CN111880482A - High-precision sensor visual axis servo control system and method thereof - Google Patents
High-precision sensor visual axis servo control system and method thereof Download PDFInfo
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- CN111880482A CN111880482A CN202010554710.4A CN202010554710A CN111880482A CN 111880482 A CN111880482 A CN 111880482A CN 202010554710 A CN202010554710 A CN 202010554710A CN 111880482 A CN111880482 A CN 111880482A
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Abstract
The invention discloses a high-precision sensor visual axis servo control system, which comprises a platform stabilizing mechanism, a target image tracking mechanism and a main control system, wherein the platform stabilizing mechanism comprises a digital rate gyroscope and a gyroscope feedback driver; the target image tracking mechanism comprises a thermal infrared imager, a visible light camera and a target tracking driver; and the main control system is loaded with a gyro stabilizing program and a target image tracking program. According to the invention, the platform stabilizing mechanism is used as the primary stabilization of coarse adjustment to eliminate ship shake, the basis of effective calculation is established, and the target image tracking mechanism is used as the secondary stabilization of fine adjustment to ensure the tracking precision and the stability of the visual axis of the sensor. The high-reliability and high-precision sensor visual axis servo control can be realized, and the balanced performance of the sensor visual axis servo control system in the complex, informationized and dynamic battlefield environment in the photoelectric/radar integrated fire control system is effectively ensured.
Description
Technical Field
The invention particularly relates to a high-precision sensor visual axis servo control system and a method thereof.
Background
The radar/photoelectric integrated fire control system has the advantages of complete task function, high stability and precision, convenience in operation and use and the like through high fusion and integration, and can meet the multi-task functional requirements of various kinds of marine reconnaissance, deterrence, monitoring and the like. In the prior art, a ring frame system is generally adopted as an integral stable control mode of the photoelectric sensor, a gyroscope is placed on a platform to measure the motion of the platform, the change of a gyroscope sensing attitude angle is amplified and then fed back to a torque motor, and the platform is driven by the torque motor to keep the photoelectric sensor stable. However, the aiming line is stabilized completely by the stable platform, various interferences are more, the improvement of the stability precision is limited, and the precise and quick detection and tracking effects in highly complicated, informationized and dynamic scenes cannot be realized.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a high-precision sensor visual axis servo control system which comprises a platform stabilizing mechanism, a target image tracking mechanism and a main control system, wherein the platform stabilizing mechanism comprises a digital rate gyro and a gyro feedback driver, and the bandwidth of the digital rate gyro is 105 Hz; the target image tracking mechanism comprises a thermal infrared imager, a visible light camera and a target tracking driver; and the main control system is loaded with a gyro stabilizing program and a target image tracking program.
In order to effectively calculate and offset the control quantity required by ship rolling, the gyro stabilizing program adopts a PID control algorithm, and the PID control algorithm adopts the following formula
In the formula (I), the compound is shown in the specification,
k is the sample cycle number, k is 0, 1, 2 … …;
e (k) -the velocity offset at the kth sampling instant;
alpha-weight value.
The present algorithm is essentially a weighted average of the present controlled variable and the previous controlled variable u (k-1).
In this embodiment, the target image tracking must be implemented by selecting a reasonable tracking algorithm, in order to ensure the tracking accuracy and reduce the calculation amount, the image tracking program uses a minimum distance matching algorithm (minimumfarstance), the threshold used in the current matching process is set to be T0, and the threshold T1 used in the next frame matching is dynamically adjusted within the range of [ Tmin, Tmax ] according to the current number N of matching points and the matching confidence G, which includes the following two steps:
the method comprises the following steps: if N > 1, T1 ═ max (Tmin, T0/2), otherwise T1 ═ min (Tmax, T0+ 1); if the matching point is not unique, the threshold value is quickly reduced, and the matching accuracy of the next frame is improved; if there is only one matching point, the threshold is gradually increased for better noise immunity and local occlusion.
Step two: when G is less than 0.7, T1 is Tmax; when G is more than or equal to 0.7 and less than 0.8, T1 is max (Tmax-3, T0); if the current matching reliability is low and deformation of the target area is likely to occur, the threshold value is directly set to be larger or maximum.
