CN114136343A - Method for measuring dynamic pointing error of attitude stabilization tracking platform - Google Patents
Method for measuring dynamic pointing error of attitude stabilization tracking platform Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention belongs to the technical field of precision measurement, and provides a method for measuring dynamic pointing precision of a stable attitude tracking platform. The method comprises the steps that a six-degree-of-freedom platform is used for simulating the motion characteristic of a working carrier of the attitude stabilization tracking platform, and the working scene of the attitude stabilization tracking platform is simulated by setting parameters such as motion amplitude A, frequency f, phase difference Be and the like of three position directions and three angles; mounting the attitude stabilization platform on a six-degree-of-freedom platform, and pointing to a target in the motion process of the six-degree-of-freedom platform; and (3) mounting the camera on the working table of the attitude stabilization platform, and obtaining the dynamic pointing error of the attitude stabilization platform by analyzing and calculating the offset pixel of the target in the camera shooting image. The method is simple to operate, high in measurement accuracy and capable of being used for research and development tests and acceptance tests of different carrier attitude stable tracking platforms.
Description
Technical Field
The invention belongs to the technical field of precision measurement, and particularly relates to a dynamic measurement method for a spatial angle error.
Background
The attitude stabilization tracking platform can isolate the pose change of a carrier (a chariot, a missile, an airplane, a ship and an airship) and automatically track a target, so that the attitude stabilization tracking platform is widely applied to the fields of tank turret stabilized aiming, ship turret stabilized aiming, unmanned aerial vehicle photoelectric pod, air-to-air missile seeker, civil aerial photography anti-shake, mobile platform antenna tracking and the like.
The attitude stable tracking platform consists of an inertia measuring device, a computer and a rotating device, wherein the inertia measuring device is used for measuring the motion parameters of the carrier, the rotating device can realize the change of azimuth and pitching, and the rotating device are fixed together and can be identified to have the same attitude. And the computer compares and analyzes the motion parameters of the carrier and the position information of the target object and controls the rotating device to point to the target object. The attitude stable tracking platform integrates a plurality of technologies such as an inertial navigation technology, a micro inertial sensor technology, a data acquisition and signal processing technology, a precision mechanical design technology, a precision mechanism kinematics, a dynamics modeling and simulation technology, an open type motion control technology, a motor servo control technology, a system technology and the like, and is a product which is mainly based on electromechanical integration and automatic control technology and organically combines a plurality of subjects. Therefore, the pointing error of the attitude stable tracking platform is influenced by a plurality of factors, the most important factors comprise platform system errors (errors caused by mechanical structure errors, mechanical resonance and interference torque, sensor errors and measurement errors), installation errors and errors caused by carrier attitude disturbance, and various errors are comprehensively expressed as pointing angle errors of equipment and are space angle errors.
Currently, many researches are made on a measurement method of a pointing error, wherein a camera shooting measurement technology has the advantages of high measurement precision, convenience and simplicity in operation, small influence of an external environment, high detection speed and the like. The method comprises the steps of recording images of a tested object before and after rotation by a camera, and obtaining the static pointing error of the tested object through analysis and calculation (research on a photoelectric fire control system pointing accuracy CCD non-contact measurement method, computer measurement and control, 2021.20; application of a digital photogrammetry technology in continuous wave radar antenna pointing accuracy measurement, electronic quality, 2020.04; measurement of scanning type infrared detection system pointing accuracy, photoelectric technology application, 2010.25; high-speed shooting for realizing high-accuracy vector miss distance measurement method research, photonics report, 2005.34; and a test method for the pointing accuracy of a boat-borne attitude stabilization platform based on photogrammetry, 201810908206.2). In the aspect of measuring the dynamic pointing error of a tested object, wangman et al (a quantitative index testing method for a zero-flight tester, 201310320446.8) use the zero-flight tester to measure the dynamic tracking accuracy of the tested object, and the principle is to coincide the image reference center of a CCD camera in the zero-flight tester with the center of a calibration target, and obtain the height deviation of the tested object by calculating the pixel of the center of the calibration target deviating from the image reference center in the motion process and combining the distance measured by a laser range finder; the method needs to install the mechanical central axis of the zero-flight tester and the central axis of the reference tube of the tested object in parallel, needs to utilize the time service system to unify time and the laser range finder to measure the distance in real time, is easy to introduce test errors, can only test the height deviation of the tested object on the result, and has certain limitation. The accuracy of an inertial measurement system and a seeker is detected by adopting an image feedback method based on a marxian (image feedback-based angle measurement system integration research, university of zhejiang, university of studios, 2008), and the inertial measurement device and the seeker need to be installed in a test system in a test process, so that the size of the inertial measurement device and the seeker to be tested is limited, and the inertial measurement device and the seeker can only be used for testing the system error of a tested article. Schlemonggang et al (research on space full-field pointing accuracy detection method of photoelectric products, electronic test, 2020.07) fix a photoelectric product on a lifting table, simulate the motion of a moving target by using a two-axis turntable, and measure the offset of a direction, a pitching axis and an aiming axis to a horizontal plane and a vertical plane by locking a pitching or direction transmission mechanism of the photoelectric product.
