CN114148536A - Linear displacement compensation control method for photoelectric pod - Google Patents
Linear displacement compensation control method for photoelectric pod Download PDFInfo
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Abstract
The invention relates to a linear displacement compensation control method for a photoelectric pod, belonging to the field of automatic control; firstly, carrying out laser ranging on a target to obtain the distance Dis from the current photoelectric pod to the target T, then calculating the geographic coordinate of the target through a laser auxiliary positioning algorithm, and converting the geographic coordinate into a geodetic coordinate system to obtain the accurate altitude HT(ii) a Then H is introducedTAutomatically binding to a distance resolver in real time to obtain accurate distance LMC from the photoelectric pod to the targetdisThe data is automatically bound into a linear displacement compensation algorithm in real time, and the inertial angular velocity compensation value of the stable platform can be accurately calculated. The photoelectric pod visual axis is guaranteed to be always pointed to the target under any task terrain. The precision and the timeliness of linear displacement compensation are improved, the operation process is simplified, and the airplane is convenient to transition.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a linear displacement compensation control method for a photoelectric pod.
Background
When the photoelectric pod executes a target reconnaissance and capture task, if a stable platform of the photoelectric pod is in an inertia stable state, when a visual axis driving input instruction is zero, the visual axis of the photoelectric pod can be translated relative to a geographic scene due to the change of the spatial position of the airplane. Particularly, when a moving target is searched, the motion of the airplane, the motion of the target and the relative motion of the airplane and the target are coupled together, which brings great difficulty to the operator to manually search the target. The linear displacement compensation algorithm well solves the problem, and the photoelectric pod visual axis translation caused by the change of the aircraft spatial position is counteracted by correcting the visual axis position in real time, so that the visual axis always points to a target.
The linear displacement compensation algorithm of the existing home and abroad photoelectric pod mostly adopts a mode of manually binding a task area altitude updating reference or directly binding local altitude as a reference to calculate an inertial angular velocity compensation value of a stable platform of the photoelectric pod:
1) the mode of manually binding task region altitude height updating benchmark requires frequently inputting data for benchmark binding under the condition of large topographic span of a task region, has low efficiency and certain hysteresis, and is difficult to deal with the condition of unknown regions;
2) the mode of directly binding the altitude height of the local field as the benchmark is adopted, when the terrain is greatly changed compared with the local field, the compensation value is not accurate enough, the effect is not good, and data needs to be bound again when the airplane is transferred every time, so that the airplane is not beneficial to being transferred.
The two modes can not give consideration to real-time performance and accuracy, and are difficult to deal with the situation of a transient and infinitely variable battlefield. There is therefore a need for more advanced control methods to achieve faster and more accurate linear displacement compensation functions.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a linear displacement compensation control method for a photoelectric pod, which simplifies the operation process of the photoelectric pod, avoids frequent manual search and manual binding of high altitude in a task area, enables the photoelectric pod to offset the translation of a visual axis of the photoelectric pod caused by the change of the space position of an airplane under any task terrain, enables the visual axis to always point to a target and realizes a stable and reliable linear displacement compensation function; the method is convenient for operators to search and catch targets, master the transient battlefield situation and improve the success rate of tasks.
The technical scheme of the invention is as follows: a linear displacement compensation control method for a photoelectric pod is characterized by comprising the following specific steps:
the method comprises the following steps: after the photoelectric pod mounted on the airplane reaches the task area, controlling the photoelectric pod to carry out laser ranging on any target T in the task area to obtain the distance Dis from the current photoelectric pod to the target T;
calculating the geographical coordinates of the target by a laser auxiliary positioning algorithm;
step three: converting the position information of the target T obtained in the step two from the earth rectangular coordinate system to the earth geodetic coordinate system to obtain the accurate altitude H of the current task areaT；
Step four: stopping laser ranging, and then obtaining H in the third stepTReal-time automatic binding to distance solver, using HTUpdating altitude reference H0And calculating to obtain more accurate distance LMC between the photoelectric pod and the targetdisThe formula is as follows:
LMCdis＝(HEO-HT)/(-sin(θb))
wherein HEOIs the height of the geodetic coordinate system of the earth; h0Is the altitude reference.