The present algorithm is essentially an algorithm that dynamically adjusts the pixel similarity threshold. When N > 1 occurs, one must be selected among several matching points, and random or sequential selection is the simplest but not the good way to reduce template drift. Typically, another screening is performed among the several matching points. Since the number of points is small and not every matching process is run, the cost of the increased amount of computation is not large. Although the case of N > 1 cannot be avoided, the probability of occurrence thereof is greatly reduced, and template drift can be significantly slowed down due to the adoption of a better screening method. The algorithm has higher anti-noise and target deformation capabilities, and simultaneously gives consideration to the load of calculated quantity, and is a scheme with balanced performance and high reliability.
A high-precision sensor visual axis servo control method comprises the following steps:
s1: detecting the absolute speed change of the axis of the sensor through a digital rate gyro, and digitally sending a speed value to a master control system;
s2: calculating a control quantity required for counteracting the ship swing by a gyro stabilizing program in the master control system, and sending the control quantity to a gyro feedback driver after D/A conversion;
s3: the infrared thermal imager and the visible light camera capture target image information and send the target image information to the main control system;
s4: calculating the relative speed change and the adjustment quantity of the target by a target image tracking program in the master control system, and sending the adjustment quantity to a target tracking driver after D/A conversion;
s5: the gyro feedback driver coarsely adjusts the visual axis of the sensor, and the target tracking driver finely adjusts the visual axis of the sensor.
Has the advantages that: according to the invention, the platform stabilizing mechanism is used as the primary stabilization of coarse adjustment to eliminate ship shake, the basis of effective calculation is established, and the target image tracking mechanism is used as the secondary stabilization of fine adjustment to ensure the tracking precision and the stability of the visual axis of the sensor. The high-reliability and high-precision sensor visual axis servo control can be realized, the balanced performance of the sensor visual axis servo control system in the complex, informationized and dynamic battlefield environment in the photoelectric/radar integrated fire control system is effectively ensured, and the operation efficiency of the system is improved.
Drawings
FIG. 1 is a system block diagram of an embodiment of the invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present embodiment provides a high-precision sensor boresight servo control system, which includes a platform stabilizing mechanism, a target image tracking mechanism and a main control system, where the platform stabilizing mechanism includes a digital rate gyro and a gyro feedback driver; the target image tracking mechanism comprises a thermal infrared imager, a visible light camera and a target tracking driver; and the main control system is loaded with a gyro stabilizing program and a target image tracking program.
In order to effectively calculate and offset the control amount required for the ship's rolling, it is preferable that the gyro stabilization program employs a PID control algorithm using the following formula
In the formula (I), the compound is shown in the specification,
k is the sample cycle number, k is 0, 1, 2 … …;
e (k) -the velocity offset at the kth sampling instant;
alpha-weight value.
The present algorithm is essentially a weighted average of the present controlled variable and the previous controlled variable u (k-1).
The PID control algorithm in the scheme has the following advantages: (1) the principle is simple, and the use is convenient; (2) the adaptability is strong; (3) the robustness is strong, namely the control quality is not very sensitive to the change of the controlled object characteristics.
In order to ensure the tracking accuracy and reduce the calculation amount, the image tracking program preferably adopts a minimum distance matching algorithm (minimumfarsistance), sets a threshold value adopted in the current matching process as T0, and dynamically adjusts a threshold value T1 adopted in the next frame matching within the range of [ Tmin, Tmax ] according to the current matching point number N and the matching confidence degree G, and includes the following two steps:
the method comprises the following steps: if N > 1, T1 ═ max (Tmin, T0/2), otherwise T1 ═ min (Tmax, T0+ 1);
step two: when G is less than 0.7, T1 is Tmax; when G is more than or equal to 0.7 and less than 0.8, T1 is max (Tmax-3, T0).
Furthermore, in the first step of the minimum distance matching algorithm, if the matching point is not unique, the threshold value is quickly reduced, and the matching accuracy of the next frame is improved; if there is only one matching point, the threshold is gradually increased for better noise immunity and local occlusion.
Furthermore, in the second step of the minimum distance matching algorithm, if the current matching reliability is low and it is likely that the target region has deformation, the threshold is directly set to be larger or maximum.
The present algorithm is essentially an algorithm that dynamically adjusts the pixel similarity threshold. When N > 1 occurs, one must be selected among several matching points, and random or sequential selection is the simplest but not the good way to reduce template drift. Typically, another screening is performed among the several matching points. Since the number of points is small and not every matching process is run, the cost of the increased amount of computation is not large. Although the case of N > 1 cannot be avoided, the probability of occurrence thereof is greatly reduced, and template drift can be significantly slowed down due to the adoption of a better screening method. The algorithm has higher anti-noise and target deformation capabilities, and simultaneously gives consideration to the load of calculated quantity, and is a scheme with balanced performance and high reliability.
Further, the bandwidth of the digital rate gyro is 105 Hz.
A high-precision sensor visual axis servo control method comprises the following steps:
s1: detecting the absolute speed change of the axis of the sensor through a digital rate gyro, and digitally sending a speed value to a master control system;
s2: calculating a control quantity required for counteracting the ship swing by a gyro stabilizing program in the master control system, and sending the control quantity to a gyro feedback driver after D/A conversion;
s3: the infrared thermal imager and the visible light camera capture target image information and send the target image information to the main control system;
s4: calculating the relative speed change and the adjustment quantity of the target by a target image tracking program in the master control system, and sending the adjustment quantity to a target tracking driver after D/A conversion;
s5: the gyro feedback driver coarsely adjusts the visual axis of the sensor, and the target tracking driver finely adjusts the visual axis of the sensor.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the scope of the invention, which is defined by the above description as merely a preferred embodiment of the invention, but shall not be construed as limiting the scope of the invention.
Claims (7)
1. A high-precision sensor visual axis servo control system is characterized by comprising a platform stabilizing mechanism, a target image tracking mechanism and a main control system, wherein the platform stabilizing mechanism comprises a digital rate gyro and a gyro feedback driver; the target image tracking mechanism comprises a thermal infrared imager, a visible light camera and a target tracking driver; and the main control system is loaded with a gyro stabilizing program and a target image tracking program.
2. The high precision sensor boresight servo control system according to claim 1, wherein the gyro stabilization program employs a PID control algorithm, and the PID control algorithm employs the following equation:
in the formula (I), the compound is shown in the specification,
k is the sample cycle number, k is 0, 1, 2 … …;
e (k) -the velocity offset at the kth sampling instant;
alpha-weight value.
3. The high precision sensor boresight servo control system according to claim 1, wherein the image tracking program uses a minimum distance matching algorithm (minimumfarsistance), sets the threshold value used in the current matching process to be T0, and dynamically adjusts the threshold value T1 used in the next frame matching within the range [ Tmin, Tmax ] according to the current matching point number N and the matching confidence degree G, and includes the following two steps:
the method comprises the following steps: if N > 1, T1 ═ max (Tmin, T0/2), otherwise T1 ═ min (Tmax, T0+ 1);
step two: when G is less than 0.7, T1 is Tmax; when G is more than or equal to 0.7 and less than 0.8, T1 is max (Tmax-3, T0).
4. The high precision sensor visual axis servo control system according to claim 3, characterized in that, in the first step of the minimum distance matching algorithm, if the matching point is not unique, the threshold is rapidly reduced to improve the precision of the next frame matching; if there is only one matching point, the threshold is gradually increased for better noise immunity and local occlusion.
5. The high accuracy sensor boresight servo control system according to claim 1, wherein in the second step of the minimum distance matching algorithm, if the current matching reliability is low, the threshold is set to be larger or maximum directly.
6. The high precision sensor boresight servo control system of claim 1 wherein the bandwidth of said digital rate gyro is 105 Hz.
7. A high-precision sensor visual axis servo control method is characterized by comprising the following steps:
s1: detecting the absolute speed change of the axis of the sensor through a digital rate gyro, and digitally sending a speed value to a master control system;
s2: calculating a control quantity required for counteracting the ship swing by a gyro stabilizing program in the master control system, and sending the control quantity to a gyro feedback driver after D/A conversion;
s3: the infrared thermal imager and the visible light camera capture target image information and send the target image information to the main control system;
s4: calculating the relative speed change and the adjustment quantity of the target by a target image tracking program in the master control system, and sending the adjustment quantity to a target tracking driver after D/A conversion;
s5: the gyro feedback driver coarsely adjusts the visual axis of the sensor, and the target tracking driver finely adjusts the visual axis of the sensor.
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| CN112634322A (en) * | 2020-11-25 | 2021-04-09 | 武汉华之洋科技有限公司 | Compound tracking system and method based on multipath extraction and intelligent recognition autonomous guidance |
| CN117724429A (en) * | 2023-12-29 | 2024-03-19 | 粤海永顺泰(宝应)麦芽有限公司 | Multimode analysis-based intelligent control method and system for barley soaking equipment |
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| CN117724429A (en) * | 2023-12-29 | 2024-03-19 | 粤海永顺泰(宝应)麦芽有限公司 | Multimode analysis-based intelligent control method and system for barley soaking equipment |
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