Therefore, aiming at the requirement of measuring the dynamic pointing error of the attitude stable tracking platform, a measuring method which is simple in operation, high in measuring precision, strong in practicability and wide in applicability needs to be developed urgently.
Disclosure of Invention
The invention aims to provide a method for measuring dynamic pointing errors of a stable attitude tracking platform, which is used for measuring the dynamic pointing errors of the stable attitude tracking platform and has the advantages of simple operation, high measurement precision, strong practicability and wide applicability.
In order to solve the technical problem, the technical scheme adopted by the invention comprises the following steps
S1, selecting a proper six-freedom-degree platform according to motion characteristics (parameters such as motion amplitude, frequency and phase difference) of the carrier, wherein index parameters such as motion amplitude A, frequency f and phase difference sigma of the six-freedom-degree platform need to be larger than motion characteristic parameters of the carrier, and the attitude stabilization platform can be fixedly installed on the six-freedom-degree platform; after installation, the attitude stabilization tracking platform and the six-degree-of-freedom platform need to move without interference so as to ensure that the six-degree-of-freedom platform does not influence the attitude stabilization tracking platform to point to a target in the operation process;
s2, selecting a proper camera according to the motion characteristic frequency of the carrier, wherein the frame frequency of the camera is required to be more than or equal to the motion characteristic frequency f of the carrier, so that the camera can acquire images in real time in the motion process of the carrier;
the camera is rigidly connected with the working table of the attitude stabilization platform and has consistent pointing direction, so that the relative position of the camera is not changed in the motion process of the attitude stabilization platform, and the pointing direction of the camera represents the pointing direction of the working table of the attitude stabilization platform.
S3, mounting the camera on a working table of the attitude stabilization tracking platform;
s4, setting a cross target in a camera view field, and recording the coordinates of the center position of the cross target;
s5, taking the position coordinates recorded in the S4 as the pointing parameters of the attitude stable tracking platform, and controlling the attitude stable tracking platform to be in a tracking mode;
s6, setting working parameters of the six free platforms and the camera frame rate and continuously taking pictures;
s7, operating the six-degree-of-freedom platform, wherein the working time is not less than 1/f, and the dynamic pointing error of the attitude stabilization platform in one motion cycle of the measurable carrier is ensured;
and S8, extracting coordinates of a central point of the cross target in the camera shooting image, taking the coordinates of the central point of the cross target before the six-freedom platform runs as standard points, and comparing the coordinates with the standard points to obtain the dynamic pointing accuracy of the attitude stable tracking platform in the motion process.
Further, in step S4, the longitude and latitude coordinates of the center position of the cross target are obtained by using a plurality of methods, and the method has low requirement on positioning accuracy and only needs to ensure that the center of the cross target is in the field of view of the camera.
Further, in step S5, parameters of the six-degree-of-freedom platform are set according to the motion characteristics of the attitude stabilization tracking platform carrier, so as to ensure that the working scene of the attitude stabilization tracking platform is simulated as much as possible, and the dynamic pointing error during actual working is measured.
Compared with the prior art, the invention has the advantages that:
1. the method is simple to operate, after the six-free platform and the camera are selected, only the six-free platform, the camera and the attitude stabilization platform need to be fixedly installed together, except that the pointing direction of the camera and the pointing direction of the working table of the attitude stabilization platform need to be ensured to be consistent as much as possible when the camera is installed, other parts are all installed conventionally, and the installation is firm; in addition, in the test process, the requirement on the coordinate precision of the central point of the cross target is not high, only the cross target is required to be ensured to be in a camera field of view, and the general mobile phone positioning APP software meets the requirement, and is simple and convenient.
