CN112269403B - Method for controlling aiming line of horizontal photoelectric pod to move in mode of hoisting photoelectric turret - Google Patents
Method for controlling aiming line of horizontal photoelectric pod to move in mode of hoisting photoelectric turret Download PDFInfo
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- CN112269403B CN112269403B CN202011059583.7A CN202011059583A CN112269403B CN 112269403 B CN112269403 B CN 112269403B CN 202011059583 A CN202011059583 A CN 202011059583A CN 112269403 B CN112269403 B CN 112269403B
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Abstract
The invention provides a method for controlling an aiming line of a horizontally-mounted photoelectric pod to move according to a lifting photoelectric turret mode, which comprises the steps of firstly obtaining a conversion relation between a lifting photoelectric turret and a horizontally-mounted photoelectric pod according to the frame motion modes of the lifting photoelectric turret and the horizontally-mounted photoelectric pod, then obtaining an azimuth angle and a pitch angle of the lifting photoelectric turret corresponding to a certain moment according to the roll angle, the pitch angle and the conversion relation of the horizontally-mounted photoelectric pod at the moment, further obtaining a conversion matrix for converting the lifting photoelectric turret and the horizontally-mounted photoelectric pod to a machine body coordinate system, and finally obtaining a given roll angle and a given pitch angle of the horizontally-mounted photoelectric pod at the moment according to a preset speed, so that the image visual angle of the lifting photoelectric turret consistent with the observation visual angle of a flight crew can be automatically converted into control parameters of the horizontally-mounted photoelectric pod to control a carrier, the habit of a common operator is met, the operation is natural and smooth, and the reconnaissance efficiency of the horizontally-mounted photoelectric pod is obviously improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle reconnaissance, and particularly relates to a method for controlling a sighting line of a horizontal photoelectric pod to move in a mode of hoisting a photoelectric turret.
Background
The airborne photoelectric pod has two main installation modes, namely a hoisting mode, which is often called a photoelectric turret, and a horizontal installation mode, which is often called a photoelectric pod. The structure form of the horizontal photoelectric pod is similar to that of the hoisting photoelectric pod, wherein the azimuth motion of the hoisting photoelectric pod corresponds to the rolling motion of the horizontal photoelectric pod, and the pitching motion of the hoisting photoelectric pod corresponds to the pitching motion of the horizontal photoelectric pod.
When an operator controls the lifting photoelectric turret to rotate to search ground targets through the control handle, the left and right movement of the handle controls the azimuth rotation of the photoelectric turret, and the front and back movement controls the pitching rotation of the turret. The track of the intersection point of the sight line and the ground is shown in fig. 1 when the photoelectric turret frame rotates, the track of the intersection point is circular when the photoelectric turret frame rotates in the azimuth direction, and the intersection point moves along the radius direction of the circular track when the photoelectric turret frame rotates in the pitching direction; when an operator controls the horizontally-mounted photoelectric pod to rotate to search a ground target through the control handle, the left and right movement of the handle controls the rolling rotation of the photoelectric pod, and the front and back movement controls the pitching rotation of the photoelectric pod. The track of the intersection point of the aiming line and the ground when the photoelectric pod frame rotates is shown in fig. 2, the track of the intersection point when the photoelectric pod frame rotates in a rolling mode is a hyperbolic curve, and the track of the intersection point when the photoelectric pod frame rotates in a pitching mode is a straight line.
The visual angle of the image of the ground target observed by the lifting photoelectric turret is consistent with the visual angle of the flight personnel, the horizontal movement of the image can be caused by the azimuth rotation of the photoelectric turret, the vertical movement of the image can be caused by the pitching rotation, the design accords with the habit of a common operator, and the operation is natural and smooth; the image visual angle of the horizontal photoelectric pod is different from the visual angle of flight or pod operators, so that the direct output image of the horizontal photoelectric pod is rotated and adjusted to be consistent with the visual angle of the image of the lifting photoelectric turret for observation. However, after the image is adjusted by rotation, the rolling motion of the pod does not correspond to the left and right movement of the image any longer, and the pitching motion does not correspond to the up and down movement of the image any longer, so that the operability is poor when the photoelectric pod is controlled by the control handle to rotate, and the reconnaissance efficiency is influenced.
Disclosure of Invention
In view of this, the present invention provides a method for controlling the aiming line of the horizontal photoelectric pod to move in the manner of hoisting the photoelectric turret, so that the horizontal photoelectric pod is convenient to operate like hoisting the photoelectric turret, and the reconnaissance efficiency is improved.
