CN113607080B - 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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- CN113607080B CN113607080B CN202110717040.8A CN202110717040A CN113607080B CN 113607080 B CN113607080 B CN 113607080B CN 202110717040 A CN202110717040 A CN 202110717040A CN 113607080 B CN113607080 B CN 113607080B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses a method and a system for realizing inertial space scanning imaging, wherein the method for realizing inertial space scanning imaging comprises the following steps: real-time three-axis gestures of the optical bench relative to the inertial space are obtained through gyro integration, error analysis and compensation; establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis gesture of the optical bench relative to the inertial space; according to the requirements of an inertial space scanning baseline and scanning speed, decomposing an inertial space scanning speed vector, and decoupling and driving electromechanical shafting cooperative motion through an established Euler coordinate transformation matrix. The method and the system for realizing inertial space scanning imaging realize search scanning of an inertial space stable baseline, 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 a space, which, because of its infinite nature, requires a specific reference to describe the motion relative to the space. Namely, objects with zero stress or resultant force are found in the space, and the objects are kept static or move linearly at uniform speed in the inertia space, and a reference system formed by taking the objects as reference objects is an inertia reference system.
In the prior art, the realization of inertial space scanning imaging generally adopts a triaxial fiber optic gyroscope to control a triaxial servo turntable to realize stable speed scanning according to an inertial space, but has the following core problems: 1. signal amplification and transformation, gyro drift compensation and correction under a complex noise environment; 2. and researching and realizing a gyro steady speed control algorithm.
Therefore, the existing inertial space scanning imaging has the defect that the technical problem needs to be solved.
Disclosure of Invention
The invention provides a method and a system for realizing inertial space scanning imaging, which aim to solve the technical problem of defects existing in the existing inertial space scanning imaging.
One aspect of the invention relates to a method of achieving inertial space scanning imaging, comprising the steps of:
Real-time three-axis gestures of the optical bench relative to the inertial space are obtained through gyro integration, error analysis and compensation;
Establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis gesture of the optical bench relative to the inertial space;
decomposing an inertial space scanning speed vector according to the requirements of an inertial space scanning baseline and a scanning speed, and decoupling and driving electromechanical shafting cooperative motion through an established Euler coordinate transformation matrix;
Further, according to the requirement of the inertial space scanning baseline and the scanning speed, decomposing the inertial space scanning speed vector, and decoupling and driving the electromechanical shafting to cooperatively move through the established Euler coordinate transformation matrix, wherein the step of decoupling and driving the electromechanical shafting to cooperatively move comprises the following steps of:
The inertial search angular velocity vector is projected to a vehicle body coordinate system OX 1Y1Z1 through Euler transformation of the vehicle body attitude (phi 1 phi 2 phi 3);
According to the angular relation between the vehicle body posture and the electromechanical shafting of the photoelectric system, decoupling to the photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation, respectively performing closed-loop control on the photoelectric shafting according to decoupling vectors, and performing closed-loop control on the angular displacement and the angular rate of a shafting encoder to ensure that the movement of the photoelectric searching and tracking device meets the condition that the output angular rate of a azimuth gyro is equal to a set searching speed and the angular rates of a pitching gyro and a rolling 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 includes:
Initial alignment and system calibration: initializing a positioning orientation, a gyroscope or an inertial navigation assembly to calibrate and align, and establishing a system inertial coordinate system;
And (3) integrating the gyroscope and carrying out error analysis and compensation, solving an inertial attitude angle (alpha beta gamma) of the photoelectric system, and obtaining the inertial attitude angle (alpha beta gamma) of the photoelectric system by the following formula:
Wherein, (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (θ1θ2θ3) is euler transform decoupling; and (phi 1+ theta 1 phi 2+ theta 2 phi 3+ theta 3) is the real-time azimuth, pitch, roll angle of the optical bench relative to the inertial coordinate system.
Further, according to the angular relationship between the vehicle body posture and the electromechanical shafting of the photoelectric system, decoupling to the photoelectric coordinate system OX 2Y2Z2 through (θ1θ2θ3) euler transformation, respectively performing closed-loop control on the photoelectric shafting according to the decoupling vector, and performing closed-loop control by adopting the shafting encoder angular displacement and the angular rate, so that the photoelectric search tracking device moves to meet the condition that the azimuth gyro output angular rate is equal to the set search speed, and the pitching and rolling gyro angular rates are equal to zero, wherein the steps comprise:
Calculating the speed decoupling control interrelation and the requirement of the electromechanical shafting;
Speed decoupling control of the electromechanical shafting: the real-time sampling gyro and the motor shafting encoder output, and the gyro integrates and outputs the attitude angle of the optical bench in real time through signal conditioning and conversion;
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 shafting includes an electromechanical shafting decoupling feedback speed vector, which is:
wherein (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; (ω1ω2ω3) is the gyro angular rate and (θ1θ2θ3) is the euler transform decoupling.
Further, the speed decoupling control interrelationship of the electromechanical shafting comprises a gyro angular rate of:
Wherein, (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; and (theta 1 theta 2 theta 3) is Euler transformation decoupling.
Further, the speed decoupling control interrelation of the electromechanical shaft system includes an electromechanical shaft system decoupling driving speed vector, where the electromechanical shaft system decoupling driving speed vector is:
Finally, the system is made to satisfy: (ω1ω2ω3) = (ω00 0)
Wherein (θ1θ2θ3) is euler transform decoupling; (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; ω0 is the set search speed.
Further, in the step of speed decoupling control of the electromechanical shaft system, 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 Δd (θ1θ2θ3)/d is an electromechanical axis decoupling driving speed vector; d (θ1θ2θ3)/dt is the electromechanical axis decoupling feedback velocity vector.
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 building module is used for building the Euler coordinate transformation matrix according to the obtained real-time triaxial attitude of the optical bench relative to the inertial space;
The electromechanical system decoupling module is used for decomposing an inertial space scanning speed vector according to the inertial space scanning baseline and scanning speed requirements, and decoupling and driving the electromechanical system to cooperatively move through the established Euler coordinate transformation matrix;
The electromechanical shafting decoupling module comprises:
a projection unit for inertial search angular velocity vector projection to a vehicle body coordinate system OX 1Y1Z1 by Euler transformation of vehicle body posture (phi 1 phi 2 phi 3);
The decoupling vector control unit (32) is used for decoupling to the photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation according to the angular relation between the vehicle body posture and the electromechanical shaft system of the photoelectric system, respectively performing closed loop control on the photoelectric shaft system according to the decoupling vector, and performing closed loop on the angular displacement and the angular rate of the shaft system encoder to ensure that the photoelectric searching and tracking device moves to meet the condition that the azimuth gyro output angular rate is equal to the set searching speed and the pitching and rolling gyro angular rates are equal to zero.
Further, the three-axis gesture acquisition module includes:
The calibration unit is used for initial alignment and system calibration, positioning and orientation, and calibration alignment by the initialization of a gyro or an inertial navigation component, and a system inertial coordinate system is established;
and the solving unit is used for integrating the gyroscope and carrying out error analysis and compensation to solve the inertial attitude angle (alpha beta gamma) of the photoelectric system.
Further, the decoupling vector control unit includes:
the computing subunit is used for computing the speed decoupling control interrelation and requirements of the electromechanical shafting;
The decoupling control subunit is used for speed decoupling control of an electromechanical shafting, sampling the output of a gyro and a motor shafting encoder in real time, and outputting the attitude angle of the optical bench through signal conditioning transformation and gyro real-time integration;
and the closed-loop control subunit is used for implementing closed-loop control by adopting a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop in the electromechanical shafting.
The beneficial effects obtained by the invention are as follows:
According to the method and the system for realizing inertial space scanning imaging, the real-time triaxial 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 gesture of the optical bench relative to the inertial space; according to the requirements of an inertial space scanning baseline and scanning speed, decomposing an inertial space scanning speed vector, and decoupling and driving electromechanical shafting cooperative motion through an established Euler coordinate transformation matrix. Specifically, the inertial search angular velocity vector is projected to the vehicle body coordinate system OX 1Y1Z1 by the euler transform of the vehicle body pose (Φ1 Φ2 Φ3); according to the angular relation between the vehicle body posture and the electromechanical shafting of the photoelectric system, decoupling to the photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation, respectively performing closed-loop control on the photoelectric shafting according to decoupling vectors, and performing closed-loop control on the angular displacement and the angular rate of a shafting encoder to ensure that the movement of the photoelectric searching and tracking device meets the condition that the output angular rate of a azimuth gyro is equal to a set searching speed and the angular rates of a pitching gyro and a rolling gyro are equal to zero. The method and the system for realizing inertial space scanning imaging realize search scanning of an inertial space stable baseline, small gyro drift and stable gyro speed control.
Drawings
FIG. 1 is a flow chart of a first embodiment of a method for realizing inertial space scanning imaging according to the present invention;
FIG. 2 is a schematic diagram of a refinement flow of an embodiment in the step of decoupling and driving electromechanical shafting cooperative motion through an established Euler coordinate transformation matrix by decomposing an inertial space scanning velocity vector according to the inertial space scanning baseline and the scanning velocity requirement shown in FIG. 1;
FIG. 3 is a detailed flow chart of one embodiment of the real-time three-axis gesture step of obtaining the relative inertial space of the optical bench through gyro integration, error analysis and compensation shown in FIG. 1;
FIG. 4 is a schematic diagram of a refinement flow of an embodiment in the steps of decoupling to the photoelectric coordinate system OX 2Y2Z2 by (θ1θ2θ3) Euler transformation according to the angular relationship between the vehicle body posture and the electromechanical shafting of the photoelectric system shown in FIG. 2, respectively performing closed-loop control on the photoelectric shafting according to the decoupling vector, and performing closed-loop control by adopting the shafting encoder angular displacement and the angular rate to ensure that the photoelectric search tracking device motion meets the condition that the azimuth gyro output angular rate is equal to the set search speed and the pitching and rolling gyro angular rate is equal to zero;
FIG. 5 is a logic diagram of a dual speed loop control in a method for implementing inertial space scanning imaging in accordance with the present invention;
FIG. 6 is a functional block diagram of one embodiment of a system for performing inertial spatial scanning imaging in accordance with the present invention;
FIG. 7 is a functional block diagram of an 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 gesture 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.
Reference numerals illustrate:
10. A three-axis gesture acquisition module; 20. the Euler coordinate transformation matrix building 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 computing subunit; 322. decoupling the control subunit; 323. and a closed loop control subunit.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 2, a first embodiment of the present invention proposes a method for realizing inertial space scanning imaging, including the following steps:
And step S100, obtaining the real-time triaxial attitude of the optical bench relative to the inertial space through gyro integration, error analysis and compensation.
Through gyro integration, error analysis and compensation, drift correction is carried out by means of Beidou and an inclinometer, so that the three-axis posture of the optical bench relative to the inertial space is obtained, and the posture angle of the photoelectric system can be measured by adopting a small inertial navigation assembly.
And step 200, establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis posture of the optical bench relative to the inertial space.
And establishing a coordinate system Euler transformation matrix according to the real-time triaxial attitude of the optical bench relative to the inertial space.
And S300, decomposing an inertial space scanning speed vector according to the inertial space scanning baseline and the scanning speed requirement, and decoupling and driving the electromechanical shaft system to cooperatively move through the established Euler coordinate transformation matrix.
Please refer to fig. 2, fig. 2 is a detailed flow chart of an embodiment of step S300 shown in fig. 1, wherein in this embodiment, S300 specifically includes:
In step S310, the inertial search angular velocity vector is projected to the vehicle body coordinate system OX 1Y1Z1 through Euler transformation of the vehicle body posture (phi 1 phi 2 phi 3).