Step five: the central speed of the photoelectric pod is changed from the northeast speed VN(VBE，VBN，VBU) Conversion to axial speed Vb(Vroll，Vpitch，Vyaw)；
Step six: based on the fourth step and the fifth step, calculating a stable platform azimuth axis inertia angular velocity compensation value Gyro through the following formulaX：
GyroX＝-Vyaw/LMCdis*57.3
Calculating the inertial angular velocity compensation value Gyro of the pitching axis of the stable platform by the following formulay：
Gyroy＝-Vpitch/LMCdis*57.3；
Step seven: the Gyro in the step six is processedX、GyroyAnd the inertial angular velocity omega of the current stable platformyaw、ωpitchAfter comparison, the data are fed back to the stabilizing controller to drive the torque motor of the stabilizing platform to rotate, so that the function of compensating the visual axis displacement of the photoelectric pod is completed, and the visual axis always points to a target.
The further technical scheme of the invention is as follows: the target geographic coordinate input calculation method in the second step is as follows:
step 1: position information of photoelectric pod from earth ground coordinate system PEO(lonEO,latEO,HEO) Conversion to a Cartesian coordinate System P of the EarthEO(Xq-EO，Yq-EO，Zq-EO)；
Step 2: the laser distance Dis of the first step is from a visual axis coordinate system Viewlaser(Dis, 0, 0) into a geographic coordinate System Plaser(Xe-view，Ye-view，Ze-view)；
And step 3: the laser distance information of the step three is represented by a geographic coordinate system Plaser(Xe-view，Ye-view，Ze-view) Conversion to a Cartesian coordinate System P of the Earthlaser(Xq-laser，Yq-laser，Zq-laser)；
And 4, step 4: and combining the results of the second step and the fourth step to obtain the position of the target T in the earth rectangular coordinate system:
PT(Xq-T，Yq-T，Zq-T)＝PT(Xq-EO+Xq-laser，Yq-EO+Yq-laser，Zq-EO+Zq-laser)。
the further technical scheme of the invention is as follows: in the third step, the earth rectangular coordinate system is PT(Xq-T，Yq-T，Zq-T) Earth-earth coordinate system PT(lonT,latT,HT)。
A linear displacement compensation control system for an electro-optical pod, characterized by: the system comprises a central control system and a photoelectric pod; the central control system is positioned on the ground console and used for sending out a control command; the photoelectric pod is carried on an airplane;
the photoelectric pod is in a four-frame configuration and comprises a servo mechanism, an angular rate gyroscope, a stable platform, a sensor and a controller, the servo mechanism is used for isolating the disturbance of a wind resistance on the inner platform, the sensor is installed on the stable platform, the stable platform is ensured to isolate the disturbance of a vehicle through the angular rate gyroscope, a control visual axis is kept stable relative to an inertial space, and the photoelectric pod is driven by a control command to search, capture, track and position a target;
the central control system sends geographical position information of the binding target to a controller of the photoelectric pod, and the controller automatically binds and resolves the binding target in real time; the sensor comprises a laser range finder, an integrated navigation system and an inertial measurement unit, the laser range finder is used for carrying out laser range finding on a target in a task area, the integrated navigation system is used for feeding back the position and the central speed of the photoelectric pod under the earth-earth coordinate system, and the inertial measurement unit is used for feeding back course angle, pitch angle and roll angle information;
the controller compares the azimuth of the stabilized platform, the inertial angular velocity compensation value of the pitching shaft and the current inertial angular velocity of the stabilized platform and feeds back the comparison result to the servo mechanism to drive the stabilized platform to rotate, so that the function of compensating the displacement of the visual axis of the photoelectric pod is completed, and the visual axis always points to a target.
The further technical scheme of the invention is as follows: the photoelectric pod comprises a main control computer STM32F407 piece, and can be controlled on a program to realize inertial angular rate compensation processing.
A control system comprising a processor, a memory, and an application program, wherein the application program is stored in the memory and configured to be executed by the processor, the application program configured to execute the method of linear displacement compensation control for electro-optical pods.
A computer readable storage medium has stored therein program code that is callable by a processor to execute the linear displacement compensation control method for a photovoltaic pod.
Advantageous effects
The invention has the beneficial effects that: the invention designs a novel linear displacement compensation control method for a photoelectric pod on the basis of not increasing hardware resources and system complexity. By carrying out laser ranging and positioning calculation on the target in the task area, the altitude data in the task area can be accurately obtained, the data is automatically bound into a linear displacement compensation algorithm in real time, and the inertial angular velocity compensation value of the stable platform can be accurately calculated. The photoelectric pod visual axis is guaranteed to be always pointed to the target under any task terrain. The precision and the timeliness of linear displacement compensation are improved, the operation process is simplified, and the airplane is convenient to transition.
Drawings
FIG. 1 is a block diagram of the linear displacement compensation control of the electro-optical pod of the present invention.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The linear displacement compensation control system of the photoelectric pod adopted in the embodiment comprises a central control system and the photoelectric pod; the central control system is positioned on the ground console and used for sending out a control command; the photoelectric pod is carried on an airplane;
the photoelectric pod is in a four-frame configuration and comprises a servo mechanism, an angular rate gyroscope, a stable platform, a sensor and a controller, the servo mechanism is used for isolating the disturbance of a wind resistance on the inner platform, the sensor is installed on the stable platform, the stable platform is ensured to isolate the disturbance of a vehicle through the angular rate gyroscope, a control visual axis is kept stable relative to an inertial space, and the photoelectric pod is driven by a control command to search, capture, track and position a target;
the central control system sends geographical position information of the binding target to a controller of the photoelectric pod, and the controller automatically binds and resolves the binding target in real time; the sensor comprises a laser range finder, an integrated navigation system and an inertial measurement unit, the laser range finder is used for carrying out laser range finding on a target in a task area, the integrated navigation system is used for feeding back the position and the central speed of the photoelectric pod under the earth-earth coordinate system, and the inertial measurement unit is used for feeding back course angle, pitch angle and roll angle information;
the controller compares the azimuth of the stabilized platform, the inertial angular velocity compensation value of the pitching shaft and the current inertial angular velocity of the stabilized platform and feeds back the comparison result to the servo mechanism to drive the stabilized platform to rotate, so that the function of compensating the displacement of the visual axis of the photoelectric pod is completed, and the visual axis always points to a target.
The known conditions based on the above control system are as follows:
1) the photoelectric pod visual axis driving input instruction is zero;
2) position P of photoelectric pod in earth-earth coordinate system fed back by photoelectric pod integrated navigation systemEO(lonEO,latEO,HEO)；
3) Course angle psi fed back by IMU (inertial measurement Unit) of photoelectric podbAngle of pitch thetabTransverse roll angle gammab；
4) The photoelectric pod center speed fed back by the photoelectric pod integrated navigation system is as follows: east velocity VBEVelocity in north direction VBNVelocity in the sky VBU；
5) Azimuth angle theta of photoelectric pod visual axisyawAngle of pitch thetapitchAngle of transverse rolling thetaroll；
6) Photoelectric pod inertial navigation coordinate system IMUEO(ψb，θb，γb) And a View axis coordinate system ViewEO(θyaw，θpitch，θroll) Overlapping;
7) the photoelectric pod stable platform takes an angular rate gyro as an inertial device and has an azimuth axis angular velocity omegayawAngular velocity ω of pitch axispitch。
The following process is adopted to realize high-precision linear displacement compensation control:
1) after the photoelectric pod mounted on the airplane reaches the task area, controlling the photoelectric pod to carry out laser ranging on any target T in the task area to obtain the distance Dis from the current photoelectric pod to the target T;
