Manual mode aiming line trajectory fitting method of photoelectric system for UAV (unmanned aerial vehicle)

A manual mode, photoelectric system technology, applied in directions such as navigation through speed/acceleration measurement, can solve problems such as operator inconvenience, and achieve the effect of reducing difficulty, rich information sources, and user-friendly control

Active Publication Date: 2017-05-24
西安应用光学研究所
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  • Description
  • Claims
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  • Manual mode aiming line trajectory fitting method of photoelectric system for UAV (unmanned aerial vehicle)
  • Manual mode aiming line trajectory fitting method of photoelectric system for UAV (unmanned aerial vehicle)
  • Manual mode aiming line trajectory fitting method of photoelectric system for UAV (unmanned aerial vehicle)

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Embodiment 1

[0042] Embodiment 1: Condition: In a field of view, with a fixed single-lever command value, the line of sight moves half the position of the field of view (target position) from the initial position (the center position of the current field of view). Comparative data:

[0043]

[0044]

[0045] Comparing the two sets of data, after the compensation command is added, the position of the line of sight within the set time is closer to the target position.

Embodiment 2

[0046] Embodiment 2: Analysis of the linearity of the line-of-sight trajectory: comparative analysis is performed through different angle ranges of movement. Condition: Add a fixed single-bar command value, modify the timer to control the movement time.

[0047] image 3 and Figure 4 Include the azimuth and pitch angle records of the movement, and the trajectory of the turret aiming line projected on the horizontal plane. Take the height H=80cm of the current turret, and analyze the trajectories under different motion angle ranges. image 3 The state is: the counter is 500, and there is no pitch compensation command; Figure 4 The status is: the counter is 500, and the pitch compensation command is added.

[0048] By comparing the effects of the compensation command horizontally and vertically, after a certain period of movement, the trajectory linearity of the superimposed compensation command is better. The trajectory difference in the short period of time is not obvio...

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Abstract

The invention relates to a manual mode aiming line trajectory fitting method of a photoelectric system for a UAV (unmanned aerial vehicle). The method comprises the following steps of: firstly, after the photoelectric system is switched into the manual mode, solving a pitch angle beta of the current photoelectric turret, and calculating a time period T1 of a single-pole stabilizing circuit; then solving azimuth velocities V1 and V2 of an aiming line before and after the time period T1, and calculating an azimuth angle theta at which the aiming line rotates in the time period T1; and finally, superimposing the required compensation command on the single-pole pitch command, and realizing manual mode aiming line trajectory fitting. The method provided by the invention adopts the digital processing technology, the information source is rich, the algorithm can be changed, and the time delay does not exist; and after the algorithm is processed, the manipulation of a sight stabilizing turret is relatively humane, and the difficulty of operation is reduced.

Description

technical field [0001] The invention relates to the technical field of photoelectric system control, and specifically relates to a method for fitting a line of sight trajectory in a manual mode of an optoelectronic system of an unmanned aerial vehicle, which is used for fitting and compensating the line of sight trajectory during manual operation of the photoelectric system. Background technique [0002] UAV-borne optoelectronic system sensors such as TV, thermal imaging, laser, etc. are installed in a stable turret as a whole, and the operator controls the movement of the line of sight through the single-lever operation of the ground fire control to operate the turret. [0003] In the UAV-borne optoelectronic system developed by our country before, when the turret is in a state of large pitch angle, due to the closed loop of the human eye, it is very difficult to manually operate the line of sight to lock the target. Most of the solutions are first through the azimuth unit. ...

Claims

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Application Information

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IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 王璞吴玉敬张慧任元斌谭名栋韩瑞寿少峻
Owner 西安应用光学研究所
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