CN112925352A - System and method for improving guide precision of photoelectric tracker - Google Patents
System and method for improving guide precision of photoelectric tracker Download PDFInfo
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- CN112925352A CN112925352A CN202011340045.5A CN202011340045A CN112925352A CN 112925352 A CN112925352 A CN 112925352A CN 202011340045 A CN202011340045 A CN 202011340045A CN 112925352 A CN112925352 A CN 112925352A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/121—Control of position or direction using feedback using synchromachines (selsyns)
Abstract
The invention provides a system and a method for improving the guiding precision of a photoelectric tracker, which can guide a microwave turntable to track a target in real time, eliminate a tracking error and improve the tracking precision. The invention reduces the influence caused by the time delay of guiding the microwave turntable by the photoelectric tracker by predicting the position information of the target at the next moment, can ensure that the photoelectric tracker and the microwave turntable keep synchronously tracking the target, improves the guiding precision of the photoelectric tracker and achieves the ideal tracking effect.
Description
Technical Field
The invention belongs to the technical field of photoelectric tracking, and particularly relates to a system and a method for improving the guiding precision of a photoelectric tracker.
Background
The microwave turntable in the microwave weapon at the present stage has a relatively large volume, so that the photoelectric tracking function cannot be integrated. When the microwave turntable works, the photoelectric tracker is required to guide, namely the photoelectric tracker continuously transmits the tracked target position information to the microwave turntable through the central control software, and the microwave turntable positions and tracks the target according to the received target position information, so that the photoelectric tracker guides the microwave turntable to track the target.
The photoelectric tracker and the microwave turntable need to be controlled by central control software, and the transmission of target position information is realized. In the actual tracking process, the photoelectric tracker sends target position information to the central control software every 20 milliseconds through the serial port, and the central control software corrects the target position information and sends the corrected target position information to the microwave turntable every 50 milliseconds through the network. In the period, the time difference of information transmission of the central control software and the delay time of serial port and network data transmission cause the photoelectric tracker to guide the target of the microwave turntable to have errors.
Disclosure of Invention
In view of this, the invention provides a system and a method for improving the guiding precision of a photoelectric tracker, which can guide a microwave turntable to track a target in real time, eliminate a tracking error and improve the tracking precision.
In order to achieve the purpose, the system for improving the guiding precision of the photoelectric tracker comprises the photoelectric tracker, a microwave turntable and central control software;
the photoelectric tracker processes the acquired video image to track the target and sends the target position information to the central control software;
the central control software receives the target position information of the photoelectric tracker, predicts the target position information at the next moment, and sends the target position information and the target position information at the next moment to the microwave turntable; the target position information comprises a target azimuth angle, a pitch angle and speed information;
and the microwave turntable carries out target positioning and tracking through the received target position information and the target position information at the next moment.
The invention also provides a method for improving the guide precision of the photoelectric tracker, and the system for improving the guide precision of the photoelectric tracker comprises the following steps:
step 1, calculating a target azimuth angle speed, a pitch angle speed and a radial speed by determining target position information fed back by a photoelectric tracker;
step 2, calculating target position information at the next moment through the current azimuth angle, the pitch angle, the distance information, the time difference between the previous moment and the next moment of the target and the calculated azimuth angle speed, pitch angle speed and radial speed of the target;
and 3, converting the target position information into position information relative to the microwave rotary table by the central control software, sending the position information to the microwave rotary table, and controlling the microwave rotary table to position and track the target.
In step 1, the specific steps of calculating the target azimuth angle velocity, the pitch angle velocity and the radial velocity are as follows:
determining horizontal and vertical central positions of a photoelectric tracker and a microwave turntable and corresponding longitude, latitude and height information of the photoelectric tracker and the microwave turntable;
step two, converting the longitude, latitude and height information of the photoelectric tracker and the microwave turntable into space rectangular coordinate information by central control software according to the longitude, latitude and height information of the photoelectric tracker and the microwave turntable obtained in the step one;
and step three, the photoelectric tracker sends the target azimuth angle, the pitch angle and the distance information to the central control software, the central control software stores the target position information at the previous moment, and then the target azimuth angle speed, the pitch angle speed and the radial speed are respectively calculated through the target position information at the current moment and the time difference between the previous moment and the later moment.
