All-attitude calculation method for holder

Abstract

The invention discloses an all-attitude calculation method for a holder, and the method comprises the following steps: respectively mounting a first accelerometer and a second accelerometer in the axial direction and the transverse direction of the holder, mounting a single-axis optical fiber gyroscope on a reference plane parallel to the mounting surface of the first accelerometer in the axial direction, and mounting a coded disc in the longitudinal direction of the holder; calculating a tracking pitch angle and a roll angle in real time by using a ratio of an output acceleration mean value to a gravitational acceleration of the first accelerometer and the second accelerometer in a time period, and leveling the holder; rotating the single-axis optical fiber gyroscope to four positions atan interval of 90 degrees by using an indexing mechanism of a cradle head, respectively acquiring gyroscope data of the four positions, and calculating an initial azimuth angle according to an azimuthangle model calculated by the four positions; after the initial azimuth angle is obtained, obtaining the real azimuth angle of the holder according to the coded disc azimuth tracking model by utilizing the angle change value of the coded disc relative to the initial azimuth angle. According to the invention, the pitch angle, roll angle and azimuth angle of the holder can be calculated autonomously in real time.

Description

technical field [0001] The invention belongs to the technical field of ground pan-tilt devices, and in particular relates to a pan-tilt full attitude calculation method. Background technique [0002] The pan-tilt device is a ground supporting equipment that supports the laser irradiator. It uses its own inertial measurement devices, angle sensors and indexing mechanisms to provide the laser irradiator with angle changes in the two axes of pitch and azimuth, and guides the laser irradiator to Dynamic and static targets are tracked and irradiated in real time to ensure that semi-active laser-guided missiles (Miao Haochun, Yang Shuanhu, "Intelligent Ammunition" [M], National Defense Industry Press, 2014, 2) accurately hit the target. [0003] The gimbal needs to be leveled and north-seeking before pitch and azimuth attitude tracking. The purpose of leveling is to maintain the initial attitude level of the gimbal and ensure the accuracy of north-seeking. At present, most gimbal...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the problem that existing pan-tilt attitude tracking methods cannot autonomously calculate the pitch angle, roll angle and azimuth angle of the pan-tilt in real time on the basis of ensuring accuracy, and proposes a pan-tilt full-attitude calculation method

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