CN110456631B - Planet detection capture brake and device separation physical tracking device and method - Google Patents
Planet detection capture brake and device separation physical tracking device and method Download PDFInfo
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Abstract
The invention provides a device and a method for physically tracking a planet detection capture brake and a device separation, belonging to the field of aircraft ground simulation. The ground control system is connected with the two-dimensional motion system, the rotating motor and the vision measuring system through cables, the two-dimensional motion system, the rotating motor and the vision measuring system are arranged on the marble platform, the rotating motor is arranged on the two-dimensional motion system, and the rotating motor is connected with the vision measuring system; placing the motion simulator under a vision measuring system, and starting tracking after a certain initial speed is given; sending the camera data back to the ground control system through a cable; an industrial personal computer on the ground control system processes the data and outputs control quantity by utilizing a tracking algorithm; and controlling the motion of the two-dimensional motion system and the rotating motor according to the control quantity. The invention realizes dynamic tracking of the target, and the camera moves along with the target; the method realizes dynamic tracking of the motion of the spacecraft according to the method combining camera feedback, kalman filtering and improved PID.
Description
Technical Field
The invention relates to a device and a method for physically tracking a planet detection capture brake and a device separation, belonging to the field of aircraft ground simulation.
Background
With the rapid development of satellite technology, in order to ensure that a spacecraft effectively operates on an orbit, the spacecraft needs a ground full physical simulation test. Therefore, the construction of the ground simulation test system is an important guarantee for the development of the space technology. The mathematical simulation can only simulate the influence of the deep space environment on the planet capture brake and the separation of the surrounding device and the lander, but cannot effectively simulate the influence caused by factors such as installation errors, single measurement machine, high thrust control and the like, so that the feasibility of a track control strategy and algorithm needs to be analyzed through a ground full physical simulation test, and the reliability of engineering implementation is improved.
Invention patent (CN 201710429438.5) "target tracking method, apparatus, computer device and storage medium" relates to a target tracking method, the method comprising: carrying out target detection in a static state of the equipment; when an object is detected to appear in a monitoring picture, positioning the object; predicting the motion direction of the target according to the motion trail generated by the target; when the target is detected to have a tendency of leaving the visual field of the camera, controlling equipment to rotate according to the movement direction of the target; and tracking the target by adopting a dynamic background modeling mode under the rotation state of the equipment. The calculation amount is reduced, so that the hardware cost can be saved, and the continuous tracking of the target under the rotation of the monitoring equipment is realized; the invention patent 'target tracking method, device, computer equipment and storage medium' refers to the situation that the detection of the target is in a static state, and does not consider the complex situation of motion.
A method and apparatus for detecting moving objects is disclosed in the patent application No. (cn200810093918. X). The method comprises the following steps: acquiring a nonparametric mixed foreground model and a nonparametric background model; obtaining nonparametric mixed foreground model probability and nonparametric background model probability of each point on a current frame; carrying out likelihood ratio correction on the non-parameter mixed foreground model probability and the non-parameter background model probability to obtain the non-parameter mixed foreground model probability after the likelihood ratio correction and the non-parameter background model probability after the likelihood ratio correction; and carrying out image segmentation according to the non-parametric mixed foreground model probability after the likelihood ratio correction of each point on the current frame and the non-parametric background model probability after the likelihood ratio correction, and outputting the detection result of the moving object. By using the embodiment of the invention, the detection of the moving object is realized by establishing the nonparametric mixed foreground model and using the likelihood ratio correction method, and the accuracy of image identification is improved; although the patent 'a moving object detection method and device' realizes the detection of a moving object, the planet detection capture brake is separated from a spacecraft, and the moving spacecraft also needs to be tracked in real time to ensure the correctness of the size and the direction of the simulated planet gravitation.
The invention aims to establish a set of real-time tracking device for controlling a two-dimensional motion mechanism to track a spacecraft in real time by detecting a target under the motion condition in a ground simulation planet detection, capture, braking and spacecraft separation experiment.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and further provides a device and a method for physically tracking a planet detection capture brake and a planet separation device.
The purpose of the invention is realized by the following technical scheme:
a planet detection capture brake and device separation physical tracking device comprises a tracking system and a motion simulator, wherein the tracking system comprises a ground control system, a two-dimensional motion system, a rotating motor and a vision measurement system;
the motion simulator consists of a rigid instrument platform, onboard equipment and a corresponding air floatation system, wherein the onboard equipment comprises an attitude measurement subsystem, a controller, an equivalent execution mechanism and a visual target; the attitude measurement subsystem, the controller and the equivalent actuating mechanism are arranged on the rigid instrument platform, and the visual target is arranged on the side surface of the rigid instrument platform; the air floatation system is positioned at the lower part of the rigid instrument platform and is provided with four air nozzles;
the connection relationship between the tracking system and the motion simulator is as follows: firstly, a visual target of a motion simulator is placed below a visual measurement system of a tracking system, the tracking system runs a real-time algorithm, the tracking system controls a two-dimensional motion system and a rotating motor to control, and the visual target is always ensured to be in the visual field of the visual measurement system.