In the step 2, the lengths of the target predicted position relative to the photoelectric tracker X, Y, Z in three directions are obtained by performing trigonometric function conversion on the current azimuth angle, the pitch angle and the distance information of the target.
In step 3, the specific step of converting the target position information into the position information relative to the microwave turntable is as follows:
step five, according to the space rectangular coordinate of the photoelectric tracker, the lengths of the target prediction position relative to the photoelectric tracker X, Y, Z in three directions are added, and the space rectangular coordinate of the microwave turntable is subtracted, so that the space rectangular coordinate of the target prediction position relative to the microwave turntable is obtained;
step six, converting the space rectangular coordinate of the target prediction position relative to the microwave turntable through a trigonometric function, calculating the azimuth angle and the pitch angle of the target prediction position relative to the microwave turntable, and calculating the movement speed of the microwave turntable according to the azimuth angle, the pitch angle and the time difference of the current microwave turntable;
and the calculated azimuth angle, the pitch angle and the movement speed of the microwave turntable of the target predicted position relative to the microwave turntable are position information relative to the microwave turntable.
Has the advantages that:
the method reduces the influence caused by the time delay of the photoelectric tracker for guiding the microwave turntable by predicting the position information of the target at the next moment, can ensure that the photoelectric tracker and the microwave turntable keep synchronously tracking the target, improves the guiding precision of the photoelectric tracker, and achieves the ideal tracking effect.
Detailed Description
The present invention will be described in detail below with reference to examples.
In order to achieve the high-precision tracking effect of the microwave turntable, a tracking error caused by time difference needs to be eliminated. The invention relates to a system for improving the guiding precision of a photoelectric tracker, which comprises the photoelectric tracker, a microwave turntable and central control software.
The photoelectric tracker processes the acquired video image to track the target and sends the target position information to the central control software;
the central control software receives the target position information of the photoelectric tracker, predicts the target position information at the next moment, and sends the target position information and the target position information at the next moment to the microwave turntable; wherein the target position information comprises target azimuth angle, pitch angle and speed information;
and the microwave rotary table carries out target positioning and tracking through the received position information.
The invention also provides a method for improving the guide precision of the photoelectric tracker, and by utilizing the system for improving the guide precision of the photoelectric tracker, the target position information fed back by the photoelectric tracker is determined, the speed of the target relative to the previous moment is calculated, the speed is utilized to predict the position information of the target relative to the photoelectric tracker at the next moment, and finally the target position information is converted into the position information relative to the microwave turntable, so that the positioning and tracking of the microwave turntable are controlled. The method specifically comprises the following steps:
step one, calibrating the position of equipment: determining the horizontal and vertical central positions of the photoelectric tracker and the microwave turntable, respectively placing the differential GPS at the central positions of the photoelectric tracker and the microwave turntable, and reading longitude, latitude and altitude information corresponding to each position.
Step two, coordinate transformation: and converting the information into space rectangular coordinate information (X, Y and Z) by the central control software according to the longitude, latitude and height information of the photoelectric tracker and the microwave turntable obtained in the step one.
Step three, calculating the speed: the photoelectric tracker sends the azimuth angle, the pitch angle and the distance information of the target to the central control software, the central control software stores the position information of the target at the last moment, and then the azimuth angle speed, the pitch angle speed and the radial speed of the target are respectively calculated through the position information of the current moment and the time difference between the previous moment and the next moment.
Step four, target position prediction: calculating target position information at the next moment according to the current azimuth angle, the pitch angle, the distance information, the time difference between the previous moment and the next moment of the target and the target azimuth angle speed, the pitch angle speed and the radial speed calculated in the step three;
the lengths of the target predicted position with respect to the three directions of the photoelectric tracker X, Y, Z are calculated by trigonometric conversion using known distance information and angle information (azimuth angle and pitch angle).
Step five, converting the position of the target relative to the microwave turntable: and according to the space rectangular coordinate of the photoelectric tracker, adding the lengths of the target predicted position relative to the photoelectric tracker X, Y, Z in three directions, and subtracting the space rectangular coordinate of the microwave turntable to obtain the space rectangular coordinate of the target predicted position relative to the microwave turntable.
