CN115167537A - Debugging method for tracking loop of real-time zooming tracking control system - Google Patents
Debugging method for tracking loop of real-time zooming tracking control system Download PDFInfo
- Publication number
- CN115167537A CN115167537A CN202210771611.0A CN202210771611A CN115167537A CN 115167537 A CN115167537 A CN 115167537A CN 202210771611 A CN202210771611 A CN 202210771611A CN 115167537 A CN115167537 A CN 115167537A
- Authority
- CN
- China
- Prior art keywords
- tracking
- focal length
- loop
- deviation
- photoelectric tracker
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a debugging method of a tracking loop of a real-time zoom tracking control system, which comprises the following steps: sampling a plurality of focal length values within the focal length range of a television system of the photoelectric tracker to obtain tracking deviation pixels corresponding to each sampled focal length value; determining the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of a tracking loop of a photoelectric tracker; and acquiring the current focal length value of the television system and the current tracking deviation pixel of the tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation. The invention can effectively ensure the tracking precision of the photoelectric tracker in short focus and simultaneously ensure the tracking precision of the photoelectric tracker in long focus, namely ensure the tracking precision in the whole continuous zooming process of a television system.
Description
Technical Field
The invention relates to the field of servo control, in particular to a debugging method of a tracking loop of a real-time zooming tracking control system.
Background
The tracking system is widely applied to the fields of target detection, target tracking and the like, and in a tracking system, such as a photoelectric tracker or a photoelectric sighting device, the tracking system generally comprises a real-time zooming tracking control system, wherein the real-time zooming tracking control system receives a tracking instruction and performs follow-up control on the real-time zooming tracking system, so that the real-time zooming tracking control system performs real-time correction on a tracked target, and the tracked target is positioned in the center of a view field in real time.
The real-time zooming tracking control system can expand the application range of the capturing tracking aiming device, solve the capturing and tracking problems of targets with different distances and complex backgrounds, and improve the flexibility and the intellectualization of the tracking system. The tracking system adjusts the focal length and the light intensity of the lens in real time according to the motion characteristics of the target, so that the television system works in the optimal detection and extraction state, and the tracking performance and the tracking precision of the capturing and tracking system are improved.
By combining the advantages of classical control, modern control and intelligent control theory, the high-precision fast tracking control algorithm can greatly improve the tracking precision and dynamic response performance of the real-time zooming tracking control system, and has strong robustness and disturbance resistance.
The tracking accuracy and the response speed are key points of a real-time zooming tracking control system and are also the most main key points in the whole tracking system. In a continuous zoom television system, to ensure tracking accuracy, an effective tracking control method needs to be selected.
At present, in most photoelectric trackers, the selected tracking control method is a PID control method or a PI control algorithm, so that the tracking accuracy can be ensured when the photoelectric trackers are in different tracking states, but the tracking accuracy is difficult to meet the tracking accuracy of short focus and the tracking accuracy of long focus. In general, if the tracking accuracy is good when the television system is in short focus, and the tracking accuracy is reduced when the television system is in long focus; or, if the tracking accuracy is good when the television system is in a long focus, the tracking accuracy is reduced when the television system is in a short focus; therefore, a new control method needs to be provided, which can ensure that the tracking accuracy of the short focus is higher, and simultaneously, the tracking accuracy of the long focus is also higher, i.e. the tracking accuracy of the tracking system can be ensured when the television system is in any focal length value in the whole focal length range.
Disclosure of Invention
In view of this, the present invention provides a method for debugging a tracking loop of a real-time zoom tracking control system, which can solve the technical problem that the tracking accuracy of the tracking system is guaranteed when the television system is in any focal length value within the whole focal length range, that is, the tracking accuracy is high when the television system is in a long focus, and the tracking accuracy is also guaranteed when the television system is in a short focus.
In order to solve the above-mentioned technical problems, the present invention has been achieved as described above.
A debugging method of a tracking loop of a real-time zoom tracking control system comprises the following steps:
step S1: sampling a plurality of focal length values in the focal length range of a television system of the photoelectric tracker, and acquiring tracking deviation pixels corresponding to the sampled focal length values, wherein the tracking deviation pixels are pixel differences between a target tracked by the photoelectric tracker and the center of a view field;
step S2: determining the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of a tracking loop of a photoelectric tracker in a numerical fitting curve mode;
and step S3: the method comprises the steps of obtaining a current focal length value of the television system and a current tracking deviation pixel of a tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation of the focal length of the television system, the tracking deviation pixel and the tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation.
