CN114148536B - Linear displacement compensation control method for photoelectric pod - Google Patents
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Abstract
The invention relates to a linear displacement compensation control method for an optoelectronic 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, and then communicatingThe geographic coordinates of the target are calculated through a laser auxiliary positioning algorithm and converted into an earth geodetic coordinate system, and the accurate altitude H is obtained T The method comprises the steps of carrying out a first treatment on the surface of the Then H is taken up T Automatically binding to a distance resolver in real time to obtain the accurate distance LMC from the photoelectric pod to the target dis The data is automatically bound to 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 always directed to the target under any mission terrain. The precision and timeliness of linear displacement compensation are improved, the operation flow is simplified, and the airplane transition is facilitated.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a linear displacement compensation control method for an optoelectronic pod.
Background
When the photoelectric pod executes the target scout and capture task, if the stable platform of the photoelectric pod is in an inertial stable state, when the visual axis driving input command is zero, the visual axis of the photoelectric pod can translate relative to a geographical scene due to the change of the spatial position of the plane. Particularly, when a moving target is searched, the aircraft motion, the target motion and the relative motion of the aircraft motion and the target motion are coupled together, so that great difficulty is brought to the manual searching of the target by an operator. The linear displacement compensation algorithm well solves the problem, and the visual axis position is corrected in real time to offset the translation of the visual axis of the photoelectric nacelle caused by the change of the spatial position of the airplane, so that the visual axis always points to the target.
The existing linear displacement compensation algorithm of the photoelectric pod at home and abroad mostly adopts a mode of manually binding a task area altitude update reference or directly binding the local altitude as a reference to calculate an inertial angular velocity compensation value of a stable platform of the photoelectric pod:
1) In the manual binding task area altitude updating reference mode, when the terrain span of the task area is large, data needs to be frequently input to perform reference binding, so that the efficiency is low, certain hysteresis is provided, and the situation of unknown areas is difficult to deal with;
2) When the topography is changed greatly than the local site, the compensation value is not accurate enough and the effect is poor in the mode of directly binding the altitude of the local site as a reference, and the data is required to be bound again when the aircraft is transferred each time, so that the aircraft transfer is not facilitated.
The two modes cannot achieve real-time performance and accuracy, and are difficult to cope with the battlefield situation of transient and changeable. There is therefore a need for more advanced control methods to achieve faster, more accurate linear displacement compensation functions.
Disclosure of Invention
The technical problems to be solved are as follows:
in order to avoid the defects of the prior art, the invention provides a linear displacement compensation control method for an optoelectronic pod, which simplifies the operation flow of the optoelectronic pod, avoids frequent manual searching and manual binding task area altitude, so that the optoelectronic pod offsets the translation of the visual axis of the optoelectronic pod caused by the change of the spatial position of an airplane under any task topography, leads 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 targets, grasp the battlefield situation of transient change and improve the success rate of tasks.
The technical scheme of the invention is as follows: a linear displacement compensation control method for an optoelectronic pod is characterized by comprising the following specific steps:
step one: after the aircraft mounting photoelectric pod reaches the task area, controlling the photoelectric pod to perform laser ranging on any target T in the task area to obtain the distance Dis from the current photoelectric pod to the target T;
step two, calculating the geographic coordinates of the target through a laser auxiliary positioning algorithm;
step three: converting the position information of the target T obtained in the second step from an earth rectangular coordinate system to the earthObtaining the accurate altitude H of the current task area by using a coordinate system T ；
Step four: stopping laser ranging, and then obtaining H in the step three T Real-time automatic binding to distance resolver using H T Updating altitude benchmark H 0 Calculating a more accurate distance LMC from the optoelectronic pod to the target dis The formula is as follows:
LMC dis ＝(H EO -H T )/(-sin(θ b ))
wherein H is EO Is the altitude of the earth's geodetic coordinate system; h 0 Is the altitude benchmark.
Step five: taking the center speed of the photoelectric pod from the northeast sky speed V N (V BE ，V BN ，V BU ) Conversion to axial speed V b (V roll ，V pitch ，V yaw )；
Step six: based on the fourth and fifth steps, calculating a stabilized platform azimuth axis inertial angular velocity compensation value Gyro by the following formula X ：
Gyro X ＝-V yaw /LMC dis *57.3
Calculating a stabilized platform pitch axis inertial angular velocity compensation value Gyro by the following formula y ：
Gyro y ＝-V pitch /LMC dis *57.3；
Step seven: the Gyro in the step six is performed X 、Gyro y Inertial angular velocity omega with current stabilized platform yaw 、ω pitch And after comparison, the displacement compensation function is fed back to the stable controller to drive the stable platform torque motor to rotate, so that the visual axis of the photoelectric pod always points to the target.
