CN117193089A - Infrared target pointing control system and control method thereof - Google Patents
Infrared target pointing control system and control method thereof Download PDFInfo
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Abstract
The embodiment of the invention relates to an infrared target pointing control system and a control method thereof, wherein the system comprises an infrared target device, a ground station and a communication module; the infrared target device comprises a first control module, an information receiving module, a driving motor module and an infrared module; the first control module is connected with the information receiving module, receives the data information of the information receiving module and outputs a control instruction according to the data information; the first control module is connected with the driving motor module and the infrared module respectively, and controls the rotation angle of the target turntable through the driving motor module and controls the infrared intensity output by the infrared module. According to the technical scheme provided by the embodiment of the invention, the target infrared radiation characteristic dynamic generation technology is utilized, the ground stations are respectively downloaded from the self situation of the target, the guide head and other detected equipment, and the ground stations upload the driving control command after coordinate calculation, so that the pointing precision of the target is greatly improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of infrared detection, in particular to an infrared target pointing control system and a control method thereof.
Background
Most of the existing infrared target systems adopt a glowing pipe type infrared target, and the solid fuel has the advantages of large combustion heat, high radiation intensity and relatively mature ignition control, but the defects are quite obvious:
(1) It is difficult for a combustion target to accurately simulate infrared features of the target under different state potentials
The forward infrared radiation emitter in the electric drive heating mode can realize forward supplementation of infrared radiation characteristics under low power, but the existing common targets are still mainly based on tail attack, and the head-on and side infrared radiation consideration is not fully considered.
(2) The infrared characteristics of the combustion target are greatly affected by the environment and are difficult to control accurately
The infrared radiation intensity values of the flammable infrared targets under the flight dynamic measurement and static measurement conditions are greatly different (about 10 times different under the flight speed of 150 m/s), and are also influenced by various factors such as flight height and the like, so that the infrared radiation characteristics are difficult to accurately control. The test experiment under the current air dynamic condition has high cost, and the experimental variables are difficult to fully reproduce on the ground due to various influencing factors.
(3) Short target supply time and fast infrared intensity decay
Because the solid explosive column burning time is shorter (35-108 s), the method of carrying a plurality of solid explosive columns at one time can be adopted to realize the state simulation of a relatively longer voyage or an engine under different powers. In the actual targeting process, the infrared intensity can be changed drastically due to insufficient combustion or burning-out of the combustion object, and the infrared detection equipment can identify errors in the actual detection process.
Disclosure of Invention
Based on the above situation of the prior art, an object of the embodiment of the present invention is to provide an infrared target pointing control system and a control method thereof, in which the self-situation (longitude and latitude, elevation, speed, gesture, etc.) of a target, a guide head, etc. of a tested device is respectively downloaded to a ground station, the ground station uploads a driving control command after coordinate calculation, and the tail of the infrared target always points to a target observer, thereby greatly improving the pointing precision of the target.
To achieve the above object, according to one aspect of the present invention, there is provided an infrared target pointing control system including an infrared target device, a ground station, and a communication module;
the infrared target device comprises a target body, a first control module, an information receiving module, a driving motor module and an infrared module; wherein,
the target body comprises an equipment cabin, a battery cabin and a target turntable;
the first control module is respectively connected with the driving motor module and the infrared module, the rotation angle of the target turntable is controlled through the driving motor module, and the infrared intensity output by the target turntable is controlled through the infrared module;
the ground station comprises a second GPS module and a second control module;
the infrared target device communicates with the ground station through the communication module.
Further, the driving motor module comprises a servo motor, a potentiometer and a detection terminal;
the servo motor comprises a pitching driving motor and a horizontal driving motor;
the potentiometer is arranged on the target turntable and is used for feeding back the angles of a pitching axis and a horizontal axis of the rotation of the target;
the detection terminal is arranged on the target body and used for limiting the limit angle of the target so as to prevent the servo motor from overshooting.
Further, the information receiving module comprises a first GPS module and an INS module; wherein,
the first GPS module is used for providing target position information;
the INS module is configured to provide attitude data information.
Further, the infrared module comprises an infrared light source and a stepping motor;
the infrared light source outputs corresponding infrared intensity according to the control instruction of the first control module;
the stepping motor is used for adjusting the position of the infrared light source according to the stepping amount.
Further, the communication module includes a first radio and a second radio.
According to another aspect of the present invention, there is provided a control method using the infrared target pointing system according to the first aspect of the present invention, the control method being applied to a ground station, comprising:
receiving target position information and attitude data information of the information receiving module through the communication module;
calculating to obtain the pitch axis and the horizontal axis angle of the tail of the current target according to the target position information and the gesture data information;
calculating a corresponding infrared intensity command according to the obtained angle of the pitching axis and the horizontal axis of the tail of the target;
and sending the pitching axis and the horizontal axis angle of the tail part of the target and the infrared intensity command to a first control module of the infrared target device through a communication module, so that the first control module controls the driving motor module to rotate to a corresponding angle according to the pitching axis and the horizontal axis angle of the tail part of the target, and controls the infrared module to output corresponding infrared intensity according to the infrared intensity command.
Further, the method further comprises:
the stepping motor in the infrared module is driven to move so as to adjust the position of the infrared light source in the infrared module, and the parallel irradiation divergence angle of the infrared light beam output by the infrared light source is minimized.
Further, the method further comprises:
and acquiring angle change information of a potentiometer in the driving motor module, and feeding back the rotation angle of a servo motor in the driving motor module.
Further, the method further comprises:
and calibrating a pitching axis and a horizontal axis of the tail of the target.
Further, the pitch axis angle yaw and the horizontal axis angle pitch of the tail of the current target are calculated according to the following formula:
wherein x' f ,y′ f ,z′ f Respectively the coordinates of the target under the coordinates of the carrier, x' f ,y′ f ,z′ f The right-hand coordinate system is formed by pointing to the right side, the vertical axis and the upper side of the carrier respectively.
In summary, the embodiment of the invention provides an infrared target pointing control system and a control method thereof, wherein the system comprises an infrared target device, a ground station and a communication module; the infrared target device comprises a first control module, an information receiving module, a driving motor module and an infrared module; the first control module is connected with the information receiving module, receives data information of the information receiving module and outputs a control instruction according to the data information; the first control module is respectively connected with the driving motor module and the infrared module, the rotation angle of the target turntable is controlled through the driving motor module, and the infrared intensity output by the target turntable is controlled through the infrared module; the first control module is communicated with the ground station through the communication module; the ground station includes a second GPS module and a second control module. According to the technical scheme provided by the embodiment of the invention, the target infrared radiation characteristic dynamic generation technology is utilized, the ground station is respectively downloaded with the self situation (longitude and latitude, elevation, speed, gesture and the like) of the tested equipment such as the guide head and the like, and the ground station uploads the driving control command after coordinate calculation, so that the pointing precision of the target is greatly improved.
Drawings
FIG. 1 is a block diagram of an infrared target pointing control system provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall structure of a drive motor module disposed on a target turret;
fig. 3 is a flowchart of a control method of an infrared target pointing system according to an embodiment of the present invention.
Reference numerals illustrate:
21-pitch drive motor; 22-azimuth drive motor (horizontal drive motor); 23-azimuth axis potentiometer; 24-pitch axis potentiometer; 25-azimuth axis limit sensor; 26-pitch axis limit sensor.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
It is noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present invention should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of the terms "first," "second," and the like in one or more embodiments of the present invention does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
The technical scheme of the invention is described in detail below with reference to the accompanying drawings. The embodiment of the invention provides an infrared target pointing control system, which utilizes a dynamic pointing technology, and the dynamic pointing process is to control a tail infrared light source to always cover an observation target under the condition of changing the position, the posture and the like of the target. The GPS and INS data are transmitted in real time through the radio station after the infrared target is mounted and flown, angle calculation and infrared intensity output intensity analysis are completed by the ground station equipment, and then the angle calculation and the infrared intensity output intensity analysis are uploaded to the target through the radio station, and a control command is completed. A block diagram of the control system is shown in fig. 1, and as shown in fig. 1, the system includes an infrared target device, a ground station, and a communication module.
The infrared target device comprises a first control module, an information receiving module, a driving motor module and an infrared module; an independent power supply can be arranged in the infrared target device. The infrared target device also comprises a target body and a carrier mounting accessory, wherein the target body is fixed at the wing tip of the target aircraft through the carrier mounting accessory and is powered by the carrier. The infrared target device communicates with the ground station through a communication module by a data chain, downloads self posture and position information, receives a ground station control command and completes a dynamic pointing function. The target body comprises an equipment cabin, a battery cabin and a target turntable cabin section. The target turntable cabin section is of a two-axis two-frame structure and consists of a pitching axis and an azimuth axis, each axis is driven by a servo motor, and angle feedback is carried out through a potentiometer coaxially installed, so that a position-speed double-closed-loop function is realized, and in addition, an electric limiting function is realized through the arrangement of a detection terminal, so that hardware damage caused by program running is avoided.
The ground station comprises a second GPS module and a second control module, wherein the second GPS module is used for determining the real-time position, and the second control module can be a PC (personal computer) and is used for collecting data of the second GPS module and the second control module for analysis and calculation. The communication module comprises a first radio station and a second radio station, wherein the first radio station is arranged in the infrared target device, and the second radio station is arranged in the ground station.
The information receiving module comprises a first GPS module and an INS module; the first GPS module is used for providing target position information; the INS module is configured to provide attitude data information. The information receiving module sends the received target position information and attitude data information to the ground station through the first radio station, the ground station receives the information through the second radio station, the second control module calculates and obtains the current target tail pitching axis and the horizontal axis angle according to the information, and calculates a corresponding infrared intensity command according to the current target tail pitching axis and the horizontal axis angle. The second control module of the ground station sends the infrared intensity command to the first control module of the infrared target device through the communication module, so that the first control module controls the driving motor module to rotate to a corresponding angle according to the pitching axis and the horizontal axis angle of the tail of the target, and controls the infrared module to output corresponding infrared intensity according to the infrared intensity command.
The first control module in the infrared target device is connected with the driving motor module and the infrared module respectively, the rotation angle of the target turntable is controlled through the driving motor module, and the infrared intensity output by the infrared module is controlled. The first control module is also connected with the driving motor module and the infrared module respectively, the rotation angle of the target turntable is controlled through the driving motor module, and the infrared intensity output by the driving motor module is controlled through the infrared module. In the target mounting flight process, the tail turntable needs to be high in precision orientation, high in response speed and good in angle rotation linearity. Because the mechanical structure has certain weight and volume and wind resistance exists in the flying process, the turntable is driven by adopting a mode that the speed reducing motor drives the synchronous belt, so that larger driving moment is realized; and a hollow potentiometer is adopted as a feedback structure of the two-axis angle; the limit angle of the target prevents the servo motor from overshooting through the limitation of the detection terminal. The driving motor module comprises a servo motor, a potentiometer and a detection terminal, the overall structure schematic diagram of the driving motor module arranged on the target turntable is shown in fig. 2, and the servo motor comprises a pitching driving motor 21 and an azimuth driving motor (namely a horizontal driving motor) 22 as shown in fig. 2; the potentiometer comprises an azimuth axis potentiometer 23 and a pitching axis potentiometer 24, and the pitching axis potentiometer 24 and the azimuth axis potentiometer 23 are arranged on the target turntable and are used for feeding back the angles of a pitching axis and a horizontal axis of the rotation of the target; the detection terminal is arranged on the target body and used for electrical limiting; the detection terminal is a limit sensor, and the limit sensor comprises an azimuth axis limit sensor 25 and a pitching axis limit sensor 26, and is arranged on the target body and used for limiting the limit angle of the target so as to prevent the servo motor from overshooting. After the infrared target device receives the infrared intensity data transmitted by the radio station, the first control module outputs the control infrared light source according to the received infrared intensity data, and collects power feedback voltage. The stepper motor is generally adjusted to a state of converging the light beam when the target is initialized, and the target is kept unchanged in the automatic control process. The infrared module comprises an infrared light source and a stepping motor; the first control module controls the output of the infrared light source according to the received infrared intensity, and performs feedback control by collecting the voltage and current of the infrared light source. The stepping motor is used for adjusting the position of the infrared light source according to the stepping amount, and the minimum stepping amount can be determined according to the stepping angle of the stepping motor and the pitch of the screw rod.
The embodiment of the invention also provides a control method of the infrared target pointing system, which is used for the control method of the infrared target pointing system provided by the embodiment, and is applied to a ground station, and a flow chart of the control method shown in fig. 3 comprises the following steps:
the ground station receives the target position information and the attitude data information of the information receiving module through the communication module and transmits the target position information and the attitude data information to the second control module.
And the second control module calculates according to the target position information and the gesture data information to obtain the pitch axis and the horizontal axis angle of the tail of the current target. And after four times of conversion of the geodetic coordinate system data of the target and the observation target point, calculating the pitch axis and the horizontal axis angle of the tail of the current target in the visual axis coordinate system each time the target position information and the gesture data information are acquired. Then, according to the obtained angle of the pitching axis and the horizontal axis of the tail of the target, a corresponding infrared intensity command is calculated.
The pitch axis angle yaw and the horizontal axis angle pitch of the tail of the current target are calculated according to the following formula:
wherein x' f ,y′ f ,z′ f Respectively the coordinates of the target under the coordinates of the carrier, x' f ,y′ f ,z′ f The right-hand coordinate system is formed by pointing to the right side, the vertical axis and the upper side of the carrier respectively.
The coordinates of the target in the coordinates of the carrier can be obtained by:
in the first step, the geodetic coordinates are converted into the WGS-84 coordinate system.
Where a= 6378137m is the earth long radius, e 2 = 0.006694379995 is the square of the first eccentricity of the ellipsoid, (B, L, H) is the longitude, latitude and altitude obtained for each data update.
The second step, converting the WGS-84 coordinate system into a northeast-north-day coordinate system, wherein (x, y, z) respectively represents three-dimensional coordinates of the target in the northeast-north-day coordinate system where the target is located, wherein the three-dimensional coordinates are in the directions of east, north and sky:
wherein, (X t ,Y t ,Z t ) And (X) f Y f Z f ) The geodetic coordinates of the target and the object to be tested (e.g., the seeker) respectively; c (C) E Is a space coordinate transformation matrix at the position of the carrier, and the matrix is expressed by the following formula:
wherein L is f Representing the latitude of the tested object B f Representing the longitude of the subject target.
Third, the northeast coordinate system is converted to the carrier coordinate system, and the process can be represented by the following two formulas:
wherein R is x 、R y 、R z The rotation matrixes respectively comprise a pitch angle (p), a roll angle (r) and a course angle (y), wherein (p ', r ', y ') are corresponding three-axis angle deviation compensation, and three-axis attitude angle correction of a target under a carrier system is completed through rotation matrix components (x) f ，y f ，z f ) To point to the right side, the vertical axis and the upper side of the carrier, a right-hand coordinate system is formed
Fourthly, the coordinate (x 'of the ground station in the target rotation coordinate system can be known by projecting the carrier coordinate system to the biaxial orientation angle under the visual axis coordinate system' f ，y' f ，z' f ) The method comprises the following steps:
the second control module of the ground station sends the pitching axis and the horizontal axis angle of the tail part of the target and the infrared intensity command to the first control module of the infrared target device through the communication module, so that the first control module controls the driving motor module to rotate to a corresponding angle according to the pitching axis and the horizontal axis angle of the tail part of the target, and controls the infrared module to output corresponding infrared intensity according to the infrared intensity command.
According to certain alternative embodiments, the method further comprises: the stepping motor in the infrared module is driven to move so as to adjust the position of the infrared light source in the infrared module, and the parallel irradiation divergence angle of the infrared light beam output by the infrared light source is minimized.
According to certain alternative embodiments, the method further comprises: and acquiring angle change information of a potentiometer in the driving motor module, and feeding back the rotation angle of a servo motor in the driving motor module.
According to certain alternative embodiments, the method further comprises: and calibrating a pitching axis and a horizontal axis of the tail of the target. In order to prove that the infrared target control system provided by the embodiment of the invention has the reliability requirement and meets the requirement of the external field mounting test index, the target pointing precision is required to be calibrated. The calibration method is that an IMU-560 gyroscope is fixed on a rotating shaft at the tail of a target, the gyroscope with the same model in the target is used as a triaxial horizontal reference, and the relation between different angles and AD values is recorded by rotating the tail of the target. Multiple samples of the repeatability measurements are shown in tables 1 and 2.
Table 1 pitch axis angle calibration samples
Table 2 horizontal axis angle calibration samples
According to the sampling result, the pitch axis has small measuring range and good linearity, so that a first-order linearity formula shown in the following formula can be adopted.
Where k is a linear ratio, Δl is the difference in output AD values, and Δθ is the corresponding angle difference.
The linearity of the horizontal axis is poor, a polynomial fitting mode can be adopted, and because the data is simpler and the system delay is increased due to the fact that the singlechip processes the excessive order, a second-order polynomial fitting method is adopted, and the fitting polynomial is as follows:
f(x)＝0.007268x 2 -11.98x+2202
the pitching axis and the horizontal axis of the tail of the target are calibrated respectively through first-order linearity and second-order polynomial fitting, so that the linearity error caused by a mechanical structure in the pointing process is reduced, and the pointing precision can be improved and the infrared radiation output is ensured to be accurate.
In summary, the embodiment of the invention relates to an infrared target pointing control system and a control method thereof, wherein the system comprises an infrared target device, a ground station and a communication module; the infrared target device comprises a first control module, an information receiving module, a driving motor module and an infrared module; the first control module is connected with the information receiving module, receives data information of the information receiving module and outputs a control instruction according to the data information; the first control module is respectively connected with the driving motor module and the infrared module, the rotation angle of the target turntable is controlled through the driving motor module, and the infrared intensity output by the target turntable is controlled through the infrared module; the first control module is communicated with the ground station through the communication module; the ground station includes a second GPS module and a second control module. According to the technical scheme provided by the embodiment of the invention, the target infrared radiation characteristic dynamic generation technology is utilized, the ground station is respectively downloaded with the self situation (longitude and latitude, elevation, speed, gesture and the like) of the tested equipment such as the guide head and the like, and the ground station uploads the driving control command after coordinate calculation, so that the pointing precision of the target is greatly improved.
It should be understood that the above discussion of any of the embodiments is exemplary only and is not intended to suggest that the scope of the invention (including the claims) is limited to these examples; combinations of features of the above embodiments or in different embodiments are also possible within the spirit of the invention, steps may be implemented in any order and there are many other variations of the different aspects of one or more embodiments of the invention described above which are not provided in detail for the sake of brevity. The above detailed description of the present invention is merely illustrative or explanatory of the principles of the invention and is not necessarily intended to limit the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (10)
1. An infrared target pointing control system, which is characterized by comprising an infrared target device, a ground station and a communication module;
the infrared target device comprises a target body, a first control module, an information receiving module, a driving motor module and an infrared module; wherein,
the target body comprises an equipment cabin, a battery cabin and a target turntable;
the first control module is respectively connected with the driving motor module and the infrared module, the rotation angle of the target turntable is controlled through the driving motor module, and the infrared intensity output by the target turntable is controlled through the infrared module;
the ground station comprises a second GPS module and a second control module;
the infrared target device communicates with the ground station through the communication module.
2. The system of claim 1, wherein the drive motor module comprises a servo motor, a potentiometer, and a detection terminal;
the servo motor comprises a pitching driving motor and a horizontal driving motor;
the potentiometer is arranged on the target turntable and is used for feeding back the angles of a pitching axis and a horizontal axis of the rotation of the target;
the detection terminal is arranged on the target body and used for limiting the limit angle of the target so as to prevent the servo motor from overshooting.
3. The system of claim 1, wherein the information receiving module comprises a first GPS module and an INS module; wherein,
the first GPS module is used for providing target position information;
the INS module is configured to provide attitude data information.
4. The apparatus of claim 1, wherein the infrared module comprises an infrared light source and a stepper motor;
the infrared light source outputs corresponding infrared intensity according to the control instruction of the first control module;
the stepping motor is used for adjusting the position of the infrared light source according to the stepping amount.
5. The system of claim 1, wherein the communication module comprises a first radio and a second radio.
6. A control method employing the infrared target pointing system of any one of claims 1-5, the control method being applied to a ground station, comprising:
receiving target position information and attitude data information of the information receiving module through the communication module;
calculating to obtain the pitch axis and the horizontal axis angle of the tail of the current target according to the target position information and the gesture data information;
calculating a corresponding infrared intensity command according to the obtained angle of the pitching axis and the horizontal axis of the tail of the target;
and sending the pitching axis and the horizontal axis angle of the tail part of the target and the infrared intensity command to a first control module of the infrared target device through a communication module, so that the first control module controls the driving motor module to rotate to a corresponding angle according to the pitching axis and the horizontal axis angle of the tail part of the target, and controls the infrared module to output corresponding infrared intensity according to the infrared intensity command.
7. The method of claim 6, wherein the method further comprises:
the stepping motor in the infrared module is driven to move so as to adjust the position of the infrared light source in the infrared module, and the parallel irradiation divergence angle of the infrared light beam output by the infrared light source is minimized.
8. The method of claim 6, wherein the method further comprises:
and acquiring angle change information of a potentiometer in the driving motor module, and feeding back the rotation angle of a servo motor in the driving motor module.
9. The method of claim 6, wherein the method further comprises:
and calibrating a pitching axis and a horizontal axis of the tail of the target.
10. The method of claim 6, wherein the current target tail pitch axis angle yaw and the horizontal axis angle pitch are calculated according to the following formulas:
wherein x' f ,y′ f ,z′ f Respectively the coordinates of the target under the coordinates of the carrier, x' f ,y′ f ,z′ f The right-hand coordinate system is formed by pointing to the right side, the vertical axis and the upper side of the carrier respectively.
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