Preferably, after the step S3, a step S4 is included: and correcting the photoelectric tracker.
Preferably, in step S2, the focal length of the television system, the tracking offset pixel, and the tracking offset of the tracking loop of the photoelectric tracker have a corresponding relationship as follows:
A_err＝-57.3*atan(6.45*0.001*(A_err_track)/bjfk)
the method comprises the following steps that A _ err is the tracking deviation of a tracking loop of a photoelectric tracker, A _ err _ track is a tracking deviation pixel given by the photoelectric tracker, and bjfk is a focal length value of a television system in the zooming process.
Preferably, the step S3 includes:
step S31: dividing the focal length range of the photoelectric tracker into a plurality of focal length subsections;
step S32: if the focal length value of the lens of the photoelectric tracker is equal to one of the focal length value corresponding to the division point or the two end point values corresponding to the focal length range, compensating a tracking loop of the photoelectric tracker by adopting an integral separation control algorithm to obtain a tracking control quantity of the tracking loop, and entering a step S34;
step S33: if the focal length value of the lens of the photoelectric tracker is not equal to one of the focal length value corresponding to the division point or the two endpoint values corresponding to the focal length range, different proportionality coefficients are distributed to different focal length subsections of the photoelectric tracker, a variable-gain PID control algorithm is adopted for a tracking loop of the photoelectric tracker, and the proportionality coefficient corresponding to the focal length subsection to which the focal length value of the lens of the photoelectric tracker belongs is used as a proportionality term in the variable-gain PID control algorithm; acquiring a current focal length value of the television system and a current tracking deviation pixel of the tracking loop, and determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker; based on the proportional term corresponding to the focal length subsection corresponding to the current focal length value of the television system and the current tracking deviation of the tracking loop, obtaining the tracking control quantity of the tracking loop by using a variable gain PID control algorithm, and entering step S34;
step S34: carrying out amplitude limiting processing and border crossing protection on the tracking control quantity of the tracking loop; the amplitude limiting processing comprises the steps of setting an upper limit value and a lower limit value for the tracking control quantity, normalizing the tracking control quantity between the upper limit value and the lower limit value, and clearing the tracking control quantity when the position of a servo system of the photoelectric tracker is a limit boundary of the servo system;
step S35: compensating the tracking loop based on the tracking control amount.
Preferably, in step S4, the photo-tracker is corrected by a dual-loop lead-lag correction method, where the photo-tracker speed loop and the tracking loop respectively perform lead-lag correction.
The invention provides a debugging device of a tracking loop of a real-time zooming tracking control system, which comprises:
a sampling module: the method comprises the steps that a plurality of focal length values in a focal length range of a television system of the photoelectric tracker are sampled, tracking deviation pixels corresponding to the sampled focal length values are obtained, and the tracking deviation pixels are pixel differences between a target tracked by the photoelectric tracker and a view field center;
a fitting module: determining the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of a tracking loop of the photoelectric tracker in a mode of fitting a curve with a numerical value;
a compensation module: the method comprises the steps of obtaining a current focal length value of the television system and a current tracking deviation pixel of the tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation of the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation.
The present invention provides a computer-readable storage medium having a plurality of instructions stored therein; the plurality of instructions for being loaded by a processor and performing the method as described above.
The present invention provides an electronic device, including:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are for storage by the memory and for loading and executing the method by the processor.
Has the advantages that:
the invention has the following technical effects:
(1) The invention provides a new control method in a continuous zooming television system based on the basic principle of a tracking system, in particular to a photoelectric tracker, which can effectively ensure the tracking precision of the photoelectric tracker in short focus and long focus, and ensure the tracking precision of the photoelectric tracker even if the tracking system is in any focal length value in the whole focal length range.
(2) The invention effectively ensures the tracking precision of the television system in any focal length value in the whole focal length range in the continuous zooming television system. Namely, the tracking precision of the long focus is high while the high tracking precision of the short focus is ensured.
(3) The invention can ensure the tracking precision of the photoelectric tracker in the tracking system with the continuous zooming television system and can ensure the tracking precision when the television system of the tracking system is in any focal length value in the whole focal length range. The invention has good performance index.