Step six, angle conversion: calculating the azimuth angle and the pitch angle of the target predicted position relative to the microwave turntable by converting the space rectangular coordinate of the target predicted position relative to the microwave turntable through a trigonometric function, and calculating the movement speed of the microwave turntable according to the current azimuth angle, pitch angle and time difference of the microwave turntable;
and the central control software issues the calculated azimuth angle and the pitch angle of the target predicted position relative to the microwave turntable and the movement speed of the microwave turntable to the microwave turntable, and controls the microwave turntable to position and track the target.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A system for improving the guiding precision of a photoelectric tracker is characterized by comprising the photoelectric tracker, a microwave turntable and central control software;
the photoelectric tracker processes the acquired video image to track the target and sends the target position information to the central control software;
the central control software receives the target position information of the photoelectric tracker, predicts the target position information at the next moment, and sends the target position information and the target position information at the next moment to the microwave turntable; the target position information comprises a target azimuth angle, a pitch angle and speed information;
and the microwave turntable carries out target positioning and tracking through the received target position information and the target position information at the next moment.
2. A method for improving the guiding accuracy of an electro-optical tracker, which is characterized by using the system for improving the guiding accuracy of the electro-optical tracker according to claim 1, comprising the following steps:
step 1, calculating a target azimuth angle speed, a pitch angle speed and a radial speed by determining target position information fed back by a photoelectric tracker;
step 2, calculating target position information at the next moment through the current azimuth angle, the pitch angle, the distance information, the time difference between the previous moment and the next moment of the target and the calculated azimuth angle speed, pitch angle speed and radial speed of the target;
and 3, converting the target position information into position information relative to the microwave rotary table by the central control software, transmitting the position information to the microwave rotary table, and controlling the microwave rotary table to position and track the target.
3. The method for improving the guiding accuracy of the photoelectric tracker according to claim 1, wherein in the step 1, the specific steps of calculating the target azimuth velocity, the target pitch velocity and the target radial velocity are as follows:
determining horizontal and vertical central positions of a photoelectric tracker and a microwave turntable and corresponding longitude, latitude and height information of the photoelectric tracker and the microwave turntable;
step two, converting the longitude, latitude and height information of the photoelectric tracker and the microwave turntable into space rectangular coordinate information by central control software according to the longitude, latitude and height information of the photoelectric tracker and the microwave turntable obtained in the step one;
and step three, the photoelectric tracker sends the target azimuth angle, the pitch angle and the distance information to the central control software, the central control software stores the target position information at the previous moment, and then the target azimuth angle speed, the pitch angle speed and the radial speed are respectively calculated through the target position information at the current moment and the time difference between the previous moment and the next moment.
4. The method for improving the guiding accuracy of the photoelectric tracker of claim 1, wherein in step 2, the lengths of the predicted position of the target relative to the photoelectric tracker X, Y, Z in three directions are obtained by trigonometric transformation of the current azimuth angle, the pitch angle and the distance information of the target.
5. The method for improving the guiding accuracy of the photoelectric tracker according to claim 4, wherein in the step 3, the step of converting the target position information into the position information relative to the microwave turntable comprises the specific steps of:
step five, according to the space rectangular coordinate of the photoelectric tracker, the lengths of the target prediction position relative to the photoelectric tracker X, Y, Z in three directions are added, and the space rectangular coordinate of the microwave turntable is subtracted, so that the space rectangular coordinate of the target prediction position relative to the microwave turntable is obtained;
step six, calculating the azimuth angle and the pitch angle of the target prediction position relative to the microwave turntable by converting the space rectangular coordinate of the target prediction position relative to the microwave turntable through a trigonometric function, and calculating the movement speed of the microwave turntable according to the current azimuth angle, pitch angle and time difference of the microwave turntable;
and the calculated azimuth angle, the pitch angle and the movement speed of the microwave turntable of the target predicted position relative to the microwave turntable are position information relative to the microwave turntable.
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Application publication date: 20210608 |