CN117270580A - Servo control method, system and equipment for tracking unmanned aerial vehicle photoelectric pod target - Google Patents
Servo control method, system and equipment for tracking unmanned aerial vehicle photoelectric pod target Download PDFInfo
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Abstract
A servo control method, a system and equipment for tracking an unmanned aerial vehicle photoelectric pod target belong to the technical field of automatic control, and solve the problem that the position of a photoelectric tracking system cannot be quickly adjusted according to the movement of the target due to the fact that the movement speed of a servo control system is low when the movement speed of the target is high. The method of the invention comprises the following steps: firstly, the target is quickly moved to the vicinity of a tracking target in an image guiding mode of a photoelectric pod servo control system, then servo convergence tracking is carried out according to the target offset sent by a video tracker, the target is quickly moved to the center of a visual axis of the photoelectric pod, and the problem that the position of the photoelectric tracking system cannot be quickly adjusted according to the movement of the target due to the fact that the movement speed of the servo control system is low when the movement speed of the target is high is solved. The invention is suitable for capturing and tracking the target by the unmanned aerial vehicle photoelectric pod.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to servo control of unmanned aerial vehicle photoelectric pod target tracking.
Background
The optoelectronic pod is one of the most fundamental and important mission loads for unmanned aerial vehicle investigation and monitoring, wherein stable capture and tracking of targets is an important mission for unmanned aerial vehicles.
Target tracking is a highly integrated system function, utilizing a photodetector element as a video input source, utilizing a video tracker to capture a target and output a target offset, and utilizing servo control to keep the detector's visual axis stable, thereby achieving stable target capture and tracking. When the moving speed of the target is high, the conventional target tracking system often has the problem that the position of the photoelectric tracking system cannot be quickly adjusted according to the movement of the target due to the low moving speed of the servo control system, so that the tracked target deviates from the field of view.
Disclosure of Invention
The invention aims to solve the problem that the position of a photoelectric tracking system cannot be quickly adjusted according to the movement of a target due to the fact that the movement speed of a servo control system is low when the movement speed of the existing target is high, and provides a servo control method, a servo control system and servo control equipment for tracking the target of an unmanned aerial vehicle photoelectric pod.
The invention is realized by the following technical scheme, and in one aspect, the invention provides a servo control method for tracking an unmanned aerial vehicle photoelectric pod target, which comprises the following steps:
step 1, a photoelectric detector element of an unmanned aerial vehicle-mounted photoelectric pod transmits an original video to a video tracker of the unmanned aerial vehicle-mounted photoelectric pod, and the video tracker processes the original image and transmits the processed video image to a ground command control station;
step 2, the ground command control station displays a video image output by the video tracker, acquires the position (Px, py) of a point-selected tracking target, and simultaneously issues an automatic tracking instruction;
transmitting the position (Px, py) of the point-selected tracking target and an automatic tracking instruction to a task load control unit of the unmanned aerial vehicle photoelectric pod;
step 3, the task load control unit sends the automatic tracking instruction in the step 2 and the position (Px, py) of the selected tracking target to a servo control unit of the unmanned aerial vehicle photoelectric pod, and simultaneously sends the position (Px, py) of the selected tracking target to the video tracker;
step 4, the video tracker extracts target feature points according to the positions (Px, py) of the point selection tracking targets, locks the point selection tracking targets through the tracking frame, simultaneously updates the offset (delta x, delta y) of the point selection tracking targets from the center of the image in real time, and sends the offset (delta x, delta y) to the servo control unit;
step 5, the servo control unit clicks the position of the tracking targetThe position (Px, py) is calculated as the deviation angle (theta) of the unmanned aerial vehicle photoelectric pod from the center of the visual axis A ,θ E ) According to the deviation angle (theta A ,θ E ) Moving the center of the visual axis of the unmanned aerial vehicle-mounted photoelectric pod to a target position and rapidly moving the center of the visual axis of the unmanned aerial vehicle-mounted photoelectric pod to a preset range of the target position;
and (3) performing servo convergence tracking according to the offset (delta x, delta y) and moving the target to the center of the visual axis of the unmanned aerial vehicle photoelectric pod.
Further, the photodetector element outputs a video with a resolution of 1024×768, a pixel size μ of 7.5 μm, and a focal length F of 45 mm-75 mm.
Further, the position (Px, py) of the pointing tracking target is a position coordinate with the image center as the origin, the video image transverse resolution as the X axis, the video image longitudinal resolution as the Y axis, the position of the upper right coordinate of the image is positive, the lower left coordinate is negative, px E [ -512,512], py E [ -384,384].
Further, in step 4, the offset (δx, δy) is the pixel deviation of the image center as the origin, the video image lateral resolution as the X-axis, and the video image longitudinal resolution as the Y-axis, δx e [ -512,512], δy e [ -384,384].
Further, in step 5, the position (Px, py) of the selected tracking target is calculated as the deviation angle (θ) of the unmanned aerial vehicle optoelectronic pod from the center of the visual axis A ,θ E ) The calculation formula of (2) is as follows:
wherein μ is the pixel size, and F is the focal length.
Further, in step 5, the transfer function P(s) for performing servo convergence tracking according to the offset (δx, δy) is:
wherein Kv is a design figure of merit; tau1 is a stability margin, which is the intersection point of the system simulation MATLAB curve-20 dB and-40 dB; tau2 is the intersection frequency, and is 1/s of transfer function of system simulation MATLAB curve system model and second-order system 2 The intersection frequency; s is the Laplace operator.
In a second aspect, the present invention provides a servo control system for unmanned on-board optoelectronic pod target tracking, the system comprising: a ground command control station and a photoelectric pod;
the ground command control station is used for sending a control instruction, displaying a video image output by the video tracker and acquiring the position of the click tracking target;
an optoelectronic pod is loaded on an unmanned aerial vehicle, comprising: the device comprises an azimuth frame, a pitching frame, a photoelectric detector, a video tracker, a position sensor, an angular velocity sensor, a task load control unit and a servo control unit;
the photoelectric detector is used for acquiring original image information and transmitting an original video to a video tracker of an unmanned aerial vehicle-mounted photoelectric pod;
the video tracker processes the original image information and then transmits the processed image information to the ground command control station, the target feature points are extracted according to the positions of the point selection tracking targets, the point selection tracking targets are locked through the tracking frames, the offset of the point selection tracking targets from the center of the image is updated in real time, and the offset is transmitted to the servo control unit;
the task load control unit is used for sending the automatic tracking instruction and the position of the selected tracking target to the servo control unit and sending the position of the selected tracking target to the video tracker;
the servo control unit is used for resolving the position of the point-selected tracking target into a deviation angle between the unmanned aerial vehicle photoelectric pod and the center of the visual axis, and moving the center of the unmanned aerial vehicle photoelectric pod to be within a preset range of the target position according to the deviation angle; performing servo convergence tracking according to the offset, and moving the target to the center of the visual axis of the unmanned aerial vehicle photoelectric pod;
the position sensor is arranged at the shaft ends of the revolving shaft of the azimuth frame and the pitching frame and is used for acquiring the current azimuth of the nacelle;
the angular velocity sensor is arranged in the pitching frame and used for acquiring current pitching angle data of the nacelle.
In a third aspect, the invention provides a computer device comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the steps of a servo control method of unmanned aerial vehicle optoelectronic pod target tracking as described above.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored therein a plurality of computer instructions for causing a computer to perform a servo control method for unmanned on-board optoelectronic pod target tracking as described above.
In a fifth aspect, the present invention provides an electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a servo control method of unmanned aerial vehicle optoelectronic pod target tracking as described above.
The invention has the beneficial effects that:
the invention designs a servo control method for tracking an unmanned aerial vehicle photoelectric pod target on the basis of not increasing hardware resources and system complexity.
Firstly, the target is quickly moved to the vicinity of a tracking target in an image guiding mode of a photoelectric pod servo control system, then servo convergence tracking is carried out according to the target offset sent by a video tracker, the target is quickly moved to the center of a visual axis of the photoelectric pod, and the problem that the position of the photoelectric tracking system cannot be quickly adjusted according to the movement of the target due to the fact that the movement speed of the servo control system is low when the movement speed of the target is high is solved.
