.
It is preferably based on the basis of sight vector generation module and space coordinate demarcating module, by target with respect to remote sensing
The sight vector of platform is converted to six degree of freedom platform coordinate system, and the vector is as the input for being directed toward control module；It is directed toward control
Molding block compares the deviation of the initial direction position and input sight vector of remote sensing platform between the two, which is generated six
Freedom degree platform is directed toward control instruction.
Preferably, the six degree of freedom console module includes motion control unit and six degree of freedom platform mechanism；Movement
Control unit receives six degree of freedom control instruction and is converted into the movement control of each motion control bar using self adaptive control mode
System is instructed and is driven；Six degree of freedom platform mechanism realizes the six-freedom motion mould of mounting platform by the compound motion of moving lever
It is quasi-；Stage driving is by six roots of sensation moving lever, upper and lower two platforms and up and down each six Hooke's hinges form.Lower platform is fixed on
In infrastructure, by the stretching motion of six roots of sensation moving lever, controls upper mounting plate and moved in space six-freedom degree, so as to mould
Draw up various spatial movement postures.
Preferably, the sight vector indicating module is installed on six degree of freedom platform, realizes remote sensing visual field down space mesh
Mark the instruction of sight, the verifying for entire simulation system.
The invention further relates to target flight simulated behavior systems under a kind of remote sensing visual field above-mentioned based on six degree of freedom platform
The analogy method of system, includes the following steps:
Step 1: determining the relative positional relationship of extraterrestrial target and remote sensing platform；The coordinate system down space mesh it is assumed that the earth is connected
Mark coordinate is PT(XT,YT,ZT), then P of the extraterrestrial target under earth inertial coordinates systemTI(XTI,YTI,ZTI) indicate are as follows: PTI=
ΓCI(ωe)PT；Wherein ΓCITo be connected conversion of the coordinate system to Earth centered inertial system from the earth, ωeFor rotational-angular velocity of the earth；
It is assumed that the position of remote sensing platform is P under Earth centered inertial systemYI(XYI,YYI,ZYI), then in Earth centered inertial system down space mesh
Mark the sight vector relative to remote sensing platform are as follows:
Step 2: determining the calibration of space coordinate；Obtaining basis of the extraterrestrial target relative to remote sensing platform sight vector
On, consider that the coordinate between remote sensing platform and six degree of freedom platform is converted；First the sight vector described under inertial coodinate system is converted
It is described under to remote sensing platform body coordinate system, it is assumed that sight vector under remote sensing platformExpression are as follows:Wherein,Indicating the conversion under from inertial system to platform body system, ψ is yaw angle,
For roll angle, θ is pitch angle；
The conversion of six degree of freedom platform static coordinate system to dynamic coordinate system depends on six degree of freedom platform moving mechanism
Angular relationship, the conversion of remote sensing platform to static coordinate system depends on the kinetic characteristic of remote sensing platform, therefore sight vector is six
It is expressed as under freedom degree platform dynamic coordinate systemWherein,For the position vector of remote sensing platform under static coordinate system；For static coordinate, system arrives dynamic coordinate system
Conversion, ψd,θdMovement angle depending on mechanism；
Step 3: sight vector is as the input for being directed toward control module under six degree of freedom platform coordinate system, it is assumed that remote sensing platform
Initial direction position and input sight vector deviation between the two beIt shouldInverting generates six degree of freedom platform and is directed toward
Control instruction；Then byObtain the corner variation of six degree of freedom platform:
Step 4: motion control unit is received six degree of freedom control instruction and is converted into each using self adaptive control mode
The motion control instruction of motion control bar and driving；Six degree of freedom platform mechanism realizes that installation is flat by the compound motion of moving lever
The six-freedom motion of platform is simulated；The stroke that corner change transitions are platform moving lever is changed:
(α,β,γ)T=f (l1,l2,l3,l4,l5,l6), wherein l1...l6For the stroke length of moving lever；
Step 5: sight vector indicating module is installed on six degree of freedom platform, realizes remote sensing visual field down space line of sight
Instruction, the verifying for entire simulation system.
