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Method for improving tracking precision of photoelectric tracking system

A technology of photoelectric tracking system and tracking accuracy, which is applied in the direction of using feedback control, etc., can solve the problems of time lag of off-target information, reduction of phase margin of tracking control system, and influence of tracking accuracy of photoelectric tracking system, so as to improve accuracy and stability performance, and the effect of improving accuracy

Active Publication Date: 2021-04-20
INST OF APPLIED ELECTRONICS CHINA ACAD OF ENG PHYSICS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the photoelectric tracking system, feedback control is a common control structure, that is, the off-target information obtained by the TV tracker (the deviation of the target position relative to the visual axis of the tracking device) drives the servo system to move, and then realizes the automatic tracking of the target. , so the acquisition and processing of the miss information has become an important part of improving the tracking performance of the photoelectric tracking system; The processing process includes the establishment, processing and signal transmission of the target image, so there is a certain time lag in the finally obtained miss-target information; in order to drive the movement of the servo system, it is necessary to use the miss-target data and the angle value of the photoelectric tracking system to synthesize the target position data , because there is a certain time lag in the missed target data, which also leads to the lag of the synthesized target position data. The existence of this lag reduces the phase margin of the tracking control system and affects the tracking accuracy of the photoelectric tracking system.

Method used

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  • Method for improving tracking precision of photoelectric tracking system
  • Method for improving tracking precision of photoelectric tracking system

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Experimental program
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Embodiment 1

[0042] Embodiment 1: A photoelectric tracking control system, see attached figure 1 , which includes a speed inner loop controller, a position outer loop controller, and a TV tracker; in the figure, G 0 (s) transfer function for the control object, G vc (s), G pc (s) and G TV (s) are the transfer functions of the speed inner loop controller, the position outer loop controller and the TV tracker respectively, θ i , θ o and Δθ are the target position, the angle value of the photoelectric tracking system, and the miss amount obtained by the TV tracker, respectively. The relationship between the target position, the angle value of the photoelectric tracking system, and the amount of misses obtained by the TV tracker is expressed as:

[0043] Δθ=(θ i -θ o )G TV (s) (1)

[0044] G TV (s)=Re -τs (2)

[0045] Among them, K is the equivalent of the TV tracker, τ is the lag time, and its frequency characteristics can be expressed as

[0046]

[0047] Through the analysi...

Embodiment 2

[0048] Embodiment 2: A method for improving the tracking accuracy of the photoelectric tracking system, see the attached figure 2 , including the following steps:

[0049] S01. Determine the TV tracker equivalent K;

[0050] S02. Determine the lag time τ of the TV tracker;

[0051] S03. The pixel value Δθ of the off-target amount acquired by the TV tracker n Converted to miss angle value dθ n , where n is a positive integer;

[0052] S04. Determine the angle value θ of the photoelectric tracking system o,n Number of shifts N; where T 1 is the instrument data sampling interval;

[0053] S05. Determine the target position data θ i,n-N , θ i，n-N =dθ n +θ o，n-N ;

[0054] S06. Control the photoelectric tracking system to track the target according to the target position data.

[0055] First determine the TV tracker equivalent K and TV tracker lag time τ in the photoelectric tracking system, and then determine the target position data in the subsequent steps, throu...

Embodiment 3

[0076] Embodiment three, a kind of photoelectric tracking system test equipment, refer to the attached Figure 7 , including a rotating target 1, which rotates in a vertical plane, an LED light 2 as a tracked target is arranged on the rotating target 1, and the LDE light is fixed on the edge of the rotating target 1; Lamp 2 is tracked, adopts the method of embodiment two, uses target speed data as feed-forward to track LED lamp 2, Figure 8-11 Corresponding to the target speed prediction of frame 0, frame 1, frame 2 and frame 3 respectively, in each figure, the upper figure is the comparison curve of the tracking error when using traditional feedback control and when the target speed data is used as feedforward, The figure below is the feedforward speed curve obtained by predictive filtering; in the figure above, the dotted line is the tracking error curve when using traditional feedback control, and the solid line is the tracking error curve when the target speed data is used...

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Abstract

The invention discloses a method for improving the tracking precision of a photoelectric tracking system. According to the technical scheme, the method is characterized by comprising the following steps that S01, the equivalent K of a television tracker is determined; S02, lag time tau of the television tracker is determined; S03, the miss distance pixel value deltathetan obtained by the television tracker is converted into a miss distance angle value dthetan, dthetan=deltathetan / K,n=1, 2,..., and n is a positive integer; S04, an angle value thetao and an n translation number N of the photoelectric tracking system are determined, N=tau / T1, and T1 is an instrument data sampling interval; S05, target position data thetai, n-N, thetai, n-N=dthetan+thetao, n-N are determined; and S06, a photoelectric tracking system is controlled to track the target according to the target position data. The equivalent K of the television tracker and the lag time tau of the television tracker are determined, the miss distance data deltathetan are processed according to the two pieces of data, the precision of the obtained target position information is greatly improved, the target position information serves as feedforward of the photoelectric tracking system, and the tracking precision and stability of the photoelectric tracking system are greatly improved.

Description

technical field [0001] The invention relates to the technical field of photoelectric detection and tracking, more specifically, it relates to a method for improving the tracking precision of a photoelectric tracking system. Background technique [0002] The photoelectric tracking system is composed of tracking mechanism, servo control system, shaft angle measurement system, computer control and processing system, and TV tracking measurement system; [0003] In the photoelectric tracking system, feedback control is a common control structure, that is, the off-target information obtained by the TV tracker (the deviation of the target position relative to the visual axis of the tracking device) drives the servo system to move, and then realizes the automatic tracking of the target. , so the acquisition and processing of the miss information has become an important part of improving the tracking performance of the photoelectric tracking system; The processing process includes t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
Inventor 田俊林
Owner INST OF APPLIED ELECTRONICS CHINA ACAD OF ENG PHYSICS
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