The invention relates to a planet detection capture brake and device separation physical tracking device, wherein a visual target is a metal plate, and two light-emitting lamps are arranged on the visual target.
According to the planet detection capture brake and device separation physical tracking device, the rigid instrument platform needs to meet the requirements of a sensor on the angle of a view field, the installation accuracy of various instruments, the mechanical environment requirement of equipment, the circuit design and the requirement of a general assembly rule for configuration and layout so as to meet the constraint condition of a simulation test system.
The invention relates to a planet detection capture brake and device separation physical tracking device, wherein a gyro and a meter are combined in an attitude measurement subsystem; the controller adopts a GNC unit and a simulation computer; the equivalent execution structure adopts a cold air thruster.
The planet detection, capture, brake and device separation physical tracking method comprises the following specific steps:
the method comprises the following steps: placing the motion simulator under a vision measuring system, and starting tracking after a certain initial speed of the motion simulator is given;
step two: the vision measuring system sends the camera data back to the ground control system through a cable;
step three: an industrial personal computer on the ground control system processes the data and outputs control quantity by utilizing a tracking algorithm;
step four: and controlling the motion of the two-dimensional motion system and the rotating motor according to the control quantity.
The invention discloses a planet detection capture brake and device separation physical tracking method which is characterized by comprising the following steps:
the tracking algorithm adopts a method combining Kalman filtering and improved PID, feedback data is transmitted back to a ground control system through a cable by a vision measurement system, the ground control system runs a control algorithm to complete resolving and control a two-dimensional motion system to track;
kalman filtering consists mainly of several equations:
firstly, predicting the next state of the system by using a process model of the system, wherein the state of the system at the moment k is x (k), and then predicting the current state from the previous state according to the system model:
X(k|k-1)＝AX(k-1|k-1)+Bu(k)
the state of the system has been updated and now the error estimation covariance matrix of the system needs to be updated:
P(k|k-1)＝A*P(k-1|k-1)A'+Q.
solving Kalman gain:
Kg(k)＝P(k|k-1)*H'/(H*P(k|k-1)*H'+R)
and correcting according to the obtained measured value of the current state to obtain an optimal estimation quantity x (k | k):
X(k|k)＝X(k|k-1)+Kg(k)*(Z(k)-Hx(k|k-1))
need to update p (k | k) corresponding to x (k | k)
P(k|k)＝(I-Kg(k)*H)*P(k|k-1)
The improved PID method is that a speed item of the current two-dimensional motion mechanism is added on the basis of the original PID, adjustment is carried out on the basis of the speed item, and the output control quantity is as follows by utilizing a tracking algorithm according to the improved PID method:
the invention relates to a device and a method for physically tracking a planet detection capture brake and a device separation, which consider the factors of installation error, single measurement machine, high thrust control and the like; the invention realizes dynamic tracking of the target, and the camera moves along with the target; the method realizes dynamic tracking of the motion of the spacecraft according to the method combining camera feedback, kalman filtering and improved PID.
Drawings
FIG. 1 is a block diagram of a tracking system of a planetary probe capture brake and device separation physical tracking device of the present invention.
Fig. 2 is a block diagram of a motion simulator of a planet detection capture brake and device separation physical tracking device of the present invention.
Fig. 3 is a flow chart of the tracking algorithm of the present invention.
The reference numbers in the figures are: 1 is a ground control system; 2 is a two-dimensional motion system; 3 is a cable; 4 is a rotating motor; 5, a vision measuring system; 6 is a rigid instrument platform; 7 is an attitude measurement subsystem; 8 is a controller; 9 is an equivalent actuating mechanism; 10 is a visual target; and 11, an air floatation system.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed embodiment is given, but the scope of the present invention is not limited to the following embodiments.
The first embodiment is as follows: as shown in fig. 1, the present embodiment relates to a device and method for planet detection, capture, braking and device separation physical tracking,
the tracking system consists of a ground control system, a two-dimensional motion system, a rotating motor and a vision measuring system. The ground control system is connected with other systems through cable connection, and the two-dimensional motion system, the rotating motor and the vision measurement system are all arranged on the marble platform. The two-dimensional motion system can control the position of the vision measurement system on the two-dimensional plane in the two-dimensional plane motion mode, the rotating motor is rotated to control the rotating angle of the vision measurement system, and therefore the fact that a measured target can be always in the visual field is guaranteed, and the situation that the visual field is lost does not happen.
The motion simulator comprises a rigid instrument platform, onboard equipment and a corresponding air floatation system. The onboard equipment has the functions of a basic attitude and orbit control system, and comprises an attitude measurement subsystem (a gyro and accelerometer combination), a controller (a GNC unit and a simulation computer), an equivalent actuating mechanism (a cold air thruster) and a visual target; the air floatation system is positioned at the lower part of the rigid instrument platform and is provided with four air nozzles for generating air injection to enable the motion simulator to suspend; the visual target is a metal plate, and two light-emitting lamps are arranged on the visual target, so that the camera can be conveniently positioned. The rigid instrument platform needs to meet the requirements of a view field angle of a sensor, the installation accuracy of various instruments, the mechanical environment requirement of equipment, the circuit design and the assembly rule, and is configured and arranged to meet the constraint conditions of a simulation test system.