Step S320, decoupling to a photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation according to the angular relation between the vehicle body posture and the electromechanical shafting of the photoelectric system, respectively performing closed-loop control on the photoelectric shafting according to the decoupling vector, and performing closed-loop control by adopting the angular displacement and the angular rate of a shafting encoder to ensure that the movement of the photoelectric searching and tracking device meets the condition that the output angular rate of a azimuth gyro is equal to the set searching speed and the angular rates of a pitching gyro and a rolling gyro are equal to zero.
Compared with the prior art, the method for realizing inertial space scanning imaging obtains the real-time three-axis posture 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 gesture of the optical bench relative to the inertial space; according to the requirements of an inertial space scanning baseline and scanning speed, decomposing an inertial space scanning speed vector, and decoupling and driving electromechanical shafting cooperative motion through an established Euler coordinate transformation matrix. Specifically, the inertial search angular velocity vector is projected to the vehicle body coordinate system OX 1Y1Z1 by the euler transform of the vehicle body pose (Φ1 Φ2 Φ3); according to the angular relation between the vehicle body posture and the electromechanical shafting of the photoelectric system, decoupling to the photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation, respectively performing closed-loop control on the photoelectric shafting according to decoupling vectors, and performing closed-loop control on the angular displacement and the angular rate of a shafting encoder to ensure that the movement of the photoelectric searching and tracking device meets the condition that the output angular rate of a azimuth gyro is equal to a set searching speed and the angular rates of a pitching gyro and a rolling gyro are equal to zero. The method for realizing inertial space scanning imaging provided by the embodiment realizes search scanning of an inertial space stable baseline, has small gyro drift and stable gyro speed control.
Preferably, please refer to fig. 3, fig. 3 is a detailed flow chart of an embodiment of step S100 shown in fig. 1, in this embodiment, step S100 includes:
step S110, initial alignment and system calibration: and (3) carrying out positioning and orientation, and initializing a gyro or an inertial navigation assembly to carry out calibration and alignment, and establishing a system inertial coordinate system.
Step S120, integrating a gyroscope, performing error analysis and compensation, solving an inertial attitude angle (alpha beta gamma) of the photoelectric system, and obtaining the inertial attitude angle (alpha beta gamma) of the photoelectric system through a formula (1):
In formula (1), (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (θ1θ2θ3) is euler transform decoupling; and (phi 1+ theta 1 phi 2+ theta 2 phi 3+ theta 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 advantages that the initial alignment and the system calibration are adopted: initializing a positioning orientation, a gyroscope or an inertial navigation assembly to calibrate and align, and establishing a system inertial coordinate system; and (3) integrating the gyroscope, carrying out error analysis and compensation, and solving an inertial attitude angle (alpha beta gamma) of the photoelectric system. The method for realizing inertial space scanning imaging provided by the embodiment realizes search scanning of an inertial space stable baseline, has small gyro drift and stable gyro speed control.
Further, referring to fig. 4, fig. 4 is a schematic diagram of a refinement 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 the requirement of the electromechanical shaft system.
The speed decoupling control interrelation of the electromechanical shafting comprises an electromechanical shafting decoupling feedback speed vector, and the electromechanical shafting decoupling feedback speed vector is as follows:
In the formula (2), the (phi 1 phi 2 phi 3) is the vehicle body posture; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; (ω1ω2ω3) is the gyro angular rate and (θ1θ2θ3) is the euler transform decoupling.
The speed decoupling control interrelationship of the electromechanical shafting comprises a gyro angular rate, wherein the gyro angular rate is as follows:
In formula (3), (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; and (theta 1 theta 2 theta 3) is Euler transformation decoupling.
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: (ω1ω2ω3) = (ω00) 0) (5)
In formula (4), (θ1θ2θ3) is euler transform decoupling; (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; ω0 is the set search speed.
Step S322, speed decoupling control of the electromechanical shaft system: and outputting by a real-time sampling gyroscope and a motor shafting encoder, and outputting the attitude angle of the optical bench by the gyroscope real-time integration through signal conditioning transformation.