Drawings
Fig. 1 is a schematic flow chart of a debugging method of a tracking loop of a real-time zoom tracking control system according to the present invention;
FIG. 2 is a schematic diagram of a curve fit between a focus value and a tracking offset pixel provided by the present invention;
FIG. 3 is a diagram illustrating a numerical correspondence between a focus value and a tracking offset pixel collected by the controller according to the present invention;
FIG. 4 is a frame diagram of a tracking loop PID control method segmented according to focal length values according to the present invention;
FIG. 5 is a block diagram of a control method at a split point according to the present invention;
FIG. 6 is a schematic diagram of the boundary slicing process provided by the present invention;
FIG. 7 is a schematic diagram of dual loop lead-lag correction provided in accordance with the present invention;
fig. 8 is a schematic structural diagram of a debugging apparatus of a tracking loop of a real-time zoom tracking control system provided by the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1, the present invention provides a method for debugging a tracking loop of a real-time zoom tracking control system, comprising the following steps:
step S1: sampling a plurality of focal length values within the focal length range of a television system of the photoelectric tracker, and acquiring tracking deviation pixels corresponding to the sampled focal length values, wherein the tracking deviation pixels are pixel differences between a target tracked by the photoelectric tracker and the center of a view field;
step S2: determining the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of a tracking loop of a photoelectric tracker in a numerical value fitting curve mode;
and step S3: the method comprises the steps of obtaining a current focal length value of the television system and a current tracking deviation pixel of a tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation of the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation.
Further, the method further comprises step S4: and correcting the photoelectric tracker.
The step S1, wherein:
the lens of the television system of the photoelectric tracker has various focal length values, the focal length values are in focal length ranges [ a and b ], a plurality of sampling points are selected in the focal length ranges [ a and b ], such as c1, c2, \8230 \ 8230;, cn, and the focal lengths of the lens of the television system are respectively adjusted to c1, c2, \8230;, cn, the focal lengths of the acquired lenses are respectively c1, c2, \\8230;, \8230;, and when cn is used, the corresponding tracking deviation pixels of the photoelectric tracker are obtained.
Because sampling errors, system power supply noise, errors of electronic components and the like exist when the output value of the potentiometer representing the focal length value of the optical lens is collected, the output value of the potentiometer representing the focal length value output by the optical lens is collected by the high-precision AD converter; and the acquired output value of the potentiometer is filtered by a low-pass filter and an average filter so as to ensure the accuracy of the acquired data, and the acquired data is close to the focal length value output by the optical lens so as to ensure the data acquisition precision.
In this embodiment, the pixels correspond to the resolution of the field of view. The tracking offset pixels are given by the photo tracker.
As shown in fig. 2, in step S2, the focal length of the television system, the tracking offset pixel, and the tracking offset of the tracking loop of the photoelectric tracker have the corresponding relationship:
A_err＝-57.3*atan(6.45*0.001*(A_err_track)/bjfk)
the method comprises the following steps that A _ err is the tracking deviation of a tracking loop of a photoelectric tracker, A _ err _ track is a tracking deviation pixel given by the photoelectric tracker, and bjfk is a focal length value of a television system in the zooming process.
In the embodiment, a curve is fitted in the form of a unitary multiple equation, so that the fitting mode ensures the accuracy of the calculated deviation pixel, and meanwhile, the calculation time is saved and the memory space of the DSP is occupied.
The step S3 includes:
step S31: dividing the focal length range of the photoelectric tracker into a plurality of focal length subsections;
step S32: if the focal length value of the lens of the photoelectric tracker is equal to one of the focal length value corresponding to the division point or the two end point values corresponding to the focal length range, compensating a tracking loop of the photoelectric tracker by adopting an integral separation control algorithm to obtain a tracking control quantity of the tracking loop, and entering a step S34;
step S33: if the focal length value of the lens of the photoelectric tracker is not equal to one of the focal length value corresponding to the dividing point or the two end point values corresponding to the focal length range, different proportionality coefficients are allocated to different focal length subsections of the photoelectric tracker, a variable gain PID control algorithm is adopted for a tracking loop of the photoelectric tracker, and the proportionality coefficient corresponding to the focal length subsection to which the focal length value of the lens of the photoelectric tracker belongs is used as a proportionality term in the variable gain PID control algorithm; acquiring a current focal length value of the television system and a current tracking deviation pixel of the tracking loop, and determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker; based on the proportional term corresponding to the focal length subsection corresponding to the current focal length value of the television system and the current tracking deviation of the tracking loop, obtaining the tracking control quantity of the tracking loop by using a PID control algorithm with variable gain, and entering a step S34;
step S34: carrying out amplitude limiting processing and border crossing protection on the tracking control quantity of the tracking loop; the amplitude limiting processing is to set an upper limit value and a lower limit value for the tracking control quantity, normalize the tracking control quantity between the upper limit value and the lower limit value, and clear the tracking control quantity when the position of a servo system of the photoelectric tracker is a limit boundary of the servo system;
for example, if the control amount has a value greater than-100 and less than +100, the tracking control amount is normalized between [ -100, +100 ]. The mechanical limit of the frame angle of the servo system is as follows: the angle value of the frame corresponding to the position of the servo system is-60 degrees or +15 degrees when the angle value of the frame is-60 degrees to +15 degrees when the angle value of the frame is limited.