Compared with prior art, the present invention is with following the utility model has the advantages that disclosed by the invention be based on six degree of freedom platform
Remote sensing visual field down space target flight simulated behavior method, can be used for improving the small disadvantage of conventional simulation device imaging viewing field, mention
The tracking of high remote sensing system receives ability.Analogy method of the invention realizes that target flight is special by introducing six degree of freedom platform
Property simulation under platform visual field, and verified by correctness of the sight vector indicating module to simulation, realize space mesh
It is marked on the emulation moved in big field range.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is extraterrestrial target track imaging schematic diagram；
Fig. 2 is the schematic diagram of six degree of freedom platform；
Fig. 3 is to be directed toward control module schematic illustration；
Fig. 4 is target flight simulated behavior process schematic.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
Embodiment
In the present embodiment, target flight simulated behavior system under the remote sensing visual field of the present invention based on six degree of freedom platform
System includes five modules: space coordinate demarcating module, is directed toward control module, six degree of freedom platform mould at flight path generation module
Block and sight vector indicating module；For the flight characteristics of extraterrestrial target, realized by five modules empty under remote sensing platform visual field
Between generation, the instruction of six degree of freedom platform courses of line of sight vector generate, the driving of six degree of freedom platform is directed toward, and real-time resolving is distant
The relativeness for feeling platform and dynamic object realizes target flight path, movement under remote sensing visual field by six degree of freedom platform
The simulation of characteristic.
The present invention is described in detail below.
Remote sensing visual field down space target flight simulated behavior method disclosed in this invention based on six degree of freedom platform, this
Invention includes five modules: space coordinate demarcating module, is directed toward control module, six degree of freedom platform at flight path generation module
Module and sight vector indicating module.For the flight characteristics of extraterrestrial target, realized under remote sensing platform visual field by five modules
Generation, the instruction of six degree of freedom platform courses of extraterrestrial target sight vector generate, and the driving of six degree of freedom platform is directed toward, real-time resolving
The relativeness of remote sensing platform and dynamic object, and by six degree of freedom platform realize target under remote sensing visual field flight path,
The simulation of kinetic characteristic, the ability for verifying target dynamic tracking provide basis.
Space coordinate demarcating module characterizes six degree of freedom platform and converts relative to the coordinate of remote sensing platform.Six degree of freedom platform
Coordinate system includes two coordinate systems: static coordinate system Os-XsYsZsWith dynamic coordinate system Od-XdYdZd.Static coordinate system and ground are solid
Even, dynamic coordinate system is moved with upper mounting plate.Static coordinate system is with lower platform geometric center OsFor origin, YsPerpendicular to lower flat
Table top, XsIn lower platform face in the horizontal direction, ZsMeet right-hand screw rule.Dynamic coordinate system is similar with static coordinate system.
Remote sensing platform is reference with platform body coordinate system, and the origin of platform body coordinate system is platform mass center Op, reference axis Xp, Yp, Zp
Three axes of inertia corresponding with platform are parallel respectively.Remote sensing platform and the calibration of six degree of freedom platform coordinate include: remote sensing platform
The conversion of body coordinate system and static coordinate system depends on the kinetic characteristic and attitudes vibration of remote sensing platform；Static coordinate system and dynamic
The conversion of state coordinate system depends on the angular relationship of six degree of freedom platform moving mechanism.
Flight path generation module includes target trajectory generation module, remote sensing platform track generation module, sight vector life
At module.Target trajectory generation module is connected coordinate system with the earth to define target flight characteristic；Remote sensing platform track generates mould
Block considers the kinetic characteristic of remote sensing platform with Earth centered inertial system；Sight vector generation module considers the opposite of target and remote sensing platform
Positional relationship.
