CN112903246B - Method for measuring stability precision of coarse-fine combined two-stage stable photoelectric system - Google Patents
Method for measuring stability precision of coarse-fine combined two-stage stable photoelectric system Download PDFInfo
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Abstract
The invention discloses a method for measuring the stability and precision of a coarse-fine combined two-stage stable photoelectric system, which comprises the following steps: acquiring gyro output voltage data to obtain visual axis motion quantity caused by stable residual error of a gyro stable platform; collecting voltage signals output by the FSM component, and calculating to obtain visual axis movement caused by the FSM component; summing to obtain the azimuth motion quantity and the pitching motion quantity of the aiming line; fourier transform is respectively carried out on the azimuth movement amount and the pitching movement amount of the aiming line to obtain frequency domain data; performing autocorrelation function calculation on the frequency domain data and the frequency domain data to obtain Power Spectrum Density (PSD); and integrating the PSD data to obtain a stable precision value. The invention can accurately reflect the stable precision of the visual axis of the photoelectric system, and the measuring method is stable and reliable, is not influenced by the measuring environment and the measuring angle of the photoelectric system, and can be widely applied to photoelectric systems adopting coarse-fine combination and secondary stabilization.
Description
Technical Field
The invention belongs to a measuring method for the stable precision of an optical axis of a photoelectric system, which is mainly applicable to the photoelectric system for realizing a coarse-level combined secondary stabilization technology based on a fast-tuning reflector (FSM for short).
Background
The application number CN20120208448.3, named as a method for measuring the stable precision of the aiming line of the photoelectric stable aiming system, discloses a method for measuring the stable precision of the aiming line, which is characterized in that a plane reflector is fixed in a photoelectric system to be measured. And (5) externally erecting an auto-collimation measurement system to perform image dithering calculation so as to obtain stable precision. The device disclosed by the application number CN201010241745.9 and named as an 'optical-electric platform visual axis stability error tester' is mainly characterized in that a high-speed CMOS detector is used for detecting the shaking amount of a target on the focal plane of an auto-collimator, so that the stability accuracy is calculated. The application number CN201410686266.6 discloses equipment named as 'stability and precision testing equipment of a photoelectric detection system stability platform', which adopts an auto-collimation scheme based on a CCD detector to carry out visual axis jitter measurement and obtain stability and precision.
The GJB8331-2015 airborne photoelectric detection platform general specification introduces the infinite target simulated by the photoelectric system observation collimator in the swing test, and obtains the stable precision of the visual axis by calculating the off-target quantity in the vibration environment. The general standard of the photoelectric reconnaissance nacelle of the GJB7891-2012 helicopter introduces the infinite target simulated by the photoelectric system when the swing test is performed, the stable precision of the visual axis is obtained by calculating the off-target quantity in the vibration environment, and the stable precision of the visual axis is also obtained by collecting gyro signals and calculating. The GJB5876-2006 aims at the general standard of the nacelle stabilizing platform/servo system, and the standard introduces that when in vibration test, a plane reflecting mirror is installed inside a photoelectric system, an auto-collimation collimator is erected outside the photoelectric system, and the stable precision of the visual axis is obtained by recording the light beam deviation of the incident reflecting mirror and the emergent reflecting mirror.
Author Liu Haibo, etc., literature name "a method study of measuring stable accuracy of photoelectric stabilized sighting system by interferometer" is published in "applied optics", literature author proposes a stable accuracy measuring method based on interferometer measurement, and a CCD is used to observe tiny change of interference fringes, so as to realize stable accuracy test. Author Zhao Lei, etc., literature name "coarse and fine composite control of carrier-based laser weapon stabilized platform", published in application optics ", and literature author adopted auto-collimator to perform coarse and fine combination secondary stable visual axis stability precision test of photoelectric system.
The above documents all relate to measurement of stable precision of a photoelectric system, the patent introduction basically belongs to an optical auto-collimation measurement method, and the GJB specification does not relate to a measurement method of stable precision of a coarse-fine combination secondary stable photoelectric system. The data introduction method is different from the invention, the measuring method can overcome the influence of the measuring environment, can accurately measure the stability and the precision of the photoelectric system in a full-angle range, is simple and easy to realize, and has stronger universality. The related work has stronger innovation and engineering practical value and has the necessity of applying for patent protection.
The method for measuring the stable precision of the visual axis of the photoelectric system mainly comprises the following steps: the first is to simulate an infinitely long object by using a collimator, simulate a carrier environment by using a vibrating table or a swinging table, observe the shaking condition of an image object output by a photoelectric system and estimate the stability accuracy, the second is to set a reflecting mirror in the photoelectric system, obtain the stability accuracy by measuring the motion of a platform by an autocollimator, and the third is to measure a sensor signal, and obtain the stability accuracy by processing signals of shaking of the photoelectric system platform measured by a gyroscope and the like. The first method is relatively visual, but actual measurement values are difficult to obtain, and the latter two methods are mostly adopted by the traditional airborne photoelectric stabilized sighting system. For the stable precision measurement type of the coarse-fine combined two-stage stabilization system, the second method also has a certain limitation, and because the control precision of the two-stage stabilization is higher, the self-jitter of the measurement device caused by air disturbance and vibration is likely to exceed the stable precision index under the vibration environment. The third method can only measure the stable precision of the coarse-level gyro stable platform, and cannot measure the stable precision of the visual axis after coarse-fine combination.
Disclosure of Invention
Object of the invention
The purpose of the invention is that: the method for measuring the stable precision of the coarse-fine combined two-stage stable photoelectric system is provided, and the stable precision is measured by measuring a gyro signal and an FSM signal, so that the stable precision of a visual axis is measured in real time.
(II) technical scheme
In order to solve the technical problems, the invention provides a measurement method for the stability precision of a coarse-fine combined two-stage stable photoelectric system, wherein in the design of the two-stage combined stable photoelectric system based on an FSM, a gyroscope, an FSM base and an optical imaging sensor are rigidly and fixedly connected, so that according to the kinematics principle, the movement of a line of sight is equal to the sum of the movement of the line of sight caused by the movement of an inertial stable platform (gyroscopic measurement) and the movement of the line of sight caused by the FSM.
According to the invention, the line-of-sight motion a (t) caused by stable residual error of an inertial stabilized platform is obtained by integrating a gyro signal, the line-of-sight motion b (t) caused by the FSM is obtained by multiplying a position signal of an FSM component by an optical proportionality coefficient, delta (t) =a (t) +b (t) is obtained by summing the two motions, and the stable precision P of a visual axis is finally obtained by carrying out power spectrum density calculation and power spectrum calculation.
(III) beneficial effects
The measurement method of the stable precision of the coarse-fine combination two-stage stable photoelectric system provided by the technical scheme can accurately reflect the stable precision of the visual axis of the photoelectric system, is stable and reliable, is not influenced by the measurement environment and the measurement angle of the photoelectric system, and can be widely applied to the photoelectric system adopting the coarse-fine combination two-stage stable.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to the accompanying drawings and examples.
Referring to fig. 1, the method for measuring the stability and precision of the coarse-fine combination two-stage stable photoelectric system in this embodiment includes the following steps:
1) Collecting gyro output voltage data, multiplying a scale factor, converting the gyro output voltage data into an angular velocity value, integrating the angular velocity value, and outputting an integration result in real time to obtain the visual axis movement quantity a (t) caused by the stable residual error of the gyro stable platform, wherein the visual axis movement quantity a (t) comprises the azimuth direction ax (t) and the pitching direction ay (t).
2) Meanwhile, collecting a voltage signal output by an FSM component, multiplying the voltage signal by a scale factor to obtain an FSM displacement signal F (t), multiplying the displacement signal by a photoelectric system proportionality coefficient K, wherein the photoelectric system proportionality coefficient K comprises an azimuth coefficient K1 and a pitching coefficient K2, the azimuth coefficient K1 is an optical amplification factor divided by 2, and the pitching coefficient K2 is an optical amplification factor divided by 2
Obtaining visual axis motion b (t) caused by the FSM component, wherein the visual axis motion b (t) comprises an azimuth bx (t) and a pitching by (t); bx (t) =f (t) ×k1, by (t) =f (t) ×k2;
in the present embodiment, an example is: k= 8,F (t) =0.03°, k1=4, k2=5.65685, bx (t) =0.12 °, by (t) = 0.1697 °.
3) Summing the results of the measurements of 1) and 2) to obtain the movement amount of the azimuth direction of the aiming line as delta x (t) =ax (t) +bx (t), and the movement amount of the elevation direction as delta y (t) =ay (t) +by (t).
4) Fourier transforming the azimuth motion amount δx (t) and the pitching motion amount δy (t) of the aiming line to obtain frequency domain data δx (ω) and δy (ω);
in this embodiment, the fourier transform function "fft" in MATLAB is used to calculate the corresponding azimuth direction calculation function as:
δx(ω)＝fft(δx(t),N1)
where N1 is the number of discretized points, which may be taken as n1=2 14 。
5) And (3) performing autocorrelation function calculation on the frequency domain data delta x (omega) and delta y (omega) to obtain the Power Spectral Density (PSD).
In this embodiment, by means of the conjugate calculation function "conj" in MATLAB, the corresponding azimuth calculation function is:
δx(ω)＝δx(ω).*conj(δx(ω))/N1/fs
fs is the frequency of data acquisition, exemplified by: fs=2000 HZ.
6) And integrating the power spectrum density data to obtain a stable precision value.