Step S35: compensating the tracking loop based on the tracking control amount.
In this embodiment, the split point may generate an overshoot phenomenon, and in order to avoid this disadvantage, a control algorithm that employs integral separation at the split point is employed. In different focal length value ranges, different proportionality coefficients are adopted, so that different focal length values can be effectively guaranteed, a tracking loop has different parameters, and tracking accuracy is guaranteed.
And step S4, correcting the photoelectric tracker by using a dual-loop lead-lag correction method, where the dual-loop lead-lag correction method is to perform lead-lag correction on a speed loop and a tracking loop of the photoelectric tracker respectively.
The inner ring of the tracking loop is a speed loop, and the speed loop adopts a double-loop lead-lag correction method, so that the response time and the stability characteristic of the stable loop can be ensured, and the tracking precision is ensured. The double-ring lead-lag correction method has the characteristics of short response time, small overshoot, high control precision and the like.
The photoelectric tracker comprises a tracking loop, and the tracking loop consists of a speed loop and an image processing module.
The speed loop comprises a servo controller, a power amplifier, an actuating mechanism/motor, a speed sensor/gyroscope and other components; the working principle of the speed loop is as follows: the control master command at the previous moment is different from the current movement speed of the servo system acquired by the gyroscope and is sent to the servo controller for processing, and the servo controller sends a control master command signal which is amplified by the power amplifier and then drives the motor to drive the load to move. Wherein the load comprises: processing systems for television systems, infrared image processing systems, lasers, etc. are used to capture the optical components of the image.
The tracking loop comprises a speed loop, an image processing module, a load and the like; the working principle of the tracking loop is as follows: the upper computer software sends a tracking command to the image processing module, the image processing module responds to the tracking command, tracks the target, calculates and sends out a tracking deviation to the servo controller, and the servo controller sends out a control master command to the speed loop through calculation so that the servo system moves along with the target.
Further, as shown in fig. 7, the dual-loop lead-lag correction method includes: and the output quantity of the tracking control quantity after proportional, advance and lag correction is used as the input quantity of the next-stage proportional advance and lag link. Compared with a PID control algorithm, the double-loop lead-lag correction method has a better control effect.
The invention also provides a specific embodiment of a debugging method of the tracking loop of the real-time zoom tracking control system.
Step 1: accurate reading of focus feedback values for television systems
A 16-bit high-precision AD7744 converter is adopted to collect a focal distance value fed back by a television system; filtering processing methods such as a low-pass filter and an average filter are adopted, so that the accuracy of the acquired data is ensured; a focal length value close to the optical lens output;
step 2: calculating tracking deviation pixels according to the acquired focal length values; the relationship between the focus value and the tracking offset pixel is as follows:
A_err＝-57.3*atan(6.45*0.001*(A_err_track)/bjfk)；
adopting a numerical fitting curve mode; a curve is fitted in the form of a unitary multiple equation, and the fitting mode ensures the accuracy of the calculated deviation pixel, and saves the calculation time and occupies the memory space of the DSP. The fitted curve equation is shown in FIG. 2; the numerical correspondence between the focus value acquired by the controller and the tracking offset pixel is shown in fig. 3. The final fitted curve is of the form:
Y＝-1E-14x5+2E-11x4-9E-09x3+2E-06x2-0.00002x-0.0084
and step 3: according to the obtained corresponding relation between the tracking deviation and the focal length, carrying out tracking loop algorithm compensation, wherein the tracking loop adopts a variable gain PID control mode; the focal length value is divided into a plurality of sections, and different proportionality coefficients are adopted in different focal length value ranges, so that the parameters of a tracking loop can be effectively ensured under different focal length values, and the tracking precision is ensured. A block diagram of a tracking loop PID control algorithm segmented by focal length values is shown in fig. 4, where f1=150; f2=350; p1=1.8; p2=2.3; p3=2.8.