And outputting by a real-time sampling gyroscope and a motor shafting encoder, carrying out signal conditioning transformation, integrating the gyroscope in real time to output the attitude angle of an optical bench, enabling the relationship between the angular speed of a photoelectric platform and the angular speed of an inertial space gyroscope to be in accordance with a formula (2) and a formula (3), cooperatively controlling the electromechanical shafting to move according to the speed expectation of the three axes of the formula (4) and the real-time speed of the current three axes to synthesize a vector type (6) driving shafting speed closed loop, and realizing inertial scanning by cyclic iteration.
The control deviation 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), Δd (θ1θ2θ3)/dt is an electromechanical axis decoupling driving speed vector; d (θ1θ2θ3)/dt is the electromechanical axis decoupling feedback velocity vector.
Step 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 (restraining 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 through differentiation and filtering of an encoder, and the attitude angle output by a gyro integral or an inertia navigation component can be obtained through a Euler transformation matrix of a gyro angular rate (omega 1 omega 2 omega 3) according to an attitude angle (alpha beta gamma), the given speed of each shafting is according to a formula (4), and the speed deviation is controlled 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 provided by the embodiment has the advantages that the speed decoupling control interrelationship and the requirements of the electromechanical shaft system are calculated; speed decoupling control of the electromechanical shafting: the real-time sampling gyro and the motor shafting encoder output, and the gyro integrates and outputs the attitude angle of the optical bench in real time through signal conditioning and conversion; 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 search scanning of an inertial space stable baseline, has small gyro drift and stable gyro speed control.
As shown in fig. 6 and fig. 7, fig. 6 is a functional block diagram of an embodiment of a system for implementing inertial space scanning imaging provided by the present invention, where in this embodiment, the system for implementing inertial space scanning imaging includes a three-axis gesture acquisition module 10, an euler coordinate transformation matrix creation module 20, and an electromechanical axis decoupling module 30, where the three-axis gesture acquisition module 10 is configured to obtain a real-time three-axis gesture of an optical bench relative to an 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 triaxial attitude of the optical bench relative to the inertial space; the electromechanical system decoupling module 30 is configured to decompose the inertial space scanning speed vector according to the inertial space scanning baseline and the scanning speed requirement, and to decouple the electromechanical system for cooperative motion through the established euler coordinate transformation matrix. Please refer to fig. 7, fig. 7 is a functional block diagram of an embodiment of the electromechanical axis decoupling module shown in fig. 6, in which the electromechanical axis decoupling module 30 includes a projection unit 31 and a decoupling vector control unit 32, and the projection unit 31 is configured to project an inertial search angular velocity vector to a vehicle body coordinate system OX 1Y1Z1 through euler transformation of a vehicle body posture (Φ1Φ2Φ3); the decoupling vector control unit 32 is configured to decouple the vehicle body posture and the electromechanical axis of the optoelectronic system to the optoelectronic coordinate system OX 2Y2Z2 through (θ1θ2θ3) euler transformation, respectively and closed-loop control the optoelectronic axis according to the decoupling vector, and closed-loop the angular displacement and the angular rate of the axis encoder to make the movement of the optoelectronic search tracking device satisfy the condition that the azimuth gyro output angular rate is equal to the set search speed, and the pitching and rolling gyro angular rates are equal to zero.
Compared with the prior art, the system for realizing inertial space scanning imaging obtains the real-time three-axis posture 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 gesture of the optical bench relative to the inertial space; according to the requirements of an inertial space scanning baseline and scanning speed, decomposing an inertial space scanning speed vector, and decoupling and driving electromechanical shafting cooperative motion through an established Euler coordinate transformation matrix. Specifically, the inertial search angular velocity vector is projected to the vehicle body coordinate system OX 1Y1Z1 by the euler transform of the vehicle body pose (Φ1 Φ2 Φ3); according to the angular relation between the vehicle body posture and the electromechanical shafting of the photoelectric system, decoupling to the photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation, respectively performing closed-loop control on the photoelectric shafting according to decoupling vectors, and performing closed-loop control on the angular displacement and the angular rate of a shafting encoder to ensure that the movement of the photoelectric searching and tracking device meets the condition that the output angular rate of a azimuth gyro is equal to a set searching speed and the angular rates of a pitching gyro and a rolling gyro are equal to zero. The system for realizing inertial space scanning imaging provided by the embodiment realizes search scanning of an inertial space stable baseline, has small gyro drift and stable gyro speed control.
Preferably, please refer to fig. 8, fig. 8 is a schematic diagram of a functional module of an embodiment of the three-axis gesture obtaining module shown in fig. 6, in this embodiment, the three-axis gesture obtaining module 10 includes a calibration unit 11 and a solving unit 12, wherein the calibration unit 11 is used for initial alignment and system calibration, performing positioning and orientation, and initializing a gyro or inertial navigation assembly for calibration alignment, and establishing a system inertial coordinate system; and the solving unit 12 is used for gyroscopically integrating and performing error analysis compensation to solve the inertial attitude angle (alpha beta gamma) of the photoelectric system. The solution of the inertial attitude angle (alpha beta gamma) of the photoelectric system is obtained by the formula (1):
In formula (7), (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (θ1θ2θ3) is euler transform decoupling; and (phi 1+ theta 1 phi 2+ theta 2 phi 3+ theta 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 has the advantages that the initial alignment and the system calibration are adopted: initializing a positioning orientation, a gyroscope or an inertial navigation assembly to calibrate and align, and establishing a system inertial coordinate system; and (3) integrating the gyroscope, carrying out error analysis and compensation, and solving an inertial attitude angle (alpha beta gamma) of the photoelectric system. The system for realizing inertial space scanning imaging provided by the embodiment realizes search scanning of an inertial space stable baseline, has small gyro drift and stable gyro speed control.
Further, referring to fig. 9, fig. 9 is a schematic functional block diagram of an embodiment of the decoupling vector control unit shown in fig. 7, in which the decoupling vector control unit 32 includes a calculating subunit 321 and a decoupling control subunit 322, where the calculating subunit 321 is configured to calculate a speed decoupling control correlation and a requirement of an electromechanical axis; the decoupling control subunit 322 is used for speed decoupling control of the electromechanical shafting, sampling the output of the gyro and the motor shafting encoder in real time, and outputting the attitude angle of the optical bench by the gyro real-time integration through signal conditioning transformation; the closed-loop control subunit 323 is configured to implement closed-loop control by using a dual-speed control loop of a current loop, a motor speed inner loop, and an inertia speed outer loop in the electromechanical shafting.
The computing subunit 321 is configured to calculate a speed decoupling control correlation and a requirement of the electromechanical system, where the speed decoupling control correlation of the electromechanical system includes an electromechanical system decoupling feedback speed vector, and the electromechanical system decoupling feedback speed vector is:
In the formula (8), (phi 1 phi 2 phi 3) is the vehicle body attitude; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; (ω1ω2ω3) is the gyro angular rate and (θ1θ2θ3) is the euler transform decoupling.
The speed decoupling control interrelationship of the electromechanical shafting comprises a gyro angular rate, wherein the gyro angular rate is as follows:
in equation (9), (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; and (theta 1 theta 2 theta 3) is Euler transformation decoupling.
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: (ω1ω2ω3) = (ω00) 0) (11)
In formula (10), (θ1θ2θ3) is euler transform decoupling; (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; ω0 is the set search speed.
The decoupling control subunit 322 is configured to sample the output of the gyro and the motor shafting encoder in real time, output the attitude angle of the optical bench through signal conditioning transformation and real-time integration of the gyro, and make the relationship between the angular velocity of the photoelectric platform and the angular velocity of the inertial space gyro conform to the formula (8) and the formula (9), cooperatively control the electromechanical shafting motion to synthesize the real-time velocity of the current triaxial with the vector (12) driving shafting velocity according to the velocity expectation of the triaxial of the formula (10), and implement inertial scanning through cyclic iteration.
The control deviation 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), Δd (θ1θ2θ3)/dt is an electromechanical axis decoupling driving speed vector; d (θ1θ2θ3)/dt is the electromechanical axis decoupling feedback velocity vector.
The closed-loop control subunit 323 is used for implementing closed-loop control by using a dual-speed control loop of a current loop (restraining moment fluctuation), a motor speed inner loop (quick response) and an inertia speed outer loop (inertia stable speed) in an electromechanical shafting, wherein the real-time speed based on a photoelectric coordinate system can be obtained by differentiation and filtering of an encoder, and can also be obtained by a gyroscope integral or an attitude angle output by an inertia navigation component according to (8) and an Euler transformation matrix of a gyroscope angular rate (omega 1 omega 2 omega 3) according to an attitude angle (alpha beta gamma), the given speed of each shafting is according to (10), and the speed deviation control is according to (12). The control logic is shown in fig. 5.
Compared with the prior art, the system for realizing inertial space scanning imaging provided by the embodiment calculates the speed decoupling control interrelation and requirements of the electromechanical shafting; speed decoupling control of the electromechanical shafting: the real-time sampling gyro and the motor shafting encoder output, and the gyro integrates and outputs the attitude angle of the optical bench in real time through signal conditioning and conversion; 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 search scanning of an inertial space stable baseline, 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. It is therefore intended that the following claims be interpreted as including the 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 modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A method for performing inertial spatial scanning imaging, comprising the steps of:
Real-time three-axis gestures of the optical bench relative to the inertial space are obtained through gyro integration, error analysis and compensation;
Establishing an Euler coordinate transformation matrix according to the obtained real-time three-axis gesture of the optical bench relative to the inertial space;
decomposing an inertial space scanning speed vector according to the requirements of an inertial space scanning baseline and a scanning speed, and decoupling and driving electromechanical shafting cooperative motion through an established Euler coordinate transformation matrix;
The step of 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 comprises the following steps:
The inertial search angular velocity vector is projected to a vehicle body coordinate system OX 1Y1Z1 through Euler transformation of the vehicle body attitude (phi 1 phi 2 phi 3);
decoupling to a photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation according to the angular relation between the vehicle body posture and an electromechanical shafting of the photoelectric system, respectively performing closed-loop control on the photoelectric shafting according to a decoupling vector, and performing closed-loop control by adopting the angular displacement and the angular rate of a shafting encoder to ensure that the movement of the photoelectric searching and tracking device meets the condition that the output angular rate of a azimuth gyro is equal to a set searching speed and the angular rates of a pitching gyro and a rolling gyro are equal to zero;
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 the following steps:
Initial alignment and system calibration: initializing a positioning orientation, a gyroscope or an inertial navigation assembly to calibrate and align, and establishing a system inertial coordinate system;
And (3) integrating the gyroscope, carrying out error analysis and compensation, and solving an inertial attitude angle (alpha beta gamma) of the photoelectric system, wherein the solving of the inertial attitude angle (alpha beta gamma) of the photoelectric system is obtained by the following formula:
Wherein, (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (θ1θ2θ3) is euler transform decoupling; and (phi 1+ theta 1 phi 2+ theta 2 phi 3+ theta 3) is the real-time azimuth, pitch, roll angle of the optical bench relative to the inertial coordinate system.
2. The method for realizing inertial space scanning imaging according to claim 1, wherein the step of decoupling to the photoelectric coordinate system OX 2Y2Z2 by (θ1θ2θ3) euler transformation according to the angular relationship between the vehicle body posture and the electromechanical axis of the photoelectric system, respectively performing closed loop control on the photoelectric axis according to the decoupling vector, and performing closed loop on the angular displacement and the angular rate of the axis encoder to make the photoelectric search tracking device move so as to enable the azimuth gyro output angular rate to be equal to the set search rate and the pitch and roll gyro angular rates to be equal to zero comprises:
Calculating the speed decoupling control interrelation and the requirement of the electromechanical shafting;
Speed decoupling control of the electromechanical shafting: the real-time sampling gyro and the motor shafting encoder output, and the gyro integrates and outputs the attitude angle of the optical bench in real time through signal conditioning and conversion;
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.