In order to achieve the purpose, the invention adopts the technical scheme that: the method for controlling the aiming line of the horizontally-mounted photoelectric pod to move in a mode of lifting the photoelectric turret comprises the following steps of:
s1, respectively converting the same vector under a sight line coordinate system into a machine body coordinate system according to the frame motion forms of a hoisting photoelectric turret and a horizontally-mounted photoelectric pod, and obtaining the conversion relation between an azimuth angle A and a pitch angle B of the hoisting photoelectric turret and the conversion relation between a roll angle A 'and a pitch angle B' of the horizontally-mounted photoelectric pod after the azimuth angle A and the pitch angle B are equal to each other;
s2, obtaining an azimuth angle A and a pitch angle B of the lifting photoelectric turret corresponding to a certain moment according to the rolling angle A 'and the pitch angle B' of the horizontally-mounted photoelectric pod at the moment and the conversion relation obtained in the step S1, and further respectively obtaining a conversion matrix for converting the lifting photoelectric turret and the horizontally-mounted photoelectric pod from a sight line coordinate system to a machine body coordinate system
And
s3, converting the preset speed of the intersection point of the sight line and the ground under a sight line coordinate system into the speed under a machine body coordinate system according to the movement form of a frame for hoisting the photoelectric turret;
s4, according to the frame motion form of the horizontally-mounted photoelectric pod, converting the speed of the intersection point in the machine body coordinate system into the speed in the sight line coordinate system to obtain the preset rolling angular speed omega 'required by the horizontally-mounted photoelectric pod at the moment' x And pitch angle velocity ω' y 。
Furthermore, the same vector is a vector along the X axis under the line-of-sight coordinate system
Compared with the prior art, the invention has the beneficial effects that: the invention provides a method for controlling a sight line of a horizontally-mounted photoelectric pod to move in a mode of lifting the photoelectric turret, which can automatically convert an image visual angle of the lifting photoelectric turret, which is consistent with an observation visual angle of a flight crew, into control parameters of the horizontally-mounted photoelectric pod to control an aircraft, thereby conforming to the habit of a common operator, having natural and smooth operation and obviously improving the reconnaissance efficiency of the horizontally-mounted photoelectric pod.
Drawings
FIG. 1 is a schematic diagram of the movement of a rotating line of sight of a suspended photovoltaic turret;
fig. 2 is a movement diagram of a rotating line of sight of a horizontal photoelectric pod.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
The invention discloses a method for controlling the aiming line of a horizontally-mounted photoelectric pod to move according to a lifting photoelectric turret mode, which comprises the following steps of firstly, converting an aiming line coordinate system into a machine body coordinate system: two transformation matrixes are arranged according to two structural forms of a hoisting photoelectric turret and a horizontal photoelectric pod and are respectively recorded as
And
then the vector along the X axis under the aiming line coordinate system
The method is characterized in that the method is converted into a machine body coordinate system according to two structural forms of a horizontal photoelectric pod and a hoisting photoelectric turret:
A. b is an azimuth angle and a pitch angle of the hoisting photoelectric turret respectively;
a 'and B' are respectively the roll angle and the pitch angle of the horizontal photoelectric pod.
Command under body coordinate system
This gives:
B＝arcsin(sinB′cosA′)； (3)
and defining the distance D from the carrier to the intersection point of the sight line and the ground. Suppose that a certain time is respectively in omega z 、ω y Driving a certain hoisting photoelectric turret to rotate in the azimuth and the elevation frame, and expressing the velocity vector of an intersection point as
Since the calculation factor D is also reduced in subsequent calculations and thus can be ignored in the calculation.
The speed can be expressed as follows in a coordinate system of the carrier body:
according to the movement form of the frame of the horizontally-mounted photoelectric pod, the electric pod is arranged in a horizontal manner
And converting to a sight line coordinate system:
the junction points lie relativelyThe rolling angular velocity of the photoelectric pod is
Pitch angular velocity
From ω' x 、ω′ y The horizontal photoelectric pod aiming line can be controlled to move like a hoisting photoelectric turret aiming line by respectively using the horizontal photoelectric pod rolling frame and the pitching frame as the given angular velocities of the stable circuits.
The invention can automatically convert the image visual angle of the lifting photoelectric turret consistent with the observation visual angle of flight personnel into the control parameters of the horizontal photoelectric pod to control the aircraft, thereby conforming to the habit of common operators, having natural and smooth operation and obviously improving the reconnaissance efficiency of the horizontal photoelectric pod.
The scheme of the invention is explained in detail by that the roll angle A 'of the horizontal photoelectric pod at a certain moment is-45 degrees, the pitch angle B' is-45 degrees:
firstly, it is obtained by calculation
The azimuth angle A of the corresponding hoisting photoelectric turret can be calculated by the formulas (3) and (4) to be 35.27 degrees and the pitch angle B to be-30.0 degrees, and the azimuth angle A is obtained by the calculation
Assuming that the hoisting photoelectric turret is driven to rotate in azimuth at an angular speed of 10 DEG/s, the intersection point of the aiming line and the ground is positioned under the coordinate system of the aiming line of the horizontally-mounted photoelectric podThe motion vector is expressed as
Substituting equation (6) to calculate:
then
From ω' x 、ω′ y As given angular velocities for the roll frame and pitch frame stabilizing loops of the horizontal mounted electro-optic pod, respectively.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (1)
1. The method for controlling the aiming line of the horizontally-mounted photoelectric pod to move in a mode of hoisting the photoelectric turret is characterized by comprising the following steps of:
s1, respectively converting the same vector under an aiming line coordinate system into a machine body coordinate system according to the frame motion forms of a hoisting photoelectric turret and a horizontal photoelectric pod, and obtaining the conversion relation between an azimuth angle A and a pitch angle B of the hoisting photoelectric turret and the roll angle A 'and the pitch angle B' of the horizontal photoelectric pod after the azimuth angle A and the pitch angle B are equal to each other:
specifically, the vector along the X axis in the line-of-sight coordinate system
Respectively converting the coordinates of the machine body into the coordinates of the machine body according to two structural forms of a horizontal photoelectric pod and a hoisting photoelectric turretComprises the following steps:
command under body coordinate system
This gives:
B＝arcsin(sinB′cosA′) (3)；
s2, obtaining an azimuth angle A and a pitch angle B of the lifting photoelectric turret corresponding to a certain moment according to the rolling angle A 'and the pitch angle B' of the horizontally-mounted photoelectric pod at the moment and the conversion relation obtained in the step S1, and further respectively obtaining a conversion matrix for converting the lifting photoelectric turret and the horizontally-mounted photoelectric pod from a sight line coordinate system to a machine body coordinate system
And
s3, according to the movement form of the frame for hoisting the photoelectric turret, converting the preset speed of the intersection point of the aiming line and the ground under an aiming line coordinate system into the speed under a machine body coordinate system:
specifically, the method comprises the following steps: defining the distance from the carrier to the intersection point of the sight line and the ground as D, and assuming that omega is respectively used at a certain moment z 、ω y Driving a certain hoisting photoelectric turret to rotate in the azimuth and the elevation frame, and expressing the velocity vector of an intersection point as
The speed is expressed in a coordinate system of the carrier body as follows:
s4, according to the frame motion form of the horizontally-mounted photoelectric pod, converting the speed of the intersection point in the machine body coordinate system into the speed in the sight line coordinate system to obtain the preset rolling angular speed omega 'required by the horizontally-mounted photoelectric pod at the moment' x And pitch angle velocity ω' y ：
The method specifically comprises the following steps: will be provided with
And converting to a sight line coordinate system:
whereby the intersection point has a roll angular velocity with respect to the horizontally mounted photovoltaic pod of
Pitch angular velocity
From ω' x 、ω′ y The horizontal photoelectric pod aiming line can be controlled to move like a hoisting photoelectric turret aiming line by respectively using the horizontal photoelectric pod rolling frame and the pitching frame as the given angular velocities of the stable circuits.
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| US8024060B2 (en) * | 2008-06-16 | 2011-09-20 | Electro Scientific Industries, Inc. | Method for defining safe zones in laser machining systems |
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| CN104457748A (en) * | 2013-09-18 | 2015-03-25 | 南京理工大学 | Embedded targeting pod attitude determination system and transmission alignment method thereof |
| CN104058099A (en) * | 2014-06-30 | 2014-09-24 | 武汉华中天经光电系统有限公司 | Unmanned plane electro-optical pod |
| CN105243639A (en) * | 2015-09-24 | 2016-01-13 | 北京贯中精仪科技有限公司 | Horizontally mounted photoelectric pod image adjustment method, apparatus and system |
| CN106705969A (en) * | 2017-02-22 | 2017-05-24 | 西安应用光学研究所 | Manual mode aiming line trajectory fitting method of photoelectric system for UAV (unmanned aerial vehicle) |
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