CN113607080A - Method and system for realizing inertial space scanning imaging - Google Patents
Method and system for realizing inertial space scanning imaging Download PDFInfo
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Abstract
The invention discloses a method and a system for realizing inertial space scanning imaging, wherein the method for realizing the inertial space scanning imaging comprises the following steps: obtaining the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation; establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space; decomposing the inertial space scanning velocity vector according to the inertial space scanning baseline and the scanning velocity requirement, and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix. The method and the system for realizing inertial space scanning imaging realize searching and scanning of the stable base line of the inertial space, and have small gyro drift and stable gyro speed control.
Description
Technical Field
The invention relates to the technical field of photoelectric imaging, and particularly discloses a method and a system for realizing inertial space scanning imaging.
Background
Inertial space is understood to be the universe space, since the universe is infinite and it is meaningful to have specific references to describe the motion relative to the inertial space. The method is characterized in that objects which are not stressed or have zero stressed resultant force are found in the space, the objects absolutely keep static or move linearly at a constant speed in the inertial space, and a reference system formed by taking the objects as reference objects is an inertial reference system.
In the prior art, a triaxial fiber-optic gyroscope is generally adopted to control a triaxial servo turntable to realize stable-speed scanning according to an inertial space in order to realize inertial space scanning imaging, but the core problems of the prior art are as follows: firstly, amplifying and transforming signals in a complex noise environment, and compensating and correcting gyro drift; and secondly, researching and realizing a gyro speed stabilizing control algorithm.
Therefore, the defects of the existing inertial space scanning imaging are a technical problem to be solved urgently.
Disclosure of Invention
The invention provides a method and a system for realizing inertial space scanning imaging, and aims to solve the technical problem of defects of the conventional inertial space scanning imaging.
One aspect of the invention relates to a method for realizing inertial space scanning imaging, which comprises the following steps:
obtaining the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation;
establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space;
decomposing an inertial space scanning velocity vector according to an inertial space scanning baseline and a scanning velocity requirement, and decoupling and driving the electromechanical shafting to cooperatively move through an established Euler coordinate transformation matrix;
further, decomposing the inertial space scanning velocity vector according to the inertial space scanning baseline and the scanning velocity requirement, and decoupling and driving the electromechanical axis system to move cooperatively through the established Euler coordinate transformation matrix, wherein the steps comprise:
inertial search angular velocity vector passes through Euler variation of vehicle body attitude (phi 1 phi 2 phi 3)OX for transforming projection to vehicle body coordinate system1Y1Z1；
Decoupling to an optical electrical coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation according to the angle relation between the posture of the vehicle body and an electromechanical axis system of the optical electrical system2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero.
Further, the step of obtaining the three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation comprises:
initial alignment and system calibration: positioning and orienting, and initializing a gyro or inertial navigation component to calibrate and align, and establishing a system inertial coordinate system;
integrating a gyroscope, carrying out error analysis and compensation, and solving the inertial attitude angle (alpha beta gamma) of the photoelectric system, wherein the solution of the inertial attitude angle (alpha beta gamma) of the photoelectric system is obtained by the following formula:
wherein (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (theta 1 theta 2 theta 3) is euler transform decoupling; (φ 1+ θ 1 φ 2+ θ 2 φ 3+ θ 3) is the real-time azimuth, pitch, roll angle of the optical bench relative to the inertial coordinate system.
Further, according to the angle relation between the vehicle body attitude and the electromechanical shafting of the photoelectric system, decoupling is carried out to the photoelectric coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation2Y2Z2The method comprises the following steps of respectively controlling a photoelectric shaft system in a closed loop mode according to decoupling vectors, adopting angular displacement and angular rate closed loops of a shaft system encoder to enable the photoelectric search tracking device to move to meet the condition that the output angular rate of the azimuth gyro is equal to a set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero:
calculating the speed decoupling control interrelation and requirements of the electromechanical shafting;
speed decoupling control of the electromechanical shafting: sampling the output of the gyroscope and a motor shafting encoder in real time, and integrating the gyroscope in real time to output the attitude angle of the optical bench through signal conditioning transformation;
the electromechanical shafting adopts a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop to implement closed-loop control.
Further, the speed decoupling control interrelation of the electromechanical shaft system comprises an electromechanical shaft system decoupling feedback speed vector, and the electromechanical shaft system decoupling feedback speed vector is as follows:
wherein (phi 1 phi 2 phi 3) is the posture of the vehicle body; (α β γ) is the photoelectric system inertial attitude angle; the (omega 1 omega 2 omega 3) is the gyro angular rate, and the (theta 1 theta 2 theta 3) is euler transformation decoupling.
Further, the speed decoupling control interrelation of the electromechanical shafting comprises a gyro angular rate, and the gyro angular rate is as follows:
wherein (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; (θ 1 θ 2 θ 3) is euler transform decoupling.
Further, the speed decoupling control interrelation of the electromechanical shafting comprises an electromechanical shafting decoupling driving speed vector, and the electromechanical shafting decoupling driving speed vector is as follows:
finally, the system is made to satisfy: (ω 1 ω 2 ω 3) ═ ω 000)
Wherein, (theta 1 theta 2 theta 3) is euler transform decoupling; (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; ω 0 is the set search speed.
Further, in the step of speed decoupling control of the electromechanical shafting, the control deviation amount of the speed closed loop of the control system is as follows:
ΔUt＝(Δd(θ1 θ2 θ3)/dt-d(θ1 θ2 θ3)/dt)
wherein, Δ d (theta 1 theta 2 theta 3)/d is a decoupling driving velocity vector of the electromechanical shafting; d (theta 1 theta 2 theta 3)/dt is a decoupling feedback speed vector of the electromechanical shafting.
Another aspect of the invention relates to a system for performing inertial space scanning imaging, comprising:
the three-axis attitude acquisition module is used for obtaining the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation;
the Euler coordinate transformation matrix establishing module is used for establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space;
the electromechanical shafting decoupling module is used for decomposing an inertial space scanning speed vector according to an inertial space scanning baseline and scanning speed requirements and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix;
electromechanical shafting decoupling module includes:
a projection unit for projecting the inertial search angular velocity vector to a vehicle body coordinate system OX through Euler transformation of vehicle body posture (phi 1 phi 2 phi 3)1Y1Z1；
A decoupling vector control unit (32) for decoupling to the photoelectric coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation according to the angle relation between the vehicle body attitude and the electromechanical axis system of the photoelectric system2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero.
Further, the three-axis attitude acquisition module comprises:
the calibration unit is used for initial alignment and system calibration, positioning and orientation, and initialization of a gyroscope or an inertial navigation component for calibration and alignment, and a system inertial coordinate system is established;
and the solving unit is used for integrating the gyroscope, carrying out error analysis and compensation and solving the inertial attitude angle (alpha beta gamma) of the photoelectric system.
Further, the decoupling vector control unit includes:
the calculating subunit is used for calculating the speed decoupling control interrelation and the requirement of the electromechanical shafting;
the decoupling control subunit is used for decoupling and controlling the speed of the electromechanical shafting, sampling the output of the gyroscope and the encoder of the electromechanical shafting in real time, and integrating the gyroscope in real time to output the attitude angle of the optical bench through signal conditioning and transformation;
and the closed-loop control subunit is used for implementing closed-loop control on the electromechanical shafting by adopting a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop.
The beneficial effects obtained by the invention are as follows:
according to the method and the system for realizing the scanning imaging of the inertial space, provided by the invention, the real-time three-axis attitude of the optical bench relative to the inertial space is obtained through gyro integration, error analysis and compensation; establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space; decomposing the inertial space scanning velocity vector according to the inertial space scanning baseline and the scanning velocity requirement, and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix. Specifically, the inertial search angular velocity vector is projected to a vehicle body coordinate system OX through Euler transformation of the vehicle body attitude (phi 1 phi 2 phi 3)1Y1Z1(ii) a Decoupling to an optical electrical coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation according to the angle relation between the posture of the vehicle body and an electromechanical axis system of the optical electrical system2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero. The invention provides a method for realizing inertial space scanningThe image method and the image system realize the searching and scanning of the stable base line of the inertial space, and have small gyro drift and stable gyro speed control.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a method for achieving inertial space scanning imaging according to the present invention;
FIG. 2 is a schematic view of a refinement flow of one embodiment of the step shown in FIG. 1 for decoupling the coordinated motion of the electromechanical shafting by the established Euler coordinate transformation matrix by decomposing the inertial space scanning velocity vector according to the inertial space scanning baseline and the scanning velocity requirement;
FIG. 3 is a schematic flow diagram illustrating a refinement of one embodiment of the step of obtaining real-time three-axis attitude of the optical bench with respect to the inertial space through gyro integration, error analysis and compensation shown in FIG. 1;
FIG. 4 is a graph showing the decoupling to the photoelectric coordinate system OX through the Euler transform of (theta 1 theta 2 theta 3) according to the angular relationship between the body attitude and the electromechanical shafting of the photoelectric system shown in FIG. 22Y2Z2Respectively controlling a photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the requirements that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero;
FIG. 5 is a logic diagram of dual velocity loop control in the method for achieving inertial space scanning imaging according to the present invention;
FIG. 6 is a functional block diagram of an embodiment of a system for performing inertial space scanning imaging according to the present invention;
FIG. 7 is a functional block diagram of one embodiment of the electromechanical shafting decoupling module shown in FIG. 6;
FIG. 8 is a functional block diagram of an embodiment of the three-axis attitude acquisition module shown in FIG. 6;
FIG. 9 is a functional block diagram of an embodiment of the decoupling vector control unit shown in FIG. 7.
The reference numbers illustrate:
10. a three-axis attitude acquisition module; 20. an Euler coordinate transformation matrix establishing module; 30. an electromechanical shafting decoupling module; 31. a projection unit; 32. a decoupling vector control unit; 11. a calibration unit; 12. a solving unit; 321. a calculation subunit; 322. a decoupling control subunit; 323. a closed-loop control subunit.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1 and fig. 2, a first embodiment of the present invention provides a method for implementing an inertial space scanning imaging, including the following steps:
and S100, obtaining the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation.
And through gyro integration, error analysis and compensation, drift correction is carried out by means of the Beidou and an inclinometer to obtain the three-axis attitude of the optical bench relative to the inertial space, and the attitude angle of the photoelectric system can also be measured by adopting a small inertial navigation component.
And S200, establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space.
And establishing a coordinate system Euler transformation matrix according to the real-time three-axis attitude of the optical bench relative to the inertial space.
And S300, decomposing the inertial space scanning speed vector according to the inertial space scanning baseline and the scanning speed requirement, and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix.
Referring to fig. 2, fig. 2 is a schematic detailed flow chart of an embodiment in step S300 shown in fig. 1, in this embodiment, S300 specifically includes:
step S310, projecting the inertia search angular velocity vector to a vehicle body coordinate system OX through Euler transformation of vehicle body attitude (phi 1 phi 2 phi 3)1Y1Z1。
Step S320, decoupling to an optical electrical coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation according to the angle relation between the vehicle body attitude and the electromechanical shafting of the optical electrical system2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero.
Compared with the prior art, the method for realizing inertial space scanning imaging provided by the embodiment obtains the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation; establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space; decomposing the inertial space scanning velocity vector according to the inertial space scanning baseline and the scanning velocity requirement, and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix. Specifically, the inertial search angular velocity vector is projected to a vehicle body coordinate system OX through Euler transformation of the vehicle body attitude (phi 1 phi 2 phi 3)1Y1Z1(ii) a Decoupling to an optical electrical coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation according to the angle relation between the posture of the vehicle body and an electromechanical axis system of the optical electrical system2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero. The method for realizing inertial space scanning imaging provided by the embodiment realizes searching and scanning of the stable base line of the inertial space, and has small gyro drift and stable gyro speed control.
Preferably, please refer to fig. 3, fig. 3 is a schematic view of a detailed flow of an embodiment in step S100 shown in fig. 1, in this embodiment, step S100 includes:
step S110, initial alignment and system calibration: and positioning and orienting, and initializing a gyro or inertial navigation component to calibrate and align, so as to establish a system inertial coordinate system.
Step S120, integrating the gyroscope, carrying out error analysis and compensation, and solving the inertial attitude angle (alpha beta gamma) of the photoelectric system, wherein the solution of the inertial attitude angle (alpha beta gamma) of the photoelectric system is obtained through a formula (1):
in formula (1), (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (theta 1 theta 2 theta 3) is euler transform decoupling; (φ 1+ θ 1 φ 2+ θ 2 φ 3+ θ 3) is the real-time azimuth, pitch, roll angle of the optical bench relative to the inertial coordinate system.
Compared with the prior art, the method for realizing inertial space scanning imaging provided by the embodiment has the following advantages that: positioning and orienting, and initializing a gyro or inertial navigation component to calibrate and align, and establishing a system inertial coordinate system; and integrating the gyroscope, carrying out error analysis and compensation, and solving the inertial attitude angle (alpha beta gamma) of the photoelectric system. The method for realizing inertial space scanning imaging provided by the embodiment realizes searching and scanning of the stable base line of the inertial space, and has small gyro drift and stable gyro speed control.
Further, referring to fig. 4, fig. 4 is a schematic view of a detailed flow of an embodiment in step S320 shown in fig. 2, in this embodiment, step S320 includes:
and S321, calculating the speed decoupling control interrelation and requirements of the electromechanical shafting.
The speed decoupling control interrelation of the electromechanical shafting comprises decoupling feedback speed vectors of the electromechanical shafting, and the decoupling feedback speed vectors of the electromechanical shafting are as follows:
in the formula (2), (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; the (omega 1 omega 2 omega 3) is the gyro angular rate, and the (theta 1 theta 2 theta 3) is euler transformation decoupling.
The speed decoupling control interrelation of the electromechanical shafting comprises a gyro angular rate which is as follows:
in formula (3), (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; (θ 1 θ 2 θ 3) is euler transform decoupling.
The speed decoupling control interrelation of the electromechanical shafting comprises decoupling driving speed vectors of the electromechanical shafting, and the decoupling driving speed vectors of the electromechanical shafting are as follows:
finally, the system is made to satisfy: (ω 1 ω 2 ω 3) ═ ω 000 (5)
In formula (4), (θ 1 θ 2 θ 3) is euler transform decoupling; (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; ω 0 is the set search speed.
Step S322, decoupling and controlling the speed of the electromechanical shafting: and (3) sampling the output of the gyroscope and the motor shafting encoder in real time, and integrating the gyroscope in real time to output the attitude angle of the optical bench through signal conditioning transformation.
The method comprises the steps of sampling outputs of a gyroscope and a motor shafting encoder in real time, outputting an attitude angle of an optical bench by the gyroscope through signal conditioning and conversion, outputting the attitude angle of the optical bench through real-time integration of the gyroscope, enabling the relationship between the angular speed of a photoelectric platform and the angular speed of the gyroscope in an inertial space to be in accordance with a formula (2) and a formula (3), cooperatively controlling the electromechanical shafting motion according to the speed expectation of three shafts of the formula (4) and the real-time speed synthesis vector formula (6) of the current three shafts to drive shafting speed closed loop, and realizing inertial scanning through cyclic iteration.
The control deviation amount of the speed closed loop of the control system is as follows:
ΔUt＝(Δd(θ1 θ2 θ3)/dt-d(θ1 θ2 θ3)/dt) (6)
in the formula (6), Δ d (θ 1 θ 2 θ 3)/dt is a decoupling driving speed vector of the electromechanical shafting; d (theta 1 theta 2 theta 3)/dt is a decoupling feedback speed vector of the electromechanical shafting.
And S323, the electromechanical shafting adopts a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop to implement closed-loop control.
The electromechanical shafting adopts a double-speed control loop of a current loop (inhibiting moment fluctuation), a motor speed inner loop (quick response) and an inertia speed outer loop (inertia stable speed) to implement closed-loop control, the real-time speed based on a photoelectric coordinate system can be obtained by differentiation and filtering of an encoder, and also can be obtained by an attitude angle output by a gyro integral or an inertia navigation component according to a formula (2) and a Euler transformation matrix of a gyro angular rate (omega 1 omega 2 omega 3) according to the attitude angle (alpha beta gamma), the given speed of each shafting is according to a formula (4), and the speed deviation control is according to a formula (6). The control logic is shown in fig. 5.
Compared with the prior art, the method for realizing inertial space scanning imaging calculates the speed decoupling control interrelation and the requirements of the electromechanical shafting; speed decoupling control of the electromechanical shafting: sampling the output of the gyroscope and a motor shafting encoder in real time, and integrating the gyroscope in real time to output the attitude angle of the optical bench through signal conditioning transformation; the electromechanical shafting adopts a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop to implement closed-loop control. The method for realizing inertial space scanning imaging provided by the embodiment realizes searching and scanning of the stable base line of the inertial space, and has small gyro drift and stable gyro speed control.
As shown in fig. 6 and 7, fig. 6 is a functional block diagram of an embodiment of the system for realizing inertial space scanning imaging according to the present invention, in this embodiment, the system for realizing inertial space scanning imaging includes a three-axis attitude acquisition module 10, an euler coordinate transformation matrix establishment module 20, and an electromechanical shafting decoupling module 30, where the three-axis attitude acquisition module 10 is configured to obtain a real-time three-axis attitude of an optical bench with respect to an inertial space through gyro integration, error analysis, and compensation; an euler coordinate transformation matrix establishing module 20, configured to establish an euler coordinate transformation matrix according to the obtained real-time three-axis posture of the optical bench with respect to the inertial space; and the electromechanical shafting decoupling module 30 is used for decomposing the inertial space scanning speed vector according to the inertial space scanning baseline and the scanning speed requirement, and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix. Referring to fig. 7, fig. 7 is the machine shown in fig. 6In this embodiment, the electromechanical shafting decoupling module 30 includes a projection unit 31 and a decoupling vector control unit 32, and the projection unit 31 is used for projecting the inertial search angular velocity vector to the vehicle body coordinate system OX through the vehicle body attitude (phi 1 phi 2 phi 3) euler transformation1Y1Z1(ii) a A decoupling vector control unit 32, configured to decouple to an optoelectronic coordinate system OX through (θ 1 θ 2 θ 3) euler transformation according to an angular relationship between a vehicle body attitude and an electromechanical axis of the optoelectronic system2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero.
Compared with the prior art, the system for realizing inertial space scanning imaging provided by the embodiment obtains the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation; establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space; decomposing the inertial space scanning velocity vector according to the inertial space scanning baseline and the scanning velocity requirement, and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix. Specifically, the inertial search angular velocity vector is projected to a vehicle body coordinate system OX through Euler transformation of the vehicle body attitude (phi 1 phi 2 phi 3)1Y1Z1(ii) a Decoupling to an optical electrical coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation according to the angle relation between the posture of the vehicle body and an electromechanical axis system of the optical electrical system2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero. The system for realizing inertial space scanning imaging provided by the embodiment realizes searching and scanning of the stable base line of the inertial space, and has small gyro drift and stable gyro speed control.
Preferably, please refer to fig. 8, fig. 8 is a functional module schematic diagram of an embodiment of the three-axis attitude obtaining module shown in fig. 6, in this embodiment, the three-axis attitude obtaining module 10 includes a calibration unit 11 and a solving unit 12, where the calibration unit 11 is used for initial alignment and system calibration, performing positioning and orientation, initializing a gyro or an inertial navigation component to perform calibration alignment, and establishing a system inertial coordinate system; and the solving unit 12 is used for integrating the gyroscope, carrying out error analysis and compensation and solving the inertial attitude angle (alpha beta gamma) of the photoelectric system. Solving the inertial attitude angle (α β γ) of the photovoltaic system is obtained by the formula (1):
in equation (7), (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (theta 1 theta 2 theta 3) is euler transform decoupling; (φ 1+ θ 1 φ 2+ θ 2 φ 3+ θ 3) is the real-time azimuth, pitch, roll angle of the optical bench relative to the inertial coordinate system.
Compared with the prior art, the system for realizing inertial space scanning imaging provided by the embodiment is characterized in that: positioning and orienting, and initializing a gyro or inertial navigation component to calibrate and align, and establishing a system inertial coordinate system; and integrating the gyroscope, carrying out error analysis and compensation, and solving the inertial attitude angle (alpha beta gamma) of the photoelectric system. The system for realizing inertial space scanning imaging provided by the embodiment realizes searching and scanning of the stable base line of the inertial space, and has small gyro drift and stable gyro speed control.
Further, referring to fig. 9, fig. 9 is a functional module schematic diagram of an embodiment of the decoupling vector control unit shown in fig. 7, in this embodiment, the decoupling vector control unit 32 includes a calculating subunit 321 and a decoupling control subunit 322, where the calculating subunit 321 is used for calculating a speed decoupling control interrelation and a requirement of the electromechanical shafting; the decoupling control subunit 322 is used for decoupling control of the speed of the electromechanical shafting, sampling the output of the gyroscope and the encoder of the electromechanical shafting in real time, and integrating the attitude angle of the output optical bench in real time through signal conditioning and transformation; and the closed-loop control subunit 323 is used for implementing closed-loop control on the electromechanical shafting by adopting a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop.
The calculating subunit 321 is configured to calculate a speed decoupling control interrelation and requirements of the electromechanical shaft system, where the speed decoupling control interrelation of the electromechanical shaft system includes an electromechanical shaft system decoupling feedback speed vector, and the electromechanical shaft system decoupling feedback speed vector is:
in the formula (8), (phi 1 phi 2 phi 3) is the vehicle body attitude; (α β γ) is the photoelectric system inertial attitude angle; the (omega 1 omega 2 omega 3) is the gyro angular rate, and the (theta 1 theta 2 theta 3) is euler transformation decoupling.
The speed decoupling control interrelation of the electromechanical shafting comprises a gyro angular rate which is as follows:
in formula (9), (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; (θ 1 θ 2 θ 3) is euler transform decoupling.
The speed decoupling control interrelation of the electromechanical shafting comprises decoupling driving speed vectors of the electromechanical shafting, and the decoupling driving speed vectors of the electromechanical shafting are as follows:
finally, the system is made to satisfy: (ω 1 ω 2 ω 3) ═ ω 000 (11)
In equation (10), (θ 1 θ 2 θ 3) is euler transform decoupling; (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; ω 0 is the set search speed.
The decoupling control subunit 322 is used for sampling the outputs of the gyroscope and the motor shafting encoder in real time, outputting the attitude angle of the optical bench by gyroscope real-time integration through signal conditioning and conversion, conforming the relationship between the angular velocity of the photoelectric platform and the angular velocity of the gyroscope in the inertial space to the formula (8) and the formula (9), cooperatively controlling the electromechanical shafting motion to synthesize a vector formula (12) according to the velocity expectation of the three shafts of the formula (10) and the real-time velocity of the current three shafts to drive shafting velocity closed loop, and realizing inertial scanning through cyclic iteration.
The control deviation amount of the speed closed loop of the control system is as follows:
ΔUt＝(Δd(θ1 θ2 θ3)/dt-d(θ1 θ2 θ3)/dt) (12)
in the formula (12), Δ d (θ 1 θ 2 θ 3)/dt is a decoupling driving speed vector of the electromechanical shafting; d (theta 1 theta 2 theta 3)/dt is a decoupling feedback speed vector of the electromechanical shafting.
The closed-loop control subunit 323 is used for the electromechanical shafting to adopt a double-speed control loop of a current loop (inhibiting moment fluctuation), a motor speed inner loop (fast response) and an inertia speed outer loop (inertia speed stabilization) to implement closed-loop control, the real-time speed based on the photoelectric coordinate system can be obtained by differentiation and filtering of an encoder, and the attitude angle output by a gyro integral or an inertia navigation component can also be obtained by an Euler transformation matrix of a gyro angular rate (omega 1 omega 2 omega 3) according to the attitude angle (alpha beta gamma) according to a formula (8), the given speed of each shafting is according to a formula (10), and the speed deviation control is according to a formula (12). The control logic is shown in fig. 5.
Compared with the prior art, the system for realizing inertial space scanning imaging calculates the speed decoupling control interrelation and the requirements of the electromechanical shafting; speed decoupling control of the electromechanical shafting: sampling the output of the gyroscope and a motor shafting encoder in real time, and integrating the gyroscope in real time to output the attitude angle of the optical bench through signal conditioning transformation; the electromechanical shafting adopts a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop to implement closed-loop control. The system for realizing inertial space scanning imaging provided by the embodiment realizes searching and scanning of the stable base line of the inertial space, and has small gyro drift and stable gyro speed control.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for realizing inertial space scanning imaging is characterized by comprising the following steps:
obtaining the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation;
establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space;
decomposing an inertial space scanning velocity vector according to an inertial space scanning baseline and a scanning velocity requirement, and decoupling and driving the electromechanical shafting to cooperatively move through an established Euler coordinate transformation matrix;
the method comprises the following steps of decomposing an inertial space scanning velocity vector according to an inertial space scanning baseline and scanning velocity requirements, and decoupling and driving the electromechanical shafting to cooperatively move through an established Euler coordinate transformation matrix, wherein the steps comprise:
the inertial search angular velocity vector is projected to a vehicle body coordinate system OX through Euler transformation of the vehicle body attitude (phi 1 phi 2 phi 3)1Y1Z1；
Decoupling to an optical electrical coordinate system OX through (theta 1 theta 2 theta 3) Euler transformation according to the angle relation between the posture of the vehicle body and an electromechanical axis system of the optical electrical system2Y2Z2The photoelectric shafting is respectively controlled in a closed loop mode according to the decoupling vector, and the angular displacement and the angular rate of a shafting encoder are adopted for closed loop, so that the movement of the photoelectric search tracking device meets the requirements of the output angular rate of the azimuth gyroscope and the likeAt the set search speed, the angular rates of the pitching gyro and the rolling gyro are equal to zero.
2. The method of claim 1, wherein the step of deriving the three-axis attitude of the optical bench with respect to the inertial space by gyro integration, error analysis and compensation comprises:
initial alignment and system calibration: positioning and orienting, and initializing a gyro or inertial navigation component to calibrate and align, and establishing a system inertial coordinate system;
integrating a gyroscope, carrying out error analysis and compensation, and solving an inertial attitude angle (alpha beta gamma) of the photoelectric system, wherein the solution of the inertial attitude angle (alpha beta gamma) of the photoelectric system is obtained by the following formula:
wherein (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (theta 1 theta 2 theta 3) is euler transform decoupling; (φ 1+ θ 1 φ 2+ θ 2 φ 3+ θ 3) is the real-time azimuth, pitch, roll angle of the optical bench relative to the inertial coordinate system.
3. The method for realizing inertial space scanning imaging according to claim 2, wherein the decoupling to the photoelectric coordinate system OX through the Euler transformation (theta 1 theta 2 theta 3) according to the angular relationship between the vehicle body attitude and the electromechanical axis system of the photoelectric system2Y2Z2The method comprises the following steps of respectively controlling a photoelectric shaft system in a closed loop mode according to decoupling vectors, adopting angular displacement and angular rate closed loops of a shaft system encoder to enable the photoelectric search tracking device to move to meet the condition that the output angular rate of the azimuth gyro is equal to a set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero:
calculating the speed decoupling control interrelation and requirements of the electromechanical shafting;
speed decoupling control of the electromechanical shafting: sampling the output of the gyroscope and a motor shafting encoder in real time, and integrating the gyroscope in real time to output the attitude angle of the optical bench through signal conditioning transformation;
the electromechanical shafting adopts a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop to implement closed-loop control.