The connected coordinate system of the earth is defined as: using the earth's core O as origin, Z axis is that the axis of rotation of the earth is directed toward the arctic, and X-axis refers to
To the first meridian, Y-axis is determined according to right-hand screw rule.Earth inertial coordinates system is defined as: with the earth's core OIFor origin, XI
Axis is directed toward the first point of Aries, ZIAxis is that the axis of rotation of the earth is directed toward the arctic, YIAxis is determined according to right-hand screw rule.
View on the basis of sight vector generation module and space coordinate demarcating module, by target with respect to remote sensing platform
Line vector is converted to six degree of freedom platform coordinate system, and the vector is as the input for being directed toward control module；It is directed toward control module ratio
Initial direction position and input sight vector deviation between the two compared with remote sensing platform, deviation inverting generation six degree of freedom is put down
Platform is directed toward control instruction.
Six degree of freedom console module includes motion control unit and six degree of freedom platform mechanism.Motion control unit receives six
Freedom degree control instruction is converted into the motion control instruction of each motion control bar and driving using self adaptive control mode；Six
Freedom degree platform mechanism realizes the six-freedom motion simulation of mounting platform by the compound motion of moving lever.Stage driving
By six roots of sensation moving lever, upper and lower two platforms and up and down each six Hooke's hinges form.Lower platform is fixed in infrastructure, is passed through
The stretching motion of six roots of sensation moving lever, control upper mounting plate is moved at space six-freedom degree (X, Y, Z, α, beta, gamma), so as to mould
Draw up various spatial movement postures.
The sight vector indicating module is installed on six degree of freedom platform, realizes remote sensing visual field down space line of sight
Instruction, the verifying for entire simulation system.
As shown in Figs 1-4, the specific implementation steps are as follows by the present invention:
Step 1: determining the relative positional relationship of extraterrestrial target and remote sensing platform.The coordinate system down space mesh it is assumed that the earth is connected
Mark coordinate is PT(XT,YT,ZT), then P of the extraterrestrial target under earth inertial coordinates systemTI(XTI,YTI,ZTI) indicate are as follows:
PTI=ΓCI(ωe)PT
Wherein ΓCITo be connected conversion of the coordinate system to Earth centered inertial system from the earth, ωeFor rotational-angular velocity of the earth.
It is assumed that the position of remote sensing platform is P under Earth centered inertial systemYI(XYI,YYI,ZYI), then in Earth centered inertial system down space mesh
Mark the sight vector relative to remote sensing platform are as follows:
Step 2: determining the calibration of space coordinate.Obtaining basis of the extraterrestrial target relative to remote sensing platform sight vector
On, consider that the coordinate between remote sensing platform and six degree of freedom platform is converted.First the sight vector described under inertial coodinate system is converted
It is described under to remote sensing platform body coordinate system, it is assumed that sight vector under remote sensing platformExpression are as follows:
Wherein,Indicating the conversion under from inertial system to platform body system, ψ is yaw angle,For roll angle,
θ is pitch angle.
The conversion of six degree of freedom platform static coordinate system to dynamic coordinate system depends on six degree of freedom platform moving mechanism
Angular relationship, the conversion of remote sensing platform to static coordinate system depends on the kinetic characteristic of remote sensing platform, therefore sight vector is six
It is expressed as under freedom degree platform dynamic coordinate system
Wherein,For the position vector of remote sensing platform under static coordinate system；For static coordinate, system is arrived
The conversion of dynamic coordinate system, ψd,θdMovement angle depending on mechanism.
Step 3: sight vector is as the input for being directed toward control module under six degree of freedom platform coordinate system, it is assumed that remote sensing platform
Initial direction position and input sight vector deviation between the two beIt shouldInverting generates six degree of freedom platform and is directed toward
Control instruction.
Then byObtain the corner variation of six degree of freedom platform:
Step 4: motion control unit is received six degree of freedom control instruction and is converted into each using self adaptive control mode
The motion control instruction of motion control bar and driving；Six degree of freedom platform mechanism realizes that installation is flat by the compound motion of moving lever
The six-freedom motion of platform is simulated.The stroke that corner change transitions are platform moving lever is changed:
(α,β,γ)T=f (l1,l2,l3,l4,l5,l6), wherein l1...l6For the stroke length of moving lever.
Step 5: sight vector indicating module is installed on six degree of freedom platform, realizes remote sensing visual field down space line of sight
Instruction, the verifying for entire simulation system.
To sum up, simulation system of the invention, for the flight characteristics of extraterrestrial target, real-time resolving remote sensing platform and dynamic
The relativeness of state target, and pass through the mould of six degree of freedom platform realization target flight path, kinetic characteristic under remote sensing visual field
Quasi-, the ability for verifying target dynamic tracking provides basis.The present invention includes five modules: space coordinate demarcating module, flight
Track generation module is directed toward control module, six degree of freedom console module and sight vector indicating module.Space coordinate demarcating module
For realizing the calibration of remote sensing platform and degree-of-freedom platform position relationship, six degree of freedom platform is obtained relative to remote sensing platform
Coordinate conversion matrix is converted convenient for sight vector of the target under remote sensing platform coordinate system to six degree of freedom platform coordinate system
And simulation；Sight vector of the flight path generation module for target with respect to remote sensing platform generates, and includes three submodules: target
Track generation module, remote sensing platform track generation module, sight vector generation module；It is flat for six degree of freedom to be directed toward control module
Platform control instruction generates, and the sight vector by target with respect to remote sensing platform is converted to six degree of freedom platform coordinate system, and then anti-
It drills and generates six degree of freedom platform direction control instruction, realize the direction control of sight vector；Six degree of freedom console module includes two
Part: motion control unit and six degree of freedom platform mechanism.Motion control unit receives six degree of freedom control instruction, is converted into every
The motion control instruction of a motion control bar and driving；Six degree of freedom platform mechanism realizes installation by the compound motion of moving lever
The six-freedom motion of platform is simulated；Sight vector indicating module is installed on six degree of freedom platform, realizes remote sensing visual field down space
The instruction of line of sight, the verifying for entire simulation system.Remote sensing platform visual field down space target is realized by five modules
Generation, the instruction of six degree of freedom platform courses of sight vector generate, and the driving of six degree of freedom platform is directed toward, and finally realizes target flight
Simulation of the characteristic under platform visual field, and verified by correctness of the sight vector indicating module to simulation.Of the invention
Analogy method can be used for improving the small disadvantage of conventional simulation device imaging viewing field, and the tracking for improving remote sensing system receives ability.This hair
Bright analogy method realizes simulation of the target flight characteristic under platform visual field, and pass through view by introducing six degree of freedom platform
Line vector indicating module verifies the correctness of simulation, realizes the emulation that extraterrestrial target moves in big field range.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (9)
1. target flight system for simulating feature under a kind of remote sensing visual field based on six degree of freedom platform, which is characterized in that the mould
Quasi- system includes five modules: space coordinate demarcating module, flight path generation module, direction control module, six degree of freedom are flat
Platform module and sight vector indicating module；
The space coordinate demarcating module for realizing remote sensing platform and degree-of-freedom platform position relationship calibration；
Sight vector of the flight path generation module for target with respect to remote sensing platform generates, and includes three submodules: mesh
Mark track generation module, remote sensing platform track generation module, sight vector generation module；
The direction control module is generated for the instruction of six degree of freedom platform courses, the sight vector by target with respect to remote sensing platform
Under conversion to six degree of freedom platform coordinate system, and then inverting generates six degree of freedom platform and is directed toward control instruction, realizes sight vector
Direction control；
The six degree of freedom console module includes two parts: motion control unit and six degree of freedom platform mechanism；Motion control list
Member receives six degree of freedom control instruction, is converted into the motion control instruction of each motion control bar and driving, six degree of freedom platform
Mechanism realizes the six-freedom motion simulation of mounting platform by the compound motion of moving lever；
The sight vector indicating module is installed on six degree of freedom platform, realizes the instruction of remote sensing visual field down space line of sight,
Verifying for entire simulation system.