The invention further adopts the technical scheme that: the target geographic coordinate placement calculation method in the second step is as follows:
step 1: position information of photoelectric pod is transmitted from earth ground coordinate system P EO (lon EO ,lat EO ,H EO ) Conversion to the rectangular coordinate system P of the earth EO (X q-EO ，Y q-EO ，Z q-EO )；
Step 2: the laser distance Dis of the first step is controlled from the visual axis coordinate system View laser (Dis, 0) conversion to the geographic coordinate System P laser (X e-view ，Y e-view ，Z e-view )；
Step 3: the laser distance information in the third step is obtained by a geographic coordinate system P laser (X e-view ，Y e-view ，Z e-view ) Conversion to the rectangular coordinate system P of the earth laser (X q-laser ，Y q-laser ，Z q-laser )；
Step 4: and combining the results of the second step and the fourth step to obtain the position of the target T in the rectangular coordinate system of the earth:
P T (X q-T ，Y q-T ，Z q-T )＝P T (X q-EO +X q-laser ，Y q-EO +Y q-laser ，Z q-EO +Z q-laser )。
the invention further adopts the technical scheme that: in the third step, the rectangular coordinate system of the earth is P T (X q-T ，Y q-T ，Z q-T ) The earth geodetic coordinate system is P T (lon T ,lat T ,H T )。
A linear displacement compensation control system for an optoelectronic pod, characterized by: comprises a central control system and a photoelectric pod; the central control system is positioned on the ground control platform and is used for sending out control commands; the optoelectronic pod is carried on an aircraft;
the photoelectric pod is of a four-frame configuration and comprises a servo mechanism, an angular rate gyroscope, a stable platform, a sensor and a controller, wherein the disturbance of wind resistance to the inner platform is isolated through the servo mechanism, the sensor is arranged on the stable platform, the stable platform is ensured to isolate the disturbance of the machine-mounted, the control visual axis is kept stable relative to the 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 a binding target to a controller of the photoelectric pod, and the controller automatically binds and calculates in real time; the sensor comprises a laser range finder, an integrated navigation system and an inertial measurement unit, wherein 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 center speed of the photoelectric pod under the earth geodetic coordinate system, and the inertial measurement unit is used for feeding back the course angle, the pitch angle and the roll angle information;
the controller compares the azimuth and pitching axis inertial angular velocity compensation values of the stable platform with the current inertial angular velocity of the stable platform and then feeds back the values to the servo mechanism to drive the stable platform to rotate, so that the displacement compensation function of the visual axis of the photoelectric pod is completed, and the visual axis always points to the target.
The invention further adopts the technical scheme that: the photoelectric pod comprises a master control computer STM32F407 chip, and can realize inertial angular rate compensation processing in a program control manner.
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 linear displacement compensation control method for an optoelectronic pod.
A computer readable storage medium has stored therein program code that is callable by a processor to perform the linear displacement compensation control method for an optoelectronic pod.
Advantageous effects
The invention has the beneficial effects that: the invention designs a novel linear displacement compensation control method for an optoelectronic pod on the basis of not increasing hardware resources and system complexity. The altitude data of the task area can be accurately obtained by carrying out laser ranging and positioning resolving on the target of the task area, 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 always directed to the target under any mission terrain. The precision and timeliness of linear displacement compensation are improved, the operation flow is simplified, and the airplane transition is facilitated.
Drawings
FIG. 1 is a block diagram of the linear displacement compensation control of the optoelectronic pod of the present invention.
Detailed Description
The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not 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 control platform and is used for sending out control commands; the optoelectronic pod is carried on an aircraft;
the photoelectric pod is of a four-frame configuration and comprises a servo mechanism, an angular rate gyroscope, a stable platform, a sensor and a controller, wherein the disturbance of wind resistance to the inner platform is isolated through the servo mechanism, the sensor is arranged on the stable platform, the stable platform is ensured to isolate the disturbance of the machine-mounted, the control visual axis is kept stable relative to the 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 a binding target to a controller of the photoelectric pod, and the controller automatically binds and calculates in real time; the sensor comprises a laser range finder, an integrated navigation system and an inertial measurement unit, wherein 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 center speed of the photoelectric pod under the earth geodetic coordinate system, and the inertial measurement unit is used for feeding back the course angle, the pitch angle and the roll angle information;
the controller compares the azimuth and pitching axis inertial angular velocity compensation values of the stable platform with the current inertial angular velocity of the stable platform and then feeds back the values to the servo mechanism to drive the stable platform to rotate, so that the displacement compensation function of the visual axis of the photoelectric pod is completed, and the visual axis always points to the target.