2. The invention measures the dynamic pointing error of the attitude stabilization platform by using a camera shooting measurement technology, obtains the pointing error by shooting images through a camera, feeds back the pointing error in real time, and has low time delay and high measurement precision.
3. The invention utilizes the six-free platform to simulate the motion of the attitude stabilization tracking platform carrier, the camera is arranged on the working table surface of the attitude stabilization tracking platform to simulate the actual working installation condition, the measured dynamic pointing error is approximate to the pointing error of the actual working scene of the attitude stabilization platform, the system error, the installation error and the error caused by the disturbance of the carrier attitude are included, and the practicability is strong.
4. According to the invention, through reasonably selecting the six-degree-of-freedom platform, the dynamic pointing errors of the attitude stabilization platforms installed on different carriers can be measured, and the size of the attitude stabilization platform is not limited and the applicability is wide.
Drawings
FIG. 1 is a schematic diagram of a system according to embodiment 1 of the present invention;
wherein: 1-attitude stabilization platform, 2-cross target, 3-attitude stabilization platform working table, 4-six free platform, 5-camera;
FIG. 2 is a schematic view of a six-DOF platform parameter setting interface in embodiment 1 of the present invention;
fig. 3 is a schematic view of the comprehensive pointing accuracy of the attitude stabilization tracking platform in embodiment 1 of the present invention.
Detailed Description
The technical solution 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 the six-degree-of-freedom platform, the camera, and other devices used in the embodiments below are all commercially available.
Example 1
The invention discloses a method for measuring dynamic pointing accuracy of an on-board attitude stabilization tracking platform, wherein the attitude stabilization tracking platform is installed on a low-altitude airship, the low-altitude airship has motion characteristics shown in a table 1 through analysis, and through measurement, the attitude stabilization tracking platform has the pitching pointing accuracy of 0.98 degrees, the azimuth pointing accuracy of 0.84 degrees and the comprehensive pointing accuracy of 1.09 degrees.
TABLE 1 variation parameters of three direction positions, pitch angle, roll angle and course angle of low-altitude airship
| Direction/angle | Range of variation | Frequency (Hz) |
| Longitudinal direction | ±1m | 0.5 |
| Course of course | ±1m | 0.5 |
| Lateral direction | ±1m | 0.5 |
| Pitch angle | ±3° | 0.1 |
| Roll angle | ±6° | 0.1 |
| Course angle | ±5° | 0.1 |
The method for measuring the dynamic pointing accuracy of the attitude stabilization tracking platform comprises the following steps:
(1) according to the data in the table 1, a six-degree-of-freedom platform meeting the use requirements is selected, the parameter indexes of the six-degree-of-freedom platform are shown in the table 2, and the attitude stabilization tracking platform is installed on the six-degree-of-freedom platform through bolts.
TABLE 2 six degree of freedom platform parameter index
(2) From the data in table 1, a camera is selected that meets the usage requirements, with a maximum frame rate of 100 fps.
(3) And fixedly mounting the camera on the worktable of the attitude stabilization platform by using bolts.
(4) A cross target with the size of 1 m multiplied by 1 m is arranged in a camera view field, and coordinates of a central point of the cross target are measured through mobile phone positioning APP software.
(5) And inputting the measured coordinates of the central point of the cross target into attitude stabilization tracking platform control software to serve as the target pointing parameters of the attitude stabilization tracking platform, and controlling the attitude stabilization tracking platform to work so as to point the attitude stabilization tracking platform to the target.
(6) Setting six-degree-of-freedom platform parameters according to table 1, as shown in fig. 2; the frame frequency of the camera was set to 20Hz and pictures were taken continuously.
(7) The six degree of freedom stage was run for 27 seconds.
(8) Extracting coordinates (u) of center point of cross target in each image shot by cameran，vn) And (3) coordinate (u) of central point of cross target before six-free platform operation0，v0) And as the standard points, comparing the standard points with the pitching pointing accuracy, the azimuth pointing accuracy and the comprehensive pointing accuracy theta, psi and alpha in the motion process of the attitude stabilization tracking platform.
a2＝f2+d2(u0-uc)2+d2(v0-vc)2
b2＝f2+d2(un-uc)2+d2(vn-vc)2
c2＝d2(un-u0)2+d2(vn-v0)2
Wherein, f, d, (u)c，vc) Respectively, the focal length of the camera, the size of the pixel and the optical center coordinate.