4. The method for achieving inertial space scanning imaging according to claim 3, wherein the velocity decoupling control interrelation of the electromechanical shafting comprises an electromechanical shafting decoupling feedback velocity vector, and the electromechanical shafting decoupling feedback velocity vector is:
wherein (phi 1 phi 2 phi 3) is the posture of the vehicle body; (α β γ) is the photoelectric system inertial attitude angle; the (omega 1 omega 2 omega 3) is the gyro angular rate, and the (theta 1 theta 2 theta 3) is euler transformation decoupling.
5. The method of enabling inertial space scanning imaging according to claim 4, wherein said electromechanical shafting velocity decoupling control interrelationship comprises gyro angular rates:
wherein (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; (θ 1 θ 2 θ 3) is euler transform decoupling.
6. The method for achieving inertial space scanning imaging according to claim 5, wherein the velocity decoupling control interrelation of the electromechanical shafting comprises an electromechanical shafting decoupling drive velocity vector, and the electromechanical shafting decoupling drive velocity vector is:
finally, the system is made to satisfy: (ω 1 ω 2 ω 3) ═ ω 000)
Wherein, (theta 1 theta 2 theta 3) is euler transform decoupling; (ω 1 ω 2 ω 3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the vehicle body posture; (α β γ) is the photoelectric system inertial attitude angle; ω 0 is the set search speed.
7. The method for achieving inertial space scanning imaging according to claim 6, wherein in the step of decoupling control of the speed of the electromechanical shafting, the control deviation amount of the closed speed loop of the control system is as follows:
ΔUt＝(Δd(θ1 θ2 θ3)/dt-d(θ1 θ2 θ3)/dt)
wherein, Δ d (θ 1 θ 2 θ 3)/dt is a decoupling driving speed vector of an electromechanical shafting; d (theta 1 theta 2 theta 3)/dt is a decoupling feedback speed vector of the electromechanical shafting.
8. A system for performing inertial space scanning imaging, comprising:
the three-axis attitude acquisition module (10) is used for obtaining the real-time three-axis attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation;
the Euler coordinate transformation matrix establishing module (20) is used for establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis attitude of the optical bench relative to the inertial space;
the electromechanical shafting decoupling module (30) is used for decomposing an inertial space scanning speed vector according to an inertial space scanning baseline and scanning speed requirements and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix;
the electromechanical shafting decoupling module (30) comprises:
a projection unit (31) for projecting the inertial search angular velocity vector to a vehicle body coordinate system OX through Euler transformation of a vehicle body posture (phi 1 phi 2 phi 3)1Y1Z1；
A decoupling vector control unit (32) for passing (theta 1 theta 2 theta 3) ohm according to the angle relation between the vehicle body attitude and the electromechanical shafting of the photoelectric systemDecoupling of the pull transformation into the photoelectric coordinate system OX2Y2Z2And respectively controlling the photoelectric shafting in a closed loop mode according to the decoupling vector, and adopting a shafting encoder to perform angular displacement and angular rate closed loop, so that the photoelectric search tracking device moves to meet the conditions that the output angular rate of the azimuth gyro is equal to the set search speed, and the angular rates of the pitch gyro and the roll gyro are equal to zero.
9. The system for enabling inertial space scanning imaging according to claim 8, wherein said three-axis attitude acquisition module (10) comprises:
the calibration unit (11) is used for initial alignment and system calibration, positioning and orientation, and initialization of a gyroscope or an inertial navigation component for calibration and alignment, and a system inertial coordinate system is established;
and the solving unit (12) is used for integrating the gyroscope, carrying out error analysis and compensation and solving the inertial attitude angle (alpha beta gamma) of the photoelectric system.
10. The system for enabling inertial space scanning imaging according to claim 9, wherein said decoupling vector control unit (32) comprises:
the calculating subunit (321) is used for calculating the speed decoupling control interrelation and the requirement of the electromechanical shafting;
the decoupling control subunit (322) is used for decoupling control of the speed of the electromechanical shafting, sampling the output of the gyroscope and the encoder of the electromechanical shafting in real time, and integrating the attitude angle of the output optical bench in real time through signal conditioning and transformation;
and the closed-loop control subunit (323) is used for implementing closed-loop control on the electromechanical shafting by adopting a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop.
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