And PI control algorithm and integral separation control algorithm are adopted at the division points.
According to the focal length segmentation, a mode of adopting different proportionality coefficients has the defect that overshoot phenomenon can be generated at a segmentation point, and in order to avoid the defect, a PI control algorithm and an integral separation control algorithm are adopted at the segmentation point. The control algorithm block diagram at the split point is shown in fig. 5.
And carrying out amplitude limiting processing on the tracking control quantity and carrying out border crossing protection. The boundary clipping principle is shown in fig. 6.
A functional block diagram of the dual loop lead-lag correction used in the present invention is shown in fig. 7.
The present invention also provides a debugging apparatus for a tracking loop of a real-time zoom tracking control system, as shown in fig. 8, the apparatus includes:
a sampling module: the method comprises the steps that a plurality of focal length values in a focal length range of a television system of the photoelectric tracker are sampled, tracking deviation pixels corresponding to the sampled focal length values are obtained, and the tracking deviation pixels are pixel differences between a target tracked by the photoelectric tracker and a view field center;
a fitting module: determining the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of a tracking loop of the photoelectric tracker in a mode of fitting a curve with a numerical value;
the compensation module: the method comprises the steps of obtaining a current focal length value of the television system and a current tracking deviation pixel of the tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation of the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation.
The above embodiments are merely illustrative of the design principles of the present invention, and the shapes of the components in the description may be different and the names are not limited. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (8)
1. A method for debugging a tracking loop of a real-time zoom tracking control system is characterized by comprising the following steps:
step S1: sampling a plurality of focal length values in the focal length range of a television system of the photoelectric tracker, and acquiring tracking deviation pixels corresponding to the sampled focal length values, wherein the tracking deviation pixels are pixel differences between a target tracked by the photoelectric tracker and the center of a view field;
step S2: determining the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of a tracking loop of a photoelectric tracker in a numerical fitting curve mode;
and step S3: the method comprises the steps of obtaining a current focal length value of the television system and a current tracking deviation pixel of a tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation of the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation.
2. The method according to claim 1, characterized in that said step S3 is followed by a step S4: and correcting the photoelectric tracker.
3. The method according to any one of claims 1-2, wherein in step S2, the focal length of the television system, the tracking offset pixel, and the tracking offset of the tracking loop of the electro-optical tracker have a corresponding relationship:
A_err＝-57.3*atan(6.45*0.001*(A_err_track)/bjfk)
the method comprises the following steps that A _ err is a tracking deviation of a tracking loop of a photoelectric tracker, A _ err _ track is a tracking deviation pixel given by the photoelectric tracker, and bjfk is a focal length value of a television system in a zooming process.
4. The method according to any of claims 1-2, wherein said step S3 comprises:
step S31: dividing the focal length range of the photoelectric tracker into a plurality of focal length subsections;
step S32: if the focal length value of the lens of the photoelectric tracker is equal to one of the focal length value corresponding to the division point or the two endpoint values corresponding to the focal length range, compensating a tracking loop of the photoelectric tracker by adopting an integral separation control algorithm to obtain a tracking control quantity of the tracking loop, and entering a step S34;
step S33: if the focal length value of the lens of the photoelectric tracker is not equal to one of the focal length value corresponding to the dividing point or the two end point values corresponding to the focal length range, different proportionality coefficients are allocated to different focal length subsections of the photoelectric tracker, a variable gain PID control algorithm is adopted for a tracking loop of the photoelectric tracker, and the proportionality coefficient corresponding to the focal length subsection to which the focal length value of the lens of the photoelectric tracker belongs is used as a proportionality term in the variable gain PID control algorithm; acquiring a current focal length value of the television system and a current tracking deviation pixel of the tracking loop, and determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker; based on the proportional term corresponding to the focal length subsection corresponding to the current focal length value of the television system and the current tracking deviation of the tracking loop, obtaining the tracking control quantity of the tracking loop by using a variable gain PID control algorithm, and entering step S34;
step S34: carrying out amplitude limiting processing and border crossing protection on the tracking control quantity of the tracking loop; the amplitude limiting processing comprises the steps of setting an upper limit value and a lower limit value for the tracking control quantity, normalizing the tracking control quantity between the upper limit value and the lower limit value, and clearing the tracking control quantity when the position of a servo system of the photoelectric tracker is a limit boundary of the servo system;
step S35: compensating the tracking loop based on the tracking control amount.