2. target flight system for simulating feature under the remote sensing visual field based on six degree of freedom platform as described in claim 1, special
Sign is that the space coordinate demarcating module characterization six degree of freedom platform is converted relative to the coordinate of remote sensing platform.
3. target flight system for simulating feature under the remote sensing visual field based on six degree of freedom platform as claimed in claim 2, special
Sign is that the six degree of freedom platform coordinate system includes two coordinate systems: static coordinate system Os-XsYsZsWith dynamic coordinate system Od-
XdYdZd；Static coordinate system and ground are connected, and dynamic coordinate system is moved with upper mounting plate；Static coordinate system is with lower platform geometry
Center OsFor origin, YsPerpendicular to lower platform face, XsIn lower platform face in the horizontal direction, ZsMeet right-hand screw rule；It is dynamic
State coordinate system is similar with static coordinate system；
Remote sensing platform is reference with platform body coordinate system, and the origin of platform body coordinate system is platform mass center Op, reference axis Xp,
Yp, ZpThree axes of inertia corresponding with platform are parallel respectively；Remote sensing platform and the calibration of six degree of freedom platform coordinate include: that remote sensing is flat
The body coordinate system of platform and the conversion of static coordinate system depend on the kinetic characteristic and attitudes vibration of remote sensing platform；Static coordinate system
The angular relationship of six degree of freedom platform moving mechanism is depended on the conversion of dynamic coordinate system.
4. target flight system for simulating feature under the remote sensing visual field based on six degree of freedom platform as described in claim 1, special
Sign is that the flight path generation module includes target trajectory generation module, remote sensing platform track generation module, sight vector
Generation module；Target trajectory generation module is connected coordinate system with the earth to define target flight characteristic；Remote sensing platform track generates
Module considers the kinetic characteristic of remote sensing platform with Earth centered inertial system；The phase of sight vector generation module consideration target and remote sensing platform
To positional relationship.
5. target flight system for simulating feature under the remote sensing visual field based on six degree of freedom platform as claimed in claim 4, special
Sign is, the earth is connected coordinate system is defined as: using the earth's core O as origin, Z axis is that the axis of rotation of the earth is directed toward the arctic, X-axis
It is directed toward the first meridian, Y-axis is determined according to right-hand screw rule；Earth inertial coordinates system is defined as: with the earth's core OIFor origin,
XIAxis is directed toward the first point of Aries, ZIAxis is that the axis of rotation of the earth is directed toward the arctic, YIAxis is determined according to right-hand screw rule.
6. target flight system for simulating feature under the remote sensing visual field based on six degree of freedom platform as described in claim 1, special
Sign is the sight on the basis of sight vector generation module and space coordinate demarcating module, by target with respect to remote sensing platform
Under vector median filters to six degree of freedom platform coordinate system, the vector is as the input for being directed toward control module；Control module is directed toward to compare
The deviation of the initial direction position and input sight vector of remote sensing platform between the two, generates six degree of freedom platform for the deviation inverting
It is directed toward control instruction.
7. target flight system for simulating feature under the remote sensing visual field based on six degree of freedom platform as described in claim 1, special
Sign is that the six degree of freedom console module includes motion control unit and six degree of freedom platform mechanism；Motion control unit connects
It receives six degree of freedom control instruction and the motion control instruction of each motion control bar and drive is converted into using self adaptive control mode
It is dynamic；Six degree of freedom platform mechanism realizes the six-freedom motion simulation of mounting platform by the compound motion of moving lever；Platform drives
Motivation structure is by six roots of sensation moving lever, upper and lower two platforms and up and down each six Hooke's hinges form；Lower platform is fixed on infrastructure
On, by the stretching motion of six roots of sensation moving lever, controls upper mounting plate and moved in space six-freedom degree, it is various so as to simulate
Spatial movement posture.