2) position information of photoelectric pod from earth ground coordinate system PEO(lonEO,latEO,HEO) Conversion to a Cartesian coordinate System P of the EarthEO(Xq-EO，Yq-EO，Zq-EO)；
3) Viewing the laser distance Dis from the visual axis coordinate system View in the step 1)laser(Dis, 0, 0) into a geographic coordinate System Plaser(Xe-view，Ye-view，Ze-view)；
4) Selecting the laser distance information of the step 3) from a geographic coordinate system Plaser(Xe-view，Ye-view，Ze-view) Conversion to a Cartesian coordinate System P of the Earthlaser(Xq-laser，Yq-laser，Zq-laser)；
5) Combining the results of the step 2) and the step 4) to obtain the position of the target T in the earth rectangular coordinate system:
PT(Xq-T，Yq-T，Zq-T)＝PT(Xq-EO+Xq-laser，Yq-EO+Yq-laser，Zq-EO+Zq-laser)
6) the position information of the target T in the step 5) is converted from an earth rectangular coordinate system PT(Xq-T，Yq-T，Zq-T) Conversion to earth's earth coordinate system PT(lonT,latT,HT) Obtaining the accurate altitude H of the current task areaT；
7) Stopping laser ranging, and then adding H in the step 6)TReal-time automatic binding to distance solver, updating LMCdis＝(HEO-H0)/(-sin(θb) Reference H of altitude in (1)0. From LMCdis＝(HEO-HT)/(-sin(θb) To calculate a more accurate photoelectric pod-to-target distance LMCdis；
8) Centering the photoelectric podVelocity V measured from northeastN(VBE，VBN，VBU) Conversion to axial speed Vb(Vroll，Vpitch，Vyaw)；
9) Combined with the results of step 7), step 8), from GyroX＝-Vyaw/LMCdis57.3 calculating the compensation value Gyro of the azimuth axis inertia angular velocity of the stable platformX(ii) a From Gyroy＝-Vpitch/LMCdis57.3 calculating the inertial angular velocity compensation value Gyro of the pitching axis of the stable platformy；
10) The Gyro in the step 9) is addedX、GyroyAnd the inertial angular velocity omega of the current stable platformyaw、ωpitchAfter comparison, the data are fed back to the stabilizing controller to drive the torque motor of the stabilizing platform to rotate, so that the function of compensating the visual axis displacement of the photoelectric pod is completed, and the visual axis always points to a target.
A control system comprising a processor, a memory, and an application program, wherein the application program is stored in the memory and configured to be executed by the processor, the application program configured to execute the method of linear displacement compensation control for electro-optical pods.
A computer readable storage medium has stored therein program code that is callable by a processor to execute the linear displacement compensation control method for a photovoltaic pod.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (7)
1. A linear displacement compensation control method for a photoelectric pod is characterized by comprising the following specific steps:
the method comprises the following steps: after the photoelectric pod mounted on the airplane reaches the task area, controlling the photoelectric pod to carry out laser ranging on any target T in the task area to obtain the distance Dis from the current photoelectric pod to the target T;
calculating the geographical coordinates of the target by a laser auxiliary positioning algorithm;
step three: converting the position information of the target T obtained in the step two from the earth rectangular coordinate system to the earth geodetic coordinate system to obtain the accurate altitude H of the current task areaT；
Step four: stopping laser ranging, and then obtaining H in the third stepTReal-time automatic binding to distance solver, using HTUpdating altitude reference H0And calculating to obtain more accurate distance LMC between the photoelectric pod and the targetdisThe formula is as follows:
LMCdis＝(HEO-HT)/(-sin(θb))
wherein HEOIs the height of the geodetic coordinate system of the earth; h0Is the altitude height reference;
step five: the central speed of the photoelectric pod is changed from the northeast speed VN(VBE，VBN，VBU) Conversion to axial speed Vb(Vroll，Vpitch，Vyaw)；
Step six: based on the fourth step and the fifth step, calculating a stable platform azimuth axis inertia angular velocity compensation value Gyro through the following formulaX：
GyroX＝-Vyaw/LMCdis*57.3
Calculating the inertial angular velocity compensation value Gyro of the pitching axis of the stable platform by the following formulay：
Gyroy＝-Vpitch/LMCdis*57.3；
Step seven: the Gyro in the step six is processedX、GyroyAnd the inertial angular velocity omega of the current stable platformyaw、ωpitchAfter comparison, the data are fed back to the stabilizing controller to drive the torque motor of the stabilizing platform to rotate, so that the function of compensating the visual axis displacement of the photoelectric pod is completed, and the visual axis always points to a target.