5. The method of claim 2, wherein in step S4, the photo-tracker is calibrated using a dual-loop lead-lag calibration method, wherein the dual-loop lead-lag calibration method is performed by a speed loop and a tracking loop of the photo-tracker, respectively.
6. A commissioning apparatus of a tracking loop of a real-time zoom tracking control system, said apparatus comprising:
a sampling module: the method comprises the steps that a plurality of focal length values in a focal length range of a television system of the photoelectric tracker are sampled, tracking deviation pixels corresponding to the sampled focal length values are obtained, and the tracking deviation pixels are pixel differences between a target tracked by the photoelectric tracker and a view field center;
a fitting module: determining the corresponding relation between the focal length and the tracking deviation pixel of the television system and the tracking deviation of a tracking loop of a photoelectric tracker in a numerical fitting curve mode;
a compensation module: the method comprises the steps of obtaining a current focal length value of the television system and a current tracking deviation pixel of the tracking loop, determining the current tracking deviation of the tracking loop of the photoelectric tracker based on the corresponding relation of the focal length and the tracking deviation pixel of the television system and the tracking deviation of the tracking loop of the photoelectric tracker, and compensating the tracking loop based on the current tracking deviation.
7. A computer-readable storage medium having stored therein a plurality of instructions; the plurality of instructions for being loaded by a processor and for performing the method of any one of claims 1-5.
8. An electronic device, characterized in that the electronic device comprises:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the plurality of instructions are to be stored by the memory and loaded and executed by the processor to perform the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210771611.0A CN115167537A (en) | 2022-06-30 | 2022-06-30 | Debugging method for tracking loop of real-time zooming tracking control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210771611.0A CN115167537A (en) | 2022-06-30 | 2022-06-30 | Debugging method for tracking loop of real-time zooming tracking control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115167537A true CN115167537A (en) | 2022-10-11 |
Family
ID=83488467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210771611.0A Pending CN115167537A (en) | 2022-06-30 | 2022-06-30 | Debugging method for tracking loop of real-time zooming tracking control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115167537A (en) |
-
2022
- 2022-06-30 CN CN202210771611.0A patent/CN115167537A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101911671B (en) | Imaging device and optical axis control method | |
| CN101611625B (en) | Automatic tracking device and automatic tracking method | |
| CN110109343B (en) | Visual measurement time-lag compensation method for photoelectric tracking system | |
| CN103631273B (en) | Based on photoelectric follow-up and the method for absolute angle position track information | |
| CN108156371B (en) | Infrared automatic focusing fast searching method | |
| JP4393045B2 (en) | Lens control apparatus and camera equipped with the same | |
| CN109769096B (en) | Servo motion control method for linear array CCD scanning process | |
| CN113376784B (en) | Electromechanical active compensation method for full-temperature-section clear points of continuous zoom lens | |
| JPS62236273A (en) | Black level correcting circuit for video camera | |
| CN114660753B (en) | Image quality active compensation method in full temperature range of continuous zoom lens | |
| US6301439B1 (en) | Lens driving control apparatus for zoom lens | |
| JP6516544B2 (en) | CONTROL DEVICE, OPTICAL DEVICE, IMAGING DEVICE, AND CONTROL METHOD | |
| CN107390522A (en) | Error observation feedforward control method based on visual tracking | |
| JPS61245121A (en) | Zoom lens device | |
| CN108279317B (en) | Spatial filtering speed measurement sensor device and method for improving speed measurement precision | |
| US5406069A (en) | Optical apparatus with plural lenses and focus adjustment | |
| CN115167537A (en) | Debugging method for tracking loop of real-time zooming tracking control system | |
| CN105466456A (en) | Method for dynamically eliminating zero drift for stabilizing gyroscope of communication-in-moving antenna | |
| CN111880283A (en) | Control system of zoom optical system | |
| JP6204805B2 (en) | Imaging apparatus, control method therefor, program, and storage medium | |
| US20050195311A1 (en) | Lens system | |
| CN111722526B (en) | Multi-view-field switching calibration control method based on temperature compensation and computer readable storage medium | |
| JPH0152680B2 (en) | ||
| CN117192726A (en) | Quick reflector control method and device based on improved active disturbance rejection control | |
| CN115297252B (en) | Image definition enhancement method of television real-time zooming tracking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |