Stable cannon control method based on image compensation

Abstract

The invention relates to a stable cannon control method based on image compensation. A CCD camera (2) is mounted on a cannon firepower mechanical mechanism (1) coaxial with a firepower line, and a collected visual-field image is the visual-field image of the present aiming direction of the power line; an image collection processing unit (3) obtains present visual-field images from the CCD camera (2) periodically, calculates a position vector P of a target position point (8) deviated from the central point (7) of the firepower line, and decomposes the position vector P into a deviation angle position alpha of the azimuth and a deviation angle position beta of the elevation direction of a cannon; and a cannon position servo unit (4) drives a cannon azimuth-drive motor (5) and an elevating execution motor set (6) to operate according to angular deviations, and drives the cannon firepower mechanism to rotate so that the central point of the firepower line moves to a target position point till the central point is coincided with the target point, and stable control is completed.

Description

technical field [0001] The invention relates to a method for using image compensation to complete artillery stabilization control in a weapon system, and belongs to the field of stabilization control of small-caliber self-propelled artillery. Background technique [0002] When the self-propelled weapon system is traveling on complex terrain in the field, the barrel of the artillery will swing with the undulations of the ground, which will affect the aiming of the artillery. In order to enable the self-propelled weapon system to still have the ability to aim and shoot during the march, it is necessary to compensate the shaking of the weapon system itself. At this stage, the main technical means used is the speed compensation method, that is, using inertial gyro sensor equipment to measure the vibration of the weapon system The velocity vector V of the instantaneous movement in the three-dimensional space when traveling, the artillery speed servo system drives the artillery li...

AI Technical Summary

Problems solved by technology

[0004] 1) Due to the device characteristics of the inertial rate gyroscope, the output drifts greatly at different temperatures. When the inertial rate gyroscope is used to stabilize the control method, it is difficult to suppress the zero drift of the weapon system's fire line;

[0005] 2) The inertial rate gyroscope has a speed sensing dead zone, which directly affects the measurement of the speed vector V;

[0006] 3) There is a speed response lag in the speed servo system, which brings about a speed response lag error. This error has a cumulative effect and cannot be eliminated under the speed compensation control mode, which directly affects the stability accuracy of the fire line

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