Known conditions based on the above control system are as follows:
1) The input command of the photoelectric pod visual axis drive is zero;
2) Position P of photoelectric pod fed back by photoelectric pod integrated navigation system under earth ground coordinate system EO (lon EO ,lat EO ,H EO )；
3) Heading angle psi fed back by Inertial Measurement Unit (IMU) of photoelectric pod b Pitch angle theta b Roll angle gamma b ；
4) Photoelectric pod center speed fed back by photoelectric pod integrated navigation system: east speed V BE North speed V BN Upward velocity V BU ；
5) Azimuth angle theta of photoelectric pod visual axis yaw Pitch angle theta pitch Roll angle theta roll ；
6) Inertial navigation coordinate system IMU of photoelectric pod EO (ψ b ，θ b ，γ b ) And visual axis coordinate system View EO (θ yaw ，θ pitch ，θ roll ) Overlapping;
7) The photoelectric nacelle stabilizing platform takes an angular rate gyroscope as an inertial device, and the azimuth axis angular velocity omega yaw Pitch axis angular velocity omega pitch 。
The high-precision linear displacement compensation control is realized by adopting the following flow:
1) After the aircraft mounting photoelectric pod reaches the task area, controlling the photoelectric pod to perform 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 is transmitted from earth ground coordinate system P EO (lon EO ,lat EO ,H EO ) Conversion to the rectangular coordinate system P of the earth EO (X q-EO ，Y q-EO ，Z q-EO )；
3) The laser distance Dis of the step 1) is controlled from the visual axis coordinate system View laser (Dis, 0) conversion to the geographic coordinate System P laser (X e-view ，Y e-view ，Z e-view )；
4) The laser distance information of the step 3) is processed by a geographic coordinate system P laser (X e-view ，Y e-view ，Z e-view ) Conversion to the rectangular coordinate system P of the earth laser (X q-laser ，Y q-laser ，Z q-laser )；
5) Combining the results of the step 2) and the step 4), obtaining the position of the target T in the rectangular coordinate system of the earth:
P T (X q-T ，Y q-T ，Z q-T )＝P T (X q-EO +X q-laser ，Y q-EO +Y q-laser ，Z q-EO +Z q-laser )
6) The position information of the target T in the step 5) is transmitted from the rectangular coordinate system P of the earth T (X q-T ，Y q-T ，Z q-T ) Conversion to the earth's geodetic coordinate system P T (lon T ,lat T ,H T ) Obtaining the accurate altitude H of the current task area T ；
7) After stopping the laser ranging, H in the step 6) T Real-time automatic binding to distance solver, updating LMC dis ＝(H EO -H 0 )/(-sin(θ b ) Altitude benchmark H) 0 . By LMC dis ＝(H EO -H T )/(-sin(θ b ) Calculating a more accurate distance LMC of the optoelectronic pod to the target dis ；
8) Taking the center speed of the photoelectric pod from the northeast sky speed V N (V BE ，V BN ，V BU ) Conversion to axial speed V b (V roll ，V pitch ，V yaw )；
9) Combining the results of step 7) and step 8), by Gyro X ＝-V yaw /LMC dis *57.3 calculating the stabilized platform azimuth axis inertial angular velocity compensation value Gyro X The method comprises the steps of carrying out a first treatment on the surface of the By Gyro y ＝-V pitch /LMC dis *57.3 calculating the inertial angular velocity compensation value Gyro of the pitching axis of the stabilized platform y ；
10 (ii) Gyro in step 9) X 、Gyro y Inertial angular velocity omega with current stabilized platform yaw 、ω pitch And after comparison, the displacement compensation function is fed back to the stable controller to drive the stable platform torque motor to rotate, so that the visual axis of the photoelectric pod always points to the 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 perform the linear displacement compensation control method for an optoelectronic pod.
