A high-speed dynamic tracking control method for a laser guidance device

By calculating signal quality and morphological distortion factors, selecting an appropriate deviation calculation mode, and combining a tracking differentiator and an active disturbance rejection controller, the problems of servo control desaturation oscillation and target loss caused by spot distortion in laser-guided equipment under high-speed, high-overload maneuvering and high-frequency vibration conditions were solved, achieving high-precision dynamic tracking and control.

CN122363265APending Publication Date: 2026-07-10ZHEJIANG HUIYAN PHOTOELECTRIC TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG HUIYAN PHOTOELECTRIC TECH CO LTD
Filing Date
2026-04-30
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Under conditions of high-speed, high-overload maneuvering and high-frequency vibration, existing laser-guided equipment suffers from spot distortion, which causes the servo system to output false deviation signals. This leads to servo control desaturation oscillations and target loss, and the equipment cannot effectively identify the interference of spot morphology distortion on centroid calculation.

Method used

By acquiring the output signal of the four-quadrant detector and the data of the inertial measurement unit, the signal quality factor and morphological distortion factor are calculated, an appropriate deviation calculation mode is selected, and an active cancellation compensation amount is generated by combining the tracking differentiator and the active disturbance rejection controller to realize dynamic modulation and mode switching, thereby suppressing the interference of spot distortion on the centroid calculation.

Benefits of technology

It effectively solves the problem of deviation and distortion in centroid calculation under spot distortion, improves the response speed and steady-state accuracy of high-speed maneuvering tracking, reduces the risk of target loss, and ensures the continuity and accuracy of guidance missions.

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Abstract

This invention relates to the field of laser guidance technology, addressing the problem that existing technologies cannot effectively identify the interference of spot morphology distortion on centroid calculation from the raw voltage signals of a four-quadrant detector. Specifically, it provides a high-speed dynamic tracking and control method for laser guidance equipment, comprising the following steps: acquiring four voltage signals output by a four-quadrant detector; calculating the signal quality factor and morphology distortion factor based on the four voltage signals; converting the final tracking deviation into a line-of-sight (LOS) deviation; based on the roll angular velocity in the projectile's angular velocity and historical control command disturbances; employing an active disturbance rejection controller to synthesize a total control command based on the LOS deviation, LOS angular velocity, feedforward compensation amount generated based on the LOS angular velocity, and active cancellation compensation amount. This invention calculates the morphological entropy and anisotropy index in real time based on the four-quadrant signals, using the corrected deviation to replace the false centroid, fundamentally eliminating servo desaturation oscillations caused by nonlinear spot offset.
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