Claims (3)
1. A measurement method for dynamic pointing errors of an attitude stable tracking platform is characterized by comprising the following steps:
s1, selecting a proper six-freedom platform according to the motion characteristics of the carrier, wherein the motion amplitude A, the frequency f and the phase difference Be index parameters of the six-freedom platform need to be larger than the motion characteristic parameters of the carrier, and meanwhile, the attitude stabilization platform can be fixedly installed on the six-freedom platform, and the installed attitude stabilization tracking platform and the six-freedom platform are ensured to move without interference;
s2, selecting a proper camera according to the motion characteristic frequency of the carrier, wherein the frame frequency of the camera is required to be more than or equal to the motion characteristic frequency f of the carrier, so that the camera can acquire images in real time in the motion process of the carrier; the camera is rigidly connected with the posture stabilizing plane working table top and points in the same direction;
s3, mounting the camera on a working table of the attitude stabilization tracking platform;
s4, setting a cross target in a camera view field, and recording the coordinates of the center position of the cross target;
s5, taking the position coordinates recorded in the S4 as the pointing parameters of the attitude stable tracking platform, and controlling the attitude stable tracking platform to be in a tracking mode;
s6, setting working parameters of the six free platforms and the camera frame rate and continuously taking pictures;
s7, operating the six-degree-of-freedom platform, wherein the working time is not less than 1/f, and the dynamic pointing error of the attitude stabilization platform in one motion cycle of the measurable carrier is ensured;
and S8, extracting coordinates of a central point of the cross target in the camera shooting image, taking the coordinates of the central point of the cross target before the six-freedom platform runs as standard points, and comparing the coordinates with the standard points to obtain the dynamic pointing accuracy of the attitude stable tracking platform in the motion process.
2. The method for measuring the dynamic pointing error of the attitude stabilized tracking platform according to claim 1, wherein in step S4, longitude and latitude coordinates of the center position of the cross target are obtained, only the center of the cross target is ensured to be within the field of view of the camera.
3. The method as claimed in claim 1, wherein in step S5, parameters of the six-degree-of-freedom platform are set according to motion characteristics of the carrier of the attitude stabilization tracking platform, so as to ensure that a working scene of the attitude stabilization tracking platform is simulated as much as possible and the dynamic pointing error during actual working is measured.
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|---|---|---|---|---|
| CN104006787A (en) * | 2014-05-01 | 2014-08-27 | 哈尔滨工业大学 | High-precision attitude determination method for spacecraft attitude motion simulation platform |
| WO2017020856A1 (en) * | 2015-08-05 | 2017-02-09 | 普宙飞行器科技（深圳）有限公司 | Photographing device and method using drone to automatically track and photograph moving object |
| CN109459054A (en) * | 2018-10-25 | 2019-03-12 | 北京航天计量测试技术研究所 | A kind of moving base pose calibrating method based on auto-collimation tracking |
| CN112556579A (en) * | 2020-12-25 | 2021-03-26 | 深圳市中图仪器股份有限公司 | Six-degree-of-freedom space coordinate position and attitude measuring device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104006787A (en) * | 2014-05-01 | 2014-08-27 | 哈尔滨工业大学 | High-precision attitude determination method for spacecraft attitude motion simulation platform |
| WO2017020856A1 (en) * | 2015-08-05 | 2017-02-09 | 普宙飞行器科技（深圳）有限公司 | Photographing device and method using drone to automatically track and photograph moving object |
| CN109459054A (en) * | 2018-10-25 | 2019-03-12 | 北京航天计量测试技术研究所 | A kind of moving base pose calibrating method based on auto-collimation tracking |
| CN112556579A (en) * | 2020-12-25 | 2021-03-26 | 深圳市中图仪器股份有限公司 | Six-degree-of-freedom space coordinate position and attitude measuring device |
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| 张慧娟;熊芝;劳达宝;周维虎;: "基于EPNP算法的单目视觉测量系统研究", 红外与激光工程, no. 05, 29 December 2018 (2018-12-29) * |
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