A computer readable storage medium has stored therein program code that is callable by a processor to perform the linear displacement compensation control method for an optoelectronic pod.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (7)
1. A linear displacement compensation control method for an optoelectronic pod is characterized by comprising the following specific steps:
step one: after the aircraft mounting photoelectric pod reaches the task area, controlling the photoelectric pod to perform laser ranging on any target T in the task area to obtain the distance Dis from the current photoelectric pod to the target T;
step two, calculating the geographic coordinates of the target through a laser auxiliary positioning algorithm;
step three: converting the position information of the target T obtained in the second step from an earth rectangular coordinate system to an earth coordinate system to obtain the accurate altitude H of the current task area T ；
Step four: stopping laser ranging, and then obtaining H in the step three T Real-time automatic binding to distance resolver using H T Updating altitude benchmark H 0 Calculating a more accurate distance LMC from the optoelectronic pod to the target dis The formula is as follows:
LMC dis ＝(H EO -H T )/(-sin(θ b ))
wherein H is EO Is the altitude of the earth's geodetic coordinate system; h 0 Is the altitude benchmark;
step five: taking the center speed of the photoelectric pod from the northeast sky speed V N (V BE ，V BN ，V BU ) Conversion to axial speed V b (V roll ，V pitch ，V yaw )；
Step six: based on the fourth and fifth steps, calculating a stabilized platform azimuth axis inertial angular velocity compensation value Gyro by the following formula X ：
Gyro X ＝-V yaw /LMC dis *57.3
Calculating a stabilized platform pitch axis inertial angular velocity compensation value Gyro by the following formula y ：
Gyro y ＝-V pitch /LMC dis *57.3；
Step seven: the Gyro in the step six is performed X 、Gyro y Inertial angular velocity omega with current stabilized platform yaw 、ω pitch And after comparison, the displacement compensation function is fed back to the stable controller to drive the stable platform torque motor to rotate, so that the visual axis of the photoelectric pod always points to the target.
2. The linear displacement compensation control method for an optoelectronic pod of claim 1, wherein: the target geographic coordinate placement calculation method in the second step is as follows:
step 1, position information of the optoelectronic pod is obtained from an earth geodetic coordinate system P EO (lon EO ,lat EO ,H EO ) Conversion to the rectangular coordinate system P of the earth EO (X q-EO ，Y q-EO ，Z q-EO )；
Step 2: the laser distance Dis of the first step is controlled from the visual axis coordinate system View laser (Dis, 0) conversion to the geographic coordinate System P laser (X e-view ，Y e-view ，Z e-view )；
Step 3: the laser distance information in the step 1 is processed by a geographic coordinate system P laser (X e-view ，Y e-view ，Z e-view ) Conversion to the rectangular coordinate system P of the earth laser (X q-laser ，Y q-laser ，Z q-laser )；
Step 4: and (3) combining the results of the step (1) and the step (3) to obtain the position of the target T in the rectangular coordinate system of the earth:
P T (X q-T ，Y q-T ，Z q-T )＝P T (X q-EO +X q-laser ，Y q-EO +Y q-laser ，Z q-EO +Z q-laser )。
3. the linear displacement compensation control method for an optoelectronic pod of claim 1, wherein: in the third step, the rectangular coordinate system of the earth is P T (X q-T ，Y q-T ，Z q-T ) The earth geodetic coordinate system is P T (lon T ,lat T ,H T )。
4. A control system for a linear displacement compensation control method of an optoelectronic pod according to any one of claims 1 to 3, characterized by: comprises a central control system and a photoelectric pod; the central control system is positioned on the ground control platform and is used for sending out control commands; the optoelectronic pod is carried on an aircraft;
the photoelectric pod is of a four-frame configuration and comprises a servo mechanism, an angular rate gyroscope, a stable platform, a sensor and a controller, wherein the disturbance of wind resistance to the inner platform is isolated through the servo mechanism, the sensor is arranged on the stable platform, the stable platform is ensured to isolate the disturbance of the machine-mounted, the control visual axis is kept stable relative to the 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 a binding target to a controller of the photoelectric pod, and the controller automatically binds and calculates in real time; the sensor comprises a laser range finder, an integrated navigation system and an inertial measurement unit, wherein 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 center speed of the photoelectric pod under the earth geodetic coordinate system, and the inertial measurement unit is used for feeding back the course angle, the pitch angle and the roll angle information;
the controller compares the azimuth and pitching axis inertial angular velocity compensation values of the stable platform with the current inertial angular velocity of the stable platform and then feeds back the values to the servo mechanism to drive the stable platform to rotate, so that the displacement compensation function of the visual axis of the photoelectric pod is completed, and the visual axis always points to the target.
5. The control system of claim 4, wherein: the photoelectric pod comprises a master control computer STM32F407 chip, and can realize inertial angular rate compensation processing in a program control manner.
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 being configured to perform the linear displacement compensation control method for an optoelectronic pod according to any one of claims 1-3.
7. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a program code, which is callable by a processor to perform the linear displacement compensation control method for an optoelectronic pod according to any one of claims 1-3.
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| CN113654526A (en) * | 2021-07-30 | 2021-11-16 | 北京控制与电子技术研究所 | Photoelectric pod scanning method under low-altitude rapid flight condition |
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| US10788428B2 (en) * | 2017-09-25 | 2020-09-29 | The Boeing Company | Positioning system for aerial non-destructive inspection |
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