The invention is suitable for capturing and tracking the target by the unmanned aerial vehicle photoelectric pod.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a control schematic diagram of a servo control system for unmanned aerial vehicle optoelectronic pod target tracking;
FIG. 2 is a program flow diagram of a servo control method for unmanned aerial vehicle optoelectronic pod target tracking.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention.
In a first embodiment, a servo control method for tracking an unmanned aerial vehicle photoelectric pod target includes:
step 1, a photoelectric detector element of an unmanned aerial vehicle-mounted photoelectric pod transmits an original video to a video tracker of the unmanned aerial vehicle-mounted photoelectric pod, the video tracker processes the original image and transmits the processed video image to a ground command control station, and the processing comprises compression, character superposition and the like;
step 2, the ground command control station displays a video image output by the video tracker, acquires the position (Px, py) of a point-selected tracking target, and simultaneously issues an automatic tracking instruction;
transmitting the position (Px, py) of the point-selected tracking target and an automatic tracking instruction to a task load control unit of the unmanned aerial vehicle photoelectric pod;
step 3, the task load control unit sends the automatic tracking instruction in the step 2 and the position (Px, py) of the selected tracking target to a servo control unit of the unmanned aerial vehicle photoelectric pod, and simultaneously sends the position (Px, py) of the selected tracking target to the video tracker;
step 4, the video tracker extracts target feature points according to the positions (Px, py) of the point selection tracking targets, locks the point selection tracking targets through the tracking frame, simultaneously updates the offset (delta x, delta y) of the point selection tracking targets from the center of the image in real time, and sends the offset (delta x, delta y) to the servo control unit;
step 5, the servo control unit calculates the position (Px, py) of the selected tracking target as the deviation angle (theta) of the unmanned aerial vehicle photoelectric pod from the center of the visual axis A ,θ E ) According to the deviation angle (theta A ,θ E ) Moving the center of the visual axis of the unmanned aerial vehicle-mounted photoelectric pod to a preset range of a target position, wherein the preset range is a position 50 pixels away from the target;
and (3) performing servo convergence tracking according to the offset (delta x, delta y) and moving the target to the center of the visual axis of the unmanned aerial vehicle photoelectric pod.
In the embodiment, the target is quickly moved to the vicinity of the tracking target in an image guiding manner of the photoelectric pod servo control system, then servo convergence tracking is performed according to the target offset sent by the video tracker, and the target is quickly moved to the center of the video axis of the photoelectric pod, so that the problem that the position of the photoelectric tracking system cannot be quickly adjusted according to the movement of the target due to the fact that the movement speed of the servo control system is low when the movement speed of the target is high is solved.
In a second embodiment, the servo control method for tracking an object of an unmanned aerial vehicle optoelectronic pod according to the first embodiment is further defined, and in this embodiment, the photodetector element is further defined, and specifically includes:
the photodetector element outputs a video with a resolution of 1024 x 768, a pixel size mu of 7.5 μm and a focal length F of 45 mm-75 mm.
In a third embodiment, the present embodiment further defines a servo control method for tracking an unmanned aerial vehicle optoelectronic pod target according to the first embodiment, where the positioning of the point-selected tracking target is further defined, and specifically includes:
the position (Px, py) of the point-selected tracking target takes the center of the image as an origin, the transverse resolution of the video image as an X axis, the longitudinal resolution of the video image as a position coordinate of a Y axis, the position of the upper right coordinate of the image is positive, the lower left coordinate of the image is negative, px E [ -512,512], py E [ -384,384].
In this embodiment, a definition of a position of a pointing tracking target is given for implementing the servo control method of the present invention.
In a fourth embodiment, the present embodiment further defines the servo control method for tracking the target of the unmanned aerial vehicle optoelectronic pod according to the first embodiment, and in the present embodiment, the offset in the step 4 is further defined, and specifically includes:
in step 4, the offset (δx, δy) is the pixel deviation of the image center as the origin, the video image lateral resolution as the X-axis, and the video image longitudinal resolution as the Y-axis, δx e [ -512,512], δy e [ -384,384].
In the present embodiment, a definition of the offset is given for implementing the servo control method of the present invention.
In a fifth embodiment, the present embodiment is a further limitation of the servo control method for tracking an unmanned aerial vehicle optoelectronic pod target according to the first embodiment, wherein in the present embodiment, in the step 5, the position (Px, py) of the selected tracking target is calculated as a deviation angle (θ) of the unmanned aerial vehicle optoelectronic pod from the visual axis center A ,θ E ) Is further defined, and specifically includes:
in step 5, the position (Px, py) of the selected tracking target is calculated as the deviation angle (θ) of the unmanned aerial vehicle optoelectronic pod from the center of the visual axis A ,θ E ) The calculation formula of (2) is as follows:
wherein μ is the pixel size, and F is the focal length.
In this embodiment, a calculation formula for resolving the position (Px, py) of the selected tracking target into a deviation angle of the unmanned aerial vehicle-mounted optoelectronic pod from the center of the visual axis is given, which formula is used for conversion from a pixel into a rotation angle.
In a sixth embodiment, the present embodiment is further defined by the servo control method for tracking an object of an unmanned aerial vehicle optoelectronic pod according to the first embodiment, in the present embodiment, the transfer function for performing servo convergence tracking according to the offset (δx, δy) in step 5 is further defined, and specifically includes:
in step 5, the transfer function P(s) for performing servo convergence tracking according to the offset (δx, δy) is:
wherein Kv is a design figure of merit; tau1 is a stability margin, which is the intersection point of the system simulation MATLAB curve-20 dB and-40 dB; tau2 is the intersection frequency, and is 1/s of transfer function of system simulation MATLAB curve system model and second-order system 2 The intersection frequency; s is the Laplace operator.
In this embodiment, a transfer function for performing servo convergence tracking according to the offset (δx, δy) is provided, and the transfer function can adapt to different system models by debugging design parameters and has a faster response speed compared with other control algorithms.
In a seventh embodiment, the present embodiment is an example of a servo control method for tracking an unmanned aerial vehicle photoelectric pod target, where the unmanned aerial vehicle photoelectric pod is mounted on an unmanned aerial vehicle, as shown in fig. 1 and 2, and the method specifically includes the following steps:
step one: the photoelectric detector element of the unmanned aerial vehicle photoelectric pod transmits the original video to the video tracker of the unmanned aerial vehicle photoelectric pod, and the video tracker processes the original image and transmits the processed image to the ground command control station through a video link;
step two: the ground command control station displays the video image output by the video tracker, acquires the positions (Px, py) of the point-selected tracking targets, and simultaneously issues an automatic tracking instruction;
step three: the ground command control station transmits the positions (Px, py) of the point-selected tracking targets in the second step to a task load control unit of the unmanned aerial vehicle photoelectric pod through a communication link, the task load control unit transmits the automatic tracking instruction and the positions (Px, py) of the point-selected tracking targets in the second step to a servo control unit of the unmanned aerial vehicle photoelectric pod, and meanwhile, the task load control unit transmits the positions (Px, py) of the point-selected tracking targets in the second step to a video tracker;
step four: the video tracker of the unmanned aerial vehicle photoelectric pod extracts target feature points according to the positions (Px, py) of the point selection tracking targets in the second step, locks the point selection tracking targets through the tracking frame, simultaneously updates the offset (delta x, delta y) of the point selection tracking targets from the center of the image in real time, and sends the offset (delta x, delta y) to the servo control unit of the unmanned aerial vehicle photoelectric pod;
step five: the servo control unit of the unmanned aerial vehicle photoelectric pod firstly solves the selected tracking target position (Px, py) in the second step into a deviation angle (theta) of the unmanned aerial vehicle photoelectric pod from the center of the visual axis A ,θ E ) And then, according to the calculated deviation angle, the center of the visual axis of the unmanned aerial vehicle photoelectric pod is quickly moved to a position 50 pixels away from the target in an image guiding mode, namely, the target is judged to be guided in place, then, servo convergence tracking is carried out according to the deviation amount (delta x, delta y) sent by the video tracker in the step four, and the target is quickly moved to the center of the visual axis of the unmanned aerial vehicle photoelectric pod.
Wherein:
the resolution of the output video of the photoelectric detector element of the unmanned aerial vehicle photoelectric pod is 1024 multiplied by 768, the pixel size mu is 7.5 mu m, and the focal length F is 45 mm-75 mm.
In the second step, the neutral tracking target position (Px, py) is the position coordinate with the image center as the origin, the video image transverse resolution as the X axis and the video image longitudinal resolution as the Y axis, the position of the upper right coordinate of the image is positive, the lower left coordinate is negative, px E [ -512,512], py E [ -384,384]. The conducting ring is arranged at the shaft hole of the azimuth frame connected with the azimuth base, and the signal wire in the conducting ring comprises a power supply wire and a communication wire.
In the fourth step, the offset (δx, δy) of the center of the tracking target distance image is updated in real time by taking the image center as the origin, the transverse resolution of the video image as the X axis, the longitudinal resolution of the video image as the pixel deviation of the Y axis, δx epsilon < -512,512 >, δy epsilon < -384,384 >, and along with the movement of the center of the visual axis of the unmanned airborne photoelectric pod.
In the fifth step, the calculation formula of the target position (Px, py) is as follows, wherein the calculation formula is as follows, and the deviation angle (θa, θe) of the unmanned aerial vehicle optoelectronic pod from the center of the visual axis is calculated as follows:
，
。
in the fifth step, the transfer function P(s) of the system for performing servo convergence tracking according to the offset (δx, δy) sent by the video tracker is as follows:
wherein Kv is a design quality factor, which is an empirical value; tau1 is a stability margin, which is the intersection point of the system simulation MATLAB curve-20 dB and-40 dB; tau2 is the intersection frequency, and is 1/s of transfer function of system simulation MATLAB curve system model and second-order system 2 The intersection frequency; s is the Laplace operator.
An eighth embodiment is a servo control system for tracking an unmanned aerial vehicle photoelectric pod target, specifically including:
the servo control system for unmanned aerial vehicle photoelectric pod target tracking in the example comprises a ground command control station and a photoelectric pod; the ground command control station is used for sending a control instruction, displaying a video image output by the video tracker and acquiring the position of a selected tracking target, and the photoelectric pod is loaded on the unmanned aerial vehicle;
the photoelectric pod is of a two-axis two-frame rotation configuration and comprises an azimuth frame, a pitching frame, a photoelectric detector, a video tracker, a position sensor, an angular velocity sensor and a controller (the controller comprises a task load control unit and a servo control unit), the photoelectric detector acquires original image information, the video tracker processes the original image information and then transmits the processed image information to a ground command control station to capture characteristic information of a point selection target, the position sensor is arranged at the axial ends of the azimuth and pitching rotation axes, the angular velocity sensor is arranged in the pitching frame, and the controller receives a control instruction and outputs control torque to drive a servo executing mechanism to capture and track a fast moving target.
Known conditions based on the above system are as follows:
1) The ground command control station selects the position (Px, py) of the tracking target;
2) The photodetector element of the unmanned aerial vehicle optoelectronic pod outputs the video resolution, the pixel size μ, and the focal length F.
The servo control of the fast moving target tracking is realized by adopting the following flow:
step one: the photoelectric detector element of the unmanned aerial vehicle photoelectric pod transmits the original video to the video tracker of the unmanned aerial vehicle photoelectric pod, and the video tracker processes the original image and transmits the processed image to the ground command control station through a video link;
step two: the ground command control station displays the video image output by the video tracker, acquires the positions (Px, py) of the point-selected tracking targets, and simultaneously issues an automatic tracking instruction;
step three: the ground command control station transmits the positions (Px, py) of the point-selected tracking targets in the second step to a task load control unit of the unmanned aerial vehicle photoelectric pod through a communication link, the task load control unit transmits the automatic tracking instruction and the positions (Px, py) of the point-selected tracking targets in the second step to a servo control unit of the unmanned aerial vehicle photoelectric pod, and meanwhile, the task load control unit transmits the positions (Px, py) of the point-selected tracking targets in the second step to a video tracker;
step four: the video tracker of the unmanned aerial vehicle photoelectric pod extracts target feature points according to the positions (Px, py) of the point selection tracking targets in the second step, locks the point selection tracking targets through the tracking frame, simultaneously updates the offset (delta x, delta y) of the point selection tracking targets from the center of the image in real time, and sends the offset (delta x, delta y) to the servo control unit of the unmanned aerial vehicle photoelectric pod;
step five: the servo control unit of the unmanned aerial vehicle photoelectric pod firstly selects the tracking target position (Px, py) in the second step from、/>Calculating the deviation angle (theta) of the unmanned aerial vehicle-mounted photoelectric pod from the center of the visual axis A ,θ E ) Then the center of the visual axis of the unmanned aerial vehicle-mounted photoelectric pod is quickly moved to a position 50 pixel values away from the target in an image guiding mode according to the calculated deviation angle, namely, the target is judged to be guided in place, and then the offset (delta x, delta y) sent by the video tracker in the fourth step is judged to be according to->And (3) performing servo convergence tracking, and rapidly moving the target to the center of the visual axis of the unmanned aerial vehicle photoelectric pod.
Wherein Kv is a design quality factor, which is an empirical value; tau1 is a stability margin, which is the intersection point of the system simulation MATLAB curve-20 dB and-40 dB; tau2 is the intersection frequency, and is 1/s of transfer function of system simulation MATLAB curve system model and second-order system 2 The intersection frequency; s is the Laplace operator.
The point selection tracking target position (Px, py) takes an image center as an origin, the transverse resolution of a video image is an X axis, the longitudinal resolution of the video image is a position coordinate of a Y axis, the position of the upper right coordinate of the image is positive, the lower left coordinate of the image is negative, px epsilon-512, py epsilon-384,384, the offset (delta X, delta Y) of the point selection tracking target from the image center is pixel deviation, delta X epsilon-512, delta Y epsilon-384,384, and the point selection tracking target position is updated in real time along with the movement of the visual axis center of the unmanned aerial vehicle photoelectric pod.
The servo control system comprises a processor and an application program, wherein the processor comprises a master control computer STM32F405 chip and a communication processing chip, and the application program is stored in the master control computer STM32F405 and executed by the master control computer STM32F405 to realize a servo control algorithm of target tracking on the program.
Alterations, modifications, substitutions and variations of the embodiments herein will be apparent to those of ordinary skill in the art in light of the teachings of the present invention without departing from the spirit and principles of the invention.
Claims (10)
1. A servo control method for unmanned aerial vehicle photoelectric pod target tracking, the method comprising:
step 1, a photoelectric detector element of an unmanned aerial vehicle-mounted photoelectric pod transmits an original video to a video tracker of the unmanned aerial vehicle-mounted photoelectric pod, and the video tracker processes the original image and transmits the processed video image to a ground command control station;
step 2, the ground command control station displays a video image output by the video tracker, acquires the position (Px, py) of a point-selected tracking target, and simultaneously issues an automatic tracking instruction;
transmitting the position (Px, py) of the point-selected tracking target and an automatic tracking instruction to a task load control unit of the unmanned aerial vehicle photoelectric pod;
step 3, the task load control unit sends the automatic tracking instruction in the step 2 and the position (Px, py) of the selected tracking target to a servo control unit of the unmanned aerial vehicle photoelectric pod, and simultaneously sends the position (Px, py) of the selected tracking target to the video tracker;
step 4, the video tracker extracts target feature points according to the positions (Px, py) of the point selection tracking targets, locks the point selection tracking targets through the tracking frame, simultaneously updates the offset (delta x, delta y) of the point selection tracking targets from the center of the image in real time, and sends the offset (delta x, delta y) to the servo control unit;
step 5, the servo control unit calculates the position (Px, py) of the selected tracking target as the deviation angle (theta) of the unmanned aerial vehicle photoelectric pod from the center of the visual axis A ,θ E ) According to the deviation angle (theta A ,θ E ) Moving the center of the visual axis of the unmanned aerial vehicle-mounted photoelectric pod to a target position and rapidly moving the center of the visual axis of the unmanned aerial vehicle-mounted photoelectric pod to a preset range of the target position;
and (3) performing servo convergence tracking according to the offset (delta x, delta y) and moving the target to the center of the visual axis of the unmanned aerial vehicle photoelectric pod.
2. A servo control method for unmanned aerial vehicle photoelectric pod target tracking according to claim 1, wherein the resolution of the output video of the photodetector element is 1024 x 768, the pixel size μ is 7.5 μm, and the focal length F is 45 mm-75 mm.
3. The servo control method for tracking an unmanned aerial vehicle photoelectric pod target according to claim 1, wherein the position (Px, py) of the point-selected tracking target is a position coordinate with an image center as an origin, a video image lateral resolution as an X-axis, a video image longitudinal resolution as a Y-axis, an image upper right coordinate position as positive, a lower left negative, px e [ -512,512], py e [ -384,384].
4. The servo control method of unmanned aerial vehicle photoelectric pod target tracking according to claim 1, wherein in step 4, the offset (δx, δy) is the image center as the origin, the video image lateral resolution is the X-axis, the video image longitudinal resolution is the pixel deviation of the Y-axis, δx e [ -512,512], δy e [ -384,384].
5. A servo control method of unmanned aerial vehicle photoelectric pod target tracking according to claim 1, wherein in step 5, the position (Px, py) of the selected tracking target is calculated as the deviation angle (θ) of the unmanned aerial vehicle photoelectric pod from the center of the visual axis A ,θ E ) The calculation formula of (2) is as follows:
wherein μ is the pixel size, and F is the focal length.
6. The servo control method for tracking an unmanned aerial vehicle optoelectronic pod target according to claim 1, wherein in step 5, the transfer function P(s) for performing servo convergence tracking according to the offset (δx, δy) is:
wherein Kv is a design figure of merit; tau1 is a stability margin, which is the intersection point of the system simulation MATLAB curve-20 dB and-40 dB; tau2 is the intersection frequency, and is 1/s of transfer function of system simulation MATLAB curve system model and second-order system 2 The intersection frequency; s is the Laplace operator.
7. A servo control system for unmanned on-board optoelectronic pod target tracking, the system comprising: a ground command control station and a photoelectric pod;
the ground command control station is used for sending a control instruction, displaying a video image output by the video tracker and acquiring the position of the click tracking target;
an optoelectronic pod is loaded on an unmanned aerial vehicle, comprising: the device comprises an azimuth frame, a pitching frame, a photoelectric detector, a video tracker, a position sensor, an angular velocity sensor, a task load control unit and a servo control unit;
the photoelectric detector is used for acquiring original image information and transmitting an original video to a video tracker of an unmanned aerial vehicle-mounted photoelectric pod;
the video tracker processes the original image information and then transmits the processed image information to the ground command control station, the target feature points are extracted according to the positions of the point selection tracking targets, the point selection tracking targets are locked through the tracking frames, the offset of the point selection tracking targets from the center of the image is updated in real time, and the offset is transmitted to the servo control unit;
the task load control unit is used for sending the automatic tracking instruction and the position of the selected tracking target to the servo control unit and sending the position of the selected tracking target to the video tracker;
the servo control unit is used for resolving the position of the point-selected tracking target into a deviation angle between the unmanned aerial vehicle photoelectric pod and the center of the visual axis, and moving the center of the unmanned aerial vehicle photoelectric pod to be within a preset range of the target position according to the deviation angle; performing servo convergence tracking according to the offset, and moving the target to the center of the visual axis of the unmanned aerial vehicle photoelectric pod;
the position sensor is arranged at the shaft ends of the revolving shaft of the azimuth frame and the pitching frame and is used for acquiring the current azimuth of the nacelle;
the angular velocity sensor is arranged in the pitching frame and used for acquiring current pitching angle data of the nacelle.
8. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when running the computer program stored in the memory, performs the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium having stored therein a plurality of computer instructions for causing a computer to perform the method of any one of claims 1 to 6.
10. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.
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