In this embodiment, by means of the power spectral density integral function "cumtrapz" in MATLAB, the corresponding azimuth calculation function is:
P(1:end)＝cumtrapz(f(1:end),δx(ω)(1:end))
f is an array after the nyquist frequency discretization processing of the acquisition frequency fs, and a conjugate calculation function 'linspace' in MATLAB is calculated, wherein the corresponding calculation function is as follows:
f＝fs/2*linspace(0,1,N1/2+1)
the foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. The method for measuring the stability precision of the coarse-fine combined two-stage stable photoelectric system is characterized by comprising the following steps of:
step 1: collecting gyro output voltage data, multiplying a scale factor, converting the gyro output voltage data into an angular velocity value, integrating the angular velocity value, and outputting an integration result in real time to obtain an amount of visual axis motion caused by stable residual error of a gyro stable platform;
step 2: meanwhile, voltage signals output by the FSM component are collected and multiplied by a scale factor to obtain FSM displacement signals F (t), and the displacement signals are multiplied by an optical proportionality coefficient to obtain the visual axis motion quantity caused by the FSM component;
step 3: summing the measurement results obtained in the step 1 and the step 2 to obtain the azimuth motion quantity and the pitching motion quantity of the aiming line;
step 4: fourier transform is respectively carried out on the azimuth movement amount and the pitching movement amount of the aiming line to obtain frequency domain data;
step 5: performing autocorrelation function calculation on frequency domain data delta x (omega) and delta y (omega) respectively to obtain power spectral density PSD;
step 6: and integrating the power spectral density PSD data to obtain a stable precision value.
2. The method for measuring the stability accuracy of the coarse-fine combined two-stage stabilized photoelectric system according to claim 1, wherein in the step 1, the visual axis movement amount a (t) caused by the stable residual error of the gyro stabilized platform includes an azimuth movement amount ax (t) and a pitch movement amount ay (t).
3. The method for measuring the stability and precision of the coarse-fine combined two-stage stable photoelectric system according to claim 2, wherein in the step 2, the optical proportionality coefficient K includes an azimuth coefficient K1 and a pitch coefficient K2, wherein the azimuth coefficient K1 is an optical magnification divided by 2, and the pitch coefficient K2 is an optical magnification divided by 2
4. A method for measuring the stability and precision of a coarse-fine combined two-stage stable photoelectric system according to claim 3, wherein in the step 2, the visual axis movement b (t) caused by the FSM component includes an azimuth movement bx (t) and a pitch movement by (t); bx (t) =f (t) ×k1, by (t) =f (t) ×k2.
5. The method for measuring the stability and precision of the coarse-fine combined two-stage stable photoelectric system according to claim 4, wherein in the step 3, the azimuth movement amount of the aiming line is δx (t) =ax (t) +bx (t), and the elevation movement amount is δy (t) =ay (t) +by (t).
6. The method for measuring the stability and precision of the coarse-fine combined two-stage stable photoelectric system according to claim 5, wherein in the step 4, fourier changes are performed on the azimuth movement amount δx (t) and the elevation movement amount δy (t) of the aiming line, respectively, so as to obtain azimuth and elevation frequency domain data δx (ω) and δy (ω).
7. The method for measuring the stability and precision of the coarse-fine combined two-stage stable photoelectric system according to claim 6, wherein in the step 4, a fourier transform calculation function "fft" in MATLAB is used, and the corresponding azimuth calculation function is:
δx(ω)＝fft(δx(t),N1)
where N1 is the number of discretized points.
8. The method for measuring the stability and precision of the coarse-fine combined two-stage stable photoelectric system according to claim 7, wherein in the step 5, a conjugate calculation function "conj" in MATLAB is used, and the corresponding azimuth calculation function is:
δx(ω)＝δx(ω).*conj(δx(ω))/N1/fs
where fs is the frequency of data acquisition.
9. The method for measuring the stability and precision of the coarse-fine combined two-stage stable photoelectric system according to claim 8, wherein in the step 6, a power spectral density integral function "" cumtrapz "" in MATLAB is used, and the corresponding azimuth calculation function is:
P(1:end)＝cumtrapz(f(1:end),δx(ω)(1:end))
f is an array after the nyquist frequency discretization processing of the acquisition frequency fs, and a conjugate calculation function 'linspace' in MATLAB is calculated and used, and the corresponding calculation function is as follows:
f＝fs/2*linspace(0,1,N1/2+1)。
10. the method for measuring the stability and precision of the coarse-fine combined two-stage stable photoelectric system according to claim 9, wherein in the step 2, k= 8,F (t) =0.03°, k1=4, k2=5.65685, bx (t) =0.12°, by (t) = 0.1697 °; in step 4, n1=2 14 In step 5, fs=2000 HZ.
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