3. The method for implementing inertial space scanning imaging of claim 2, wherein the velocity decoupling control interrelation of the electromechanical axes comprises an electromechanical axis decoupling feedback velocity vector, the electromechanical axis decoupling feedback velocity vector being:
wherein (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; (ω1ω2ω3) is the gyro angular rate and (θ1θ2θ3) is the euler transform decoupling.
4. A method of achieving inertial space scanning imaging as claimed in claim 3, wherein the velocity decoupling control interrelation of the electromechanical axes comprises a gyro angular rate of:
Wherein, (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; and (theta 1 theta 2 theta 3) is Euler transformation decoupling.
5. The method for realizing inertial space scanning imaging of claim 4, wherein the velocity decoupling control interrelation of the electromechanical axes comprises an electromechanical axis decoupling drive velocity vector, the electromechanical axis decoupling drive velocity vector being:
Finally, the system is made to satisfy: (ω1ω2ω3) = (ω00 0)
Wherein (θ1θ2θ3) is euler transform decoupling; (ω1ω2ω3) is the gyro angular rate; (phi 1 phi 2 phi 3) is the posture of the vehicle body; (alpha beta gamma) is the inertial attitude angle of the photoelectric system; ω0 is the set search speed.
6. The method for realizing inertial space scanning imaging according to claim 5, wherein in the step of speed decoupling control of the electromechanical axis, the control deviation amount of the speed closed loop of the control system is:
ΔUt＝(Δd(θ1 θ2 θ3)/dt-d(θ1 θ2 θ3)/dt)
wherein Δd (θ1θ2θ3)/dt is an electromechanical axis decoupling driving speed vector; d (θ1θ2θ3)/dt is the electromechanical axis decoupling feedback velocity vector.
7. A system for realizing inertial space scanning imaging, applied to the method for realizing inertial space scanning imaging according to any one of claims 1 to 6, 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 building module (20) is used for building the Euler coordinate transformation matrix according to the obtained real-time triaxial attitude of the optical bench relative to the inertial space;
The electromechanical system decoupling module (30) is used for decomposing an inertial space scanning speed vector according to the inertial space scanning baseline and scanning speed requirements, and decoupling and driving the electromechanical system to cooperatively move through the established Euler coordinate transformation matrix;
The electromechanical shafting decoupling module (30) comprises:
A projection unit (31) for inertial search angular velocity vector projection to a vehicle body coordinate system OX 1Y1Z1 by Euler transformation of vehicle body posture (phi 1 phi 2 phi 3);
The decoupling vector control unit (32) is used for decoupling to the photoelectric coordinate system OX 2Y2Z2 through (theta 1 theta 2 theta 3) Euler transformation according to the angular relation between the vehicle body posture and the electromechanical shaft system of the photoelectric system, respectively performing closed loop control on the photoelectric shaft system according to the decoupling vector, and performing closed loop on the angular displacement and the angular rate of the shaft system encoder to ensure that the photoelectric searching and tracking device moves to meet the condition that the azimuth gyro output angular rate is equal to the set searching speed and the pitching and rolling gyro angular rates are equal to zero.
8. The system for achieving inertial space scanning imaging of claim 7, wherein the three-axis pose acquisition module (10) comprises:
the calibration unit (11) is used for initial alignment and system calibration, positioning and orientation, and calibration alignment by the initialization of a gyro or an inertial navigation component, and a system inertial coordinate system is established;
and the solving unit (12) is used for gyroscopically integrating and carrying out error analysis and compensation to solve the inertial attitude angle (alpha beta gamma) of the photoelectric system.
9. The system for realizing inertial space scanning imaging of claim 8, wherein the 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 speed decoupling control of an electromechanical shaft system, sampling the output of a gyro and a motor shaft system encoder in real time, and outputting the attitude angle of the optical bench by the real-time integration of the gyro through signal conditioning transformation;
and the closed-loop control subunit (323) is used for implementing closed-loop control by adopting a double-speed control loop of a current loop, a motor speed inner loop and an inertia speed outer loop in the electromechanical shafting.
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