8. target flight system for simulating feature under the remote sensing visual field based on six degree of freedom platform as described in claim 1, special
Sign is that the sight vector indicating module is installed on six degree of freedom platform, realizes the finger of remote sensing visual field down space line of sight
Show, the verifying for entire simulation system.
9. target flight system for simulating feature under a kind of remote sensing visual field based on six degree of freedom platform as described in claim 1
Analogy method, characterized in that include the following steps:
Step 1: determining the relative positional relationship of extraterrestrial target and remote sensing platform；It is assumed that the earth is connected, coordinate system down space target is sat
It is designated as PT(XT,YT,ZT), then P of the extraterrestrial target under earth inertial coordinates systemTI(XTI,YTI,ZTI) indicate are as follows: PTI=ΓCI
(ωe)PT；Wherein ΓCITo be connected conversion of the coordinate system to Earth centered inertial system from the earth, ωeFor rotational-angular velocity of the earth；
It is assumed that the position of remote sensing platform is P under Earth centered inertial systemYI(XYI,YYI,ZYI), then in Earth centered inertial system down space target phase
For the sight vector of remote sensing platform are as follows:
Step 2: determining the calibration of space coordinate；On the basis of obtaining extraterrestrial target relative to remote sensing platform sight vector, examine
The coordinate considered between remote sensing platform and six degree of freedom platform is converted；The sight vector described under inertial coodinate system is first transformed into remote sensing
It is described under platform body coordinate system, it is assumed that sight vector under remote sensing platformExpression are as follows:Wherein,Indicating the conversion under from inertial system to platform body system, ψ is yaw angle,For roll angle, θ is pitch angle；
Six degree of freedom platform static coordinate system depends on the angle of six degree of freedom platform moving mechanism to the conversion of dynamic coordinate system
Relationship, the conversion of remote sensing platform to static coordinate system depends on the kinetic characteristic of remote sensing platform, therefore sight vector is free six
It is expressed as under degree platform dynamic coordinate system Wherein,For
The position vector of remote sensing platform under static coordinate system；For the conversion of static coordinate system to dynamic coordinate system, ψd,θdMovement angle depending on mechanism；
Step 3: sight vector is as the input for being directed toward control module under six degree of freedom platform coordinate system, it is assumed that at the beginning of remote sensing platform
Begin to be directed toward position and input the deviation of sight vector between the two and isIt shouldInverting generates six degree of freedom platform and is directed toward control
Instruction；Then byObtain the corner variation of six degree of freedom platform:
Step 4: motion control unit receives six degree of freedom control instruction and is converted into each movement using self adaptive control mode
The motion control instruction of control-rod and driving；Six degree of freedom platform mechanism realizes mounting platform by the compound motion of moving lever
Six-freedom motion simulation；The stroke that corner change transitions are platform moving lever is changed:
(α,β,γ)T=f (l1,l2,l3,l4,l5,l6), wherein l1...l6For the stroke length of moving lever；
Step 5: sight vector indicating module is installed on six degree of freedom platform, realizes the finger of remote sensing visual field down space line of sight
Show, the verifying for entire simulation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910290433.8A CN110127079B (en) | 2019-04-11 | 2019-04-11 | Target flight characteristic simulation system under remote sensing visual field based on six-degree-of-freedom platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910290433.8A CN110127079B (en) | 2019-04-11 | 2019-04-11 | Target flight characteristic simulation system under remote sensing visual field based on six-degree-of-freedom platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110127079A true CN110127079A (en) | 2019-08-16 |
| CN110127079B CN110127079B (en) | 2020-11-06 |
Family