The tracking system is connected to the motion simulator by first placing the target under the vision measurement system of the tracking system. Therefore, the tracking system can run a real-time algorithm to control the two-dimensional motion system and the rotating motor, and the target is always ensured to be in the visual field of the camera.
The experimental steps are as follows:
1) Placing the motion simulator under a vision measuring system, and starting tracking after a certain initial speed of the motion simulator is given;
2) The camera data is sent back to the ground control system through a cable;
3) An industrial personal computer on the ground control system processes data, kalman filtering filters the data, the data are transmitted to an improved PID for operation, and control quantity is output;
4) Controlling the motion of the two-dimensional motion system and the rotating motor according to the control quantity;
5) The experiment was completed.
The specific process of the tracking algorithm is as follows: the tracking algorithm adopts a method combining Kalman filtering and improved PID.
And feedback data is transmitted back to the ground control system through the visual measurement system through a cable, and the ground control operation control algorithm is used for completing resolving and controlling the two-dimensional motion system to track.
Kalman filtering consists mainly of several equations:
firstly, predicting the next state of the system by using a process model of the system, wherein the state of the system at the moment k is x (k), and predicting the state from the previous state according to the system model:
X(k|k-1)＝AX(k-1|k-1)+Bu(k)
the state of the system has been updated and now the error estimation covariance matrix of the system needs to be updated
P(k|k-1)＝A*P(k-1|k-1)A'+Q.
Solving Kalman gain:
Kg(k)＝P(k|k-1)*H'/(H*P(k|k-1)*H'+R)
and correcting according to the obtained measured value of the current state to obtain an optimal estimation quantity x (k | k):
X(k|k)＝X(k|k-1)+Kg(k)*(Z(k)-Hx(k|k-1))
need to update p (k | k) corresponding to x (k | k)
P(k|k)＝(I-Kg(k)*H)*P(k|k-1)
The improved PID method is characterized in that a speed item of the current two-dimensional motion mechanism is added on the basis of the original PID, adjustment is carried out on the basis of the speed item, otherwise, when the deviation becomes too large, the PID output is too large and exceeds the acceleration capability of a motor of the two-dimensional mechanism, so that control divergence is caused, and the problem can be well solved after the speed item is added.
The control quantity is output by utilizing a tracking algorithm according to an improved PID method as follows:
while the invention has been described with reference to specific preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications and alternative embodiments, which may be apparent to those skilled in the art, within the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A planet detection capture brake and device separation physical tracking device is characterized by comprising a tracking system and a motion simulator, wherein the tracking system comprises a ground control system (1), a two-dimensional motion system (2), a rotating motor (4) and a vision measurement system (5), the ground control system (1) is connected with the two-dimensional motion system (2), the rotating motor (4) and the vision measurement system (5) through cables (3), the two-dimensional motion system (2), the rotating motor (4) and the vision measurement system (5) are arranged on a marble platform, the rotating motor (4) is arranged on the two-dimensional motion system (2), and the rotating motor (4) is connected with the vision measurement system (5);
the motion simulator consists of a rigid instrument platform (6), onboard equipment and a corresponding air floatation system (11), wherein the onboard equipment comprises an attitude measurement subsystem (7), a controller (8), an equivalent execution mechanism (9) and a visual target (10); the attitude measurement subsystem (7), the controller (8) and the equivalent actuating mechanism (9) are arranged on the rigid instrument platform (6), and the visual target (10) is arranged on the side surface of the rigid instrument platform (6); the air floatation system (11) is positioned at the lower part of the rigid instrument platform (6), and the air floatation system (11) is provided with four air nozzles;
the connection relationship between the tracking system and the motion simulator is as follows: firstly, a visual target (10) of a motion simulator is placed below a visual measurement system (5) of a tracking system, the tracking system runs a real-time algorithm, the tracking system controls a two-dimensional motion system (2) and a rotating motor (4) to control, and the visual target (10) is always ensured to be in the visual field of the visual measurement system (5).
2. A planetary probe capture brake and device separation physical tracking apparatus according to claim 1, wherein the visual target (10) is a metal plate with two light emitting lamps placed thereon.
3. The planetary exploration capture brake and device separation physical tracking device as claimed in claim 1, wherein the rigid instrument platform (6) needs to be configured and arranged to meet the requirements of a field angle of a sensor, installation accuracy of various instruments, mechanical environment requirements of equipment, circuit design and general assembly rules to meet the constraints of a simulation test system.
4. A planetary probe capture brake and device separation physical tracking device according to claim 1, characterized in that the attitude measurement subsystem (7) employs a gyroscopic and totalizing combination; the controller (8) adopts a GNC unit and a simulation computer; the equivalent execution structure (9) adopts a cold air thruster.
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