2. The linear displacement compensation control method for the electro-optical pod as claimed in claim 1, wherein: the target geographic coordinate input calculation method in the second step is as follows:
step 1, the position information of the photoelectric pod is processed from a coordinate system P of the earth groundEO(lonEO,latEO,HEO) Conversion to a Cartesian coordinate System P of the EarthEO(Xq-EO，Yq-EO，Zq-EO)；
Step 2: the laser distance Dis of the first step is from a visual axis coordinate system Viewlaser(Dis, 0, 0) into a geographic coordinate System Plaser(Xe-view，Ye-view，Ze-view)；
And step 3: the laser distance information of the step 1 is represented by a geographic coordinate system Plaser(Xe-view，Ye-view，Ze-view) Conversion to a Cartesian coordinate System P of the Earthlaser(Xq-laser，Yq-laser，Zq-laser)；
And 4, step 4: and combining the results of the step 1 and the step 3 to obtain the position of the target T in the earth rectangular coordinate system:
PT(Xq-T，Yq-T，Zq-T)＝PT(Xq-EO+Xq-laser，Yq-EO+Yq-laser，Zq-EO+Zq-laser)。
3. the linear displacement compensation control method for the electro-optical pod as claimed in claim 1, wherein: in the third step, the earth rectangular coordinate system is PT(Xq-T，Yq-T，Zq-T) Earth-earth coordinate system PT(lonT,latT,HT)。
4. A control system of the linear displacement compensation control method for the photoelectric pod as set forth in any one of claims 1 to 4, wherein: the system comprises a central control system and a photoelectric pod; the central control system is positioned on the ground console and used for sending out a control command; the photoelectric pod is carried on an airplane;
the photoelectric pod is in a four-frame configuration and comprises a servo mechanism, an angular rate gyroscope, a stable platform, a sensor and a controller, the servo mechanism is used for isolating the disturbance of a wind resistance on the inner platform, the sensor is installed on the stable platform, the stable platform is ensured to isolate the disturbance of a vehicle through the angular rate gyroscope, a control visual axis is kept stable relative to an inertial space, and the photoelectric pod is driven by a control command to search, capture, track and position a target;
the central control system sends geographical position information of the binding target to a controller of the photoelectric pod, and the controller automatically binds and resolves the binding target in real time; the sensor comprises a laser range finder, an integrated navigation system and an inertial measurement unit, the laser range finder is used for carrying out laser range finding on a target in a task area, the integrated navigation system is used for feeding back the position and the central speed of the photoelectric pod under the earth-earth coordinate system, and the inertial measurement unit is used for feeding back course angle, pitch angle and roll angle information;
the controller compares the azimuth of the stabilized platform, the inertial angular velocity compensation value of the pitching shaft and the current inertial angular velocity of the stabilized platform and feeds back the comparison result to the servo mechanism to drive the stabilized platform to rotate, so that the function of compensating the displacement of the visual axis of the photoelectric pod is completed, and the visual axis always points to a target.
5. The control system of claim 4, wherein: the photoelectric pod comprises a main control computer STM32F407 piece, and can be controlled on a program to realize inertial angular rate compensation processing.
6. A control system comprising a processor, a memory, and an application program, wherein the application program is stored in the memory and configured to be executed by the processor, the application program configured to perform the method of wire displacement compensation control for an optoelectronic pod of any of claims 1-3.
7. A computer-readable storage medium having stored thereon program code that can be invoked by a processor to perform the method for linear displacement compensation control of an electro-optical pod as set forth in any one of claims 1-3.
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