ID=67569688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910290433.8A Active CN110127079B (en) | 2019-04-11 | 2019-04-11 | Target flight characteristic simulation system under remote sensing visual field based on six-degree-of-freedom platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110127079B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058110A (en) * | 2014-06-04 | 2014-09-24 | 清华大学 | Remote sensing satellite system |
| CN104803012A (en) * | 2015-03-25 | 2015-07-29 | 北京空间机电研究所 | High-orbit optical remote sensor vacuum hot test external heat flow simulation method |
| CN105511500A (en) * | 2015-12-07 | 2016-04-20 | 中国科学院光电研究院 | Target and light source control simulation system and method in space target dynamic optical property ground-based simulation |
| CN108334678A (en) * | 2017-01-20 | 2018-07-27 | 赫克斯冈技术中心 | Construction management system and method |
-
2019
- 2019-04-11 CN CN201910290433.8A patent/CN110127079B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058110A (en) * | 2014-06-04 | 2014-09-24 | 清华大学 | Remote sensing satellite system |
| CN104803012A (en) * | 2015-03-25 | 2015-07-29 | 北京空间机电研究所 | High-orbit optical remote sensor vacuum hot test external heat flow simulation method |
| CN105511500A (en) * | 2015-12-07 | 2016-04-20 | 中国科学院光电研究院 | Target and light source control simulation system and method in space target dynamic optical property ground-based simulation |
| CN108334678A (en) * | 2017-01-20 | 2018-07-27 | 赫克斯冈技术中心 | Construction management system and method |
Non-Patent Citations (1)
| Title |
|---|
| 李明譞等: "《航天光学遥感成像半实物仿真系统研究》", 《激光与红外》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110127079B (en) | 2020-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107449402B (en) | A kind of measurement method of the relative pose of noncooperative target | |
| CN105004353B (en) | A kind of star sensor dynamic star chart emulation mode | |
| CN109079799B (en) | Robot perception control system and control method based on bionics | |
| CN111679592B (en) | Spacecraft pursuit and escape game closed-loop semi-physical simulation system and method | |
| CN103344256B (en) | Laboratory testing method for multi-field-of-view star sensor | |
| CN110849331B (en) | Monocular vision measurement and ground test method based on three-dimensional point cloud database model | |
| CN104658012A (en) | Motion capture method based on inertia and optical measurement fusion | |
| CN106313049A (en) | Somatosensory control system and control method for apery mechanical arm | |
| CN105043417B (en) | Multiple target continuous imaging drift angle compensation method | |
| CN104990533B (en) | Satellite ground physical simulation system superhigh precision attitude measurement method and device | |
| CN106586041B (en) | A kind of Mars target simulation method for deep space exploration | |
| CN110146093A (en) | Binary asteroid detection independently cooperates with optical navigation method | |
| CN105446346B (en) | Remote sensing satellite is to moon relative calibration attitude adjusting method | |
| CN108680165A (en) | Target aircraft attitude determination method based on optical imagery and device | |
| CN102636081A (en) | Transfer alignment method and device based on visual movement modeling | |
| CN106599479A (en) | Simulation method of precision image stabilization system of optical remote sensing camera | |
| CN109445310A (en) | A kind of infrared imaging guidance hardware-in-the-loop system and method | |
| CN105676859A (en) | UAV three-degree-of-freedom inflight autonomous refueling device and implementation method thereof | |
| CN110595506A (en) | Instrument autonomous alignment device and alignment method in starlight simulation test | |
| CN115291536B (en) | Visual unmanned aerial vehicle tracking ground target semi-physical simulation platform verification method | |
| CN105486315B (en) | Remote sensing satellite is to moon absolute calibration attitude adjusting method | |
| CN105459116A (en) | Robot remote operation device and method based on magnetometer | |
| CN105424060B (en) | A kind of measurement method of aircraft star sensor and strapdown inertial measurement unit installation error | |
| CN116661334B (en) | Missile tracking target semi-physical simulation platform verification method based on CCD camera | |
| CN117075495A (en) | Ground semi-physical simulation system based on multi-spacecraft attitude control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |