Closed-loop tracking system and method for coordinated control of miss distance and trajectory prediction

Abstract

The present invention provides a closed-loop tracking system and method for collaborative control of miss amount and trajectory prediction, which can improve the tracking capability of the optoelectronic tracking system for highly maneuverable targets and meet the actual needs of satellite-borne optoelectronic tracking systems. The system of the present invention uses the three-dimensional motion information of the target to predict the miss amount and feedback control, which improves the prediction accuracy of the target motion, thereby improving the closed-loop control accuracy of the miss amount, enhancing the tracking capability of the moving target, and avoiding the accuracy loss caused by only using the two-dimensional motion information of the target and lacking one-dimensional motion information during the feedback control of the miss amount. The closed-loop tracking method for collaborative control of miss amount and trajectory prediction of the present invention obtains the movement information of the miss amount through the three-dimensional motion information of the target, and performs composite closed-loop control of the miss amount and trajectory prediction, thereby improving the tracking capability of the optoelectronic tracking system for highly maneuverable targets and meeting the actual needs of satellite-borne optoelectronic tracking systems.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft motion mechanism control, and in particular to a closed-loop tracking system and method for collaborative control of miss distance and trajectory prediction. Background Art

[0002] The optoelectronic tracking system uses optical detectors and servo tracking systems to track moving targets and can be used in fire control, guidance, laser communication, aerospace and other fields. The satellite-borne optoelectronic tracking system uses a servo mechanism with high maneuverability to drive the optical payload to achieve the pointing and tracking of the target. The control accuracy of the servo mechanism directly affects the tracking performance of the optoelectronic tracking system on the target.

[0003] The miss distance control method is a commonly used control method for the servo mechanism of the satellite-borne optoelectronic tracking system. It collects images through the optical payload, identifies the position of the target in the image, calculates the difference between the target and the expected position of the image plane, that is, the miss distance, and controls the movement of the servo mechanism through a closed-loop feedback control method. However, for targets with strong maneuverability and fast-changing movement speed, the generated control rate is difficult to accurately track the movement of the target, the tracking accuracy of the tracking system for the target will be reduced, and the position of the target in the field of view of the optical payload will fluctuate greatly, which has a great impact on the performance of the optoelectronic tracking system.

[0004] In order to compensate for the miss distance error caused by the rapid movement of the target, the existing method is generally a composite control method combined with the target angular velocity estimation. The miss distance is combined with the instrument position information to obtain the target angular position, and the angular position is filtered to obtain the target angular velocity estimation value, which is fed back to the servo mechanism speed control loop for control, thereby compensating for the miss distance error caused by the target movement. Compared with the single miss distance control, this method has enhanced the tracking ability of the moving target. However, the motion information of the target in space is three-dimensional, but the target angular position and angular velocity used in this method actually only contain the motion information of the target mapped to the two-dimensional miss distance plane, and do not contain the motion information in the direction perpendicular to the miss distance plane, that is, one dimension of the motion information is lost, which will have a great impact on the estimation accuracy of the target angular velocity, resulting in an increase in the feedforward compensation error, and then causing the performance of the optoelectronic tracking system to decrease.

[0005] For optical tracking satellites, multiple satellites are usually used to observe the same target in orbit, or a single satellite observation is guided by certain guidance information. In this case, a more accurate three-dimensional trajectory and three-dimensional motion characteristics of the target in space can be obtained. When there is prior information on the target motion characteristics or motion trajectory, high-precision three-dimensional motion data of the target can be obtained. At this time, if the target angular velocity composite control method based on two-dimensional information is still used and one dimension of motion information is discarded, the control accuracy will be greatly lost. Summary of the invention

[0006] In view of this, the present invention provides a closed-loop tracking system and method for collaborative control of miss distance and trajectory prediction, which can improve the tracking capability of the optoelectronic tracking system for highly maneuverable targets and meet the actual needs of satellite-borne optoelectronic tracking systems.

[0007] To achieve the above purpose, the technical solution of the present invention is as follows:

[0008] A miss distance and trajectory prediction collaborative control closed-loop tracking system of the present invention comprises a target miss distance identification module, a miss distance static error control quantity generation module, a target three-dimensional trajectory acquisition module, a miss distance dynamic error feedback control quantity generation module and a miss distance composite closed-loop control module;

[0009] The target miss distance recognition module receives the image input from the optical image acquisition device and identifies the miss distance of the target on the optical image plane; the target miss distance calculation module is connected to the target three-dimensional trajectory calculation module and the miss distance static error feedback control amount calculation module respectively, and provides the target two-dimensional miss distance information input to them;

[0010] The miss amount static error feedback control amount generating module generates a feedback control amount for compensating the miss amount error, and provides the feedback control amount as an input to the miss amount composite closed-loop control module;

[0011] The target three-dimensional trajectory acquisition module generates the target three-dimensional position and provides it to the miss distance dynamic error feedback control quantity module as the input of the generated control quantity;

[0012] The miss amount dynamic error feedback control amount generation module generates the miss amount dynamic error feedback control amount required to compensate for the target motion, and provides it as input to the miss amount composite closed-loop control module;

[0013] The miss distance composite closed-loop control module receives two control quantities, namely, the miss distance static error feedback control quantity and the miss distance dynamic error feedback control quantity, integrates the two control quantities, and finally generates a control signal of the optoelectronic tracking servo mechanism.

[0014] Among them, the miss distance static error feedback control amount generation module extrapolates the three-dimensional position of the target and projects the three-dimensional position onto the two-dimensional optical image plane to obtain the miss distance movement caused by the target movement, thereby generating the feedback control amount required to compensate for the target movement.

[0015] If there is more accurate prior data of the target three-dimensional trajectory externally, the result is used to replace the three-dimensional trajectory generation result of the target three-dimensional trajectory acquisition module.

[0016] The present invention also provides a closed-loop tracking method for collaborative control of miss distance and trajectory prediction, which adopts the system described in the present invention, specifically as follows: target miss distance identification: the miss distance of the target on the optical image plane is identified according to the image collected by the optical payload; miss distance static error feedback control quantity generation: according to the position deviation between the target and the center of the target reflected by the miss distance, the feedback control quantity required to compensate for the miss distance error without considering the target movement is generated; target three-dimensional trajectory acquisition: the target angular position is obtained by combining the two-dimensional miss distance information with the servo mechanism attitude data, the satellite position and attitude data, the payload imaging model and the system configuration matrix, and the multi-satellite observation results are integrated, or the single-satellite observation results are integrated with external prior information to generate the three-dimensional trajectory of the target; miss distance dynamic error feedback control quantity generation: the target three-dimensional position is extrapolated and projected to the two-dimensional image plane to obtain the miss distance movement prediction value caused by the target movement, and the feedback control quantity required to compensate for the miss distance movement is generated; miss distance composite closed-loop control signal generation: according to the generated miss distance static and dynamic error feedback control quantities, integration processing is performed according to the set rules to generate the control signal of the optoelectronic tracking servo mechanism for system control.

[0017] The process of generating the dynamic error feedback control amount of the miss distance is as follows:

[0018] Step 1, target 3D velocity estimation: obtain the target 3D velocity through the target 3D trajectory, and extrapolate the target 3D velocity prediction value in the next control cycle through the filtering estimation algorithm;

[0019] Step 2, target three-dimensional position estimation: Based on the three-dimensional velocity obtained in step 1, combined with the system control cycle and the servo control delay caused by the calculation delay, estimate the predicted value of the target's spatial three-dimensional position in the next cycle;

[0020] Step 3, target two-dimensional miss distance estimation: according to the target three-dimensional position prediction value obtained in step 2, combined with the servo mechanism attitude data, satellite position and attitude data, payload imaging model and system configuration matrix parameters, the target three-dimensional position prediction value is projected onto the two-dimensional image plane to obtain the target two-dimensional miss distance movement prediction value;

[0021] Step 4, generating a control amount for compensating for the miss amount of target movement: based on the target miss amount movement prediction value obtained in step 3, combined with a certain control rate generation algorithm, a feedback control amount required for compensating for the miss amount of target movement is generated.

[0022] Wherein, in step 4, the control rate generation algorithm is a PID algorithm.

[0023] Beneficial effects:

[0024] 1. The system of the present invention uses the three-dimensional motion information of the target to predict the miss distance and feedback control, thereby improving the prediction accuracy of the target motion, thereby improving the closed-loop control accuracy of the miss distance, enhancing the tracking ability of the moving target, and avoiding the accuracy loss caused by only using the two-dimensional motion information of the target and lacking one-dimensional motion information during the miss distance feedback control.

[0025] 2. The closed-loop tracking method for collaborative control of miss distance and trajectory prediction of the present invention is a closed-loop tracking control method for a satellite-borne optoelectronic tracking system, which applies the three-dimensional motion information of the target to the closed-loop tracking control of the miss distance, so as to solve the problem of insufficient accuracy caused by the lack of one-dimensional information in the existing control method, which only uses the two-dimensional motion information of the target. The method obtains the movement information of the miss distance through the three-dimensional motion information of the target, and performs composite closed-loop control of the miss distance and trajectory prediction, thereby improving the tracking capability of the optoelectronic tracking system for highly maneuverable targets and meeting the actual needs of the satellite-borne optoelectronic tracking system.

[0026] 3. When there is high-precision prior information on the three-dimensional motion of a target, it can also be used in the present invention to perform composite control of the miss distance, thereby further improving the tracking accuracy of the moving target. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a system block diagram of the present invention.

[0028] Figure 2 It is a schematic diagram of the working process of the system of the present invention.

[0029] Figure 3 It is a schematic diagram of the process of generating the dynamic error feedback control amount of the miss distance of the present invention. DETAILED DESCRIPTION

[0030] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0031] In view of the problem that the existing method for composite control of miss distance and target angular velocity has insufficient tracking accuracy for moving targets, the present invention discloses a closed-loop tracking system and method for collaborative control of miss distance and trajectory prediction, which are used to improve the tracking capability of an optoelectronic tracking system for moving targets and meet the actual needs of satellite-borne optoelectronic tracking systems.

[0032] The closed-loop tracking system of the present invention for collaborative control of miss distance and trajectory prediction is as follows Figure 1 As shown, it includes: a target miss distance identification module, a miss distance static error control quantity generation module, a target three-dimensional trajectory acquisition module, a miss distance dynamic error feedback control quantity generation module and a miss distance composite closed-loop control module.

[0033] Among them, the target miss distance generation module is the input module of the whole device, and the miss distance composite closed-loop control module is the output module of the whole software.

[0034] The target miss distance recognition module mainly receives the image input from the optical image acquisition device and identifies the miss distance of the target on the optical image plane. The target miss distance calculation module is connected to the target three-dimensional trajectory calculation module and the miss distance static error feedback control amount calculation module respectively, and provides them with target two-dimensional miss distance information input.

[0035] The miss distance static error feedback control quantity generation module mainly receives the miss distance input from the target miss distance calculation module. Without considering the relative motion between the target and the image plane and only considering the static control error, it generates the feedback control quantity to compensate for the miss distance error and provides it as input to the miss distance composite closed-loop control module.

[0036] The target three-dimensional trajectory acquisition module mainly receives the two-dimensional miss distance input from the target miss distance calculation module, generates the target three-dimensional position, and provides it to the miss distance dynamic error feedback control module as the input of its generated control quantity. If there is more accurate target three-dimensional trajectory prior data externally, the result can be used to replace the three-dimensional trajectory generation result of this module.

[0037] The miss distance dynamic error feedback control quantity generation module is the core of the entire software. It mainly receives the target three-dimensional trajectory information from the target three-dimensional trajectory acquisition module, and generates the miss distance dynamic error feedback control quantity required to compensate for the target motion while considering the target motion. This module can perform the extrapolation of the target three-dimensional position and project the three-dimensional position onto the two-dimensional optical image plane to obtain the miss distance movement caused by the target motion, thereby generating the feedback control quantity required to compensate for the target motion, which is provided as input to the miss distance composite closed-loop control module.

[0038] The miss distance composite closed-loop control module is the output module of the software. It receives the two control quantities from the miss distance static error feedback control quantity and the miss distance dynamic error feedback control quantity, and integrates and processes the two control quantities according to certain rules, and finally generates the control signal of the photoelectric tracking servo mechanism. The working process of the miss distance and trajectory prediction collaborative control closed-loop tracking system of the present invention is as follows: Figure 2 shown.

[0039] The present invention also provides a closed-loop tracking method for collaborative control of miss distance and trajectory prediction, which is as follows: target miss distance identification: based on the image collected by the optical payload, the miss distance of the target on the optical image plane is identified; miss distance static error feedback control quantity generation: based on the position deviation between the target and the center of the target reflected by the miss distance, the feedback control quantity required to compensate for the miss distance error without considering the movement of the target is generated; target three-dimensional trajectory acquisition: combining two-dimensional miss distance information with servo mechanism attitude data, satellite position and attitude data, payload imaging model, system configuration matrix and other parameters to obtain the target angular position, integrating multi-satellite observation results, or integrating The single-star observation results and external prior information are combined to generate the three-dimensional trajectory of the target. If there is more accurate prior data of the target's three-dimensional trajectory externally, it can be used as input to replace the three-dimensional trajectory generation result; the dynamic error feedback control quantity of the miss amount is generated: the three-dimensional position of the target is extrapolated and projected onto the two-dimensional image plane to obtain the predicted value of the miss amount movement caused by the target movement, and the feedback control quantity required to compensate for the miss amount movement is generated; the composite closed-loop control signal of the miss amount is generated: according to the generated static and dynamic error feedback control quantities of the miss amount, they are integrated and processed according to the set rules to generate the control signal of the optoelectronic tracking servo mechanism for system control.

[0040] The process of generating the dynamic error feedback control quantity of the miss distance is as follows: Figure 3 As shown, the details are as follows:

[0041] Step 1: Target 3D velocity estimation: The 3D velocity of the target is obtained through the 3D trajectory of the target, and the predicted value of the 3D velocity of the target in the next control cycle is extrapolated through the filtering estimation algorithm.

[0042] Step 2, target three-dimensional position estimation: Based on the three-dimensional velocity obtained in step 1, combined with the servo control delay caused by the system control cycle, calculation delay, etc., estimate the predicted value of the target's spatial three-dimensional position in the next cycle.

[0043] Step 3, target two-dimensional miss distance estimation: Based on the target three-dimensional position prediction value obtained in step 2, combined with servo mechanism attitude data, satellite position and attitude data, payload imaging model, system configuration matrix and other parameters, the target three-dimensional position prediction value is projected onto the two-dimensional image plane to obtain the target's two-dimensional miss distance movement prediction value.

[0044] Step 4, generating the miss amount control amount for compensating the target movement: based on the target miss amount movement prediction value obtained in step 3, combined with a certain control rate generation algorithm, such as a PID algorithm, the feedback control amount required to compensate for the target miss amount movement is generated.

[0045] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A closed-loop tracking system for collaborative control of miss distance and trajectory prediction, characterized in that: It includes a target miss distance identification module, a miss distance static error control quantity generation module, a target three-dimensional trajectory acquisition module, a miss distance dynamic error feedback control quantity generation module and a miss distance composite closed-loop control module; The target miss distance recognition module receives the image input from the optical image acquisition device and identifies the miss distance of the target on the optical image plane; the target miss distance calculation module is connected to the target three-dimensional trajectory calculation module and the miss distance static error feedback control amount calculation module respectively, and provides the target two-dimensional miss distance information input to them; The miss amount static error feedback control amount generating module generates a feedback control amount for compensating the miss amount error, and provides the feedback control amount as an input to the miss amount composite closed-loop control module; The target three-dimensional trajectory acquisition module generates the target three-dimensional position and provides it to the miss distance dynamic error feedback control quantity module as the input of the generated control quantity; The miss amount dynamic error feedback control amount generation module generates the miss amount dynamic error feedback control amount required to compensate for the target motion, and provides it as input to the miss amount composite closed-loop control module; The miss distance composite closed-loop control module receives two control quantities, namely, the miss distance static error feedback control quantity and the miss distance dynamic error feedback control quantity, and integrates the two control quantities to finally generate a control signal of the photoelectric tracking servo mechanism; The miss distance static error feedback control amount generating module performs extrapolation of the target three-dimensional position and projects the three-dimensional position onto a two-dimensional optical image plane to obtain the miss distance movement caused by the target motion, thereby generating the feedback control amount required to compensate for the target motion.

2. The system according to claim 1, characterized in that If there is more accurate prior data of the target three-dimensional trajectory externally, the data is used to replace the three-dimensional trajectory generation result of the target three-dimensional trajectory acquisition module.

3. A closed-loop tracking method for collaborative control of miss distance and trajectory prediction, characterized in that: The system as claimed in any one of claims 1 to 2 is used, specifically as follows: target miss distance identification: the miss distance of the target on the optical image plane is identified according to the image collected by the optical payload; miss distance static error feedback control quantity generation: based on the position deviation between the target and the center of the target reflected by the miss distance, the feedback control quantity required to compensate for the miss distance error without considering the movement of the target is generated; target three-dimensional trajectory acquisition: combining the two-dimensional miss distance information with the servo mechanism attitude data, the satellite position and attitude data, the payload imaging model and the system configuration matrix to obtain the target angular position, and fusing the multi-satellite observation results, or fusing the single-satellite observation results with external prior information to generate the target's three-dimensional trajectory; Generation of dynamic error feedback control amount of miss distance: extrapolate the three-dimensional position of the target and project it onto the two-dimensional image plane to obtain the predicted value of the miss distance movement caused by the target movement, and generate the feedback control amount required to compensate for the miss distance movement; Generation of composite closed-loop control signal of miss amount: Based on the generated static and dynamic error feedback control quantities of miss amount, integration and processing are performed according to the set rules to generate control signals of optoelectronic tracking servo mechanism for system control.

4. The method according to claim 3, characterized in that The process of generating the dynamic error feedback control amount of the miss distance is as follows: Step 1, target 3D velocity estimation: obtain the target 3D velocity through the target 3D trajectory, and extrapolate the target 3D velocity prediction value in the next control cycle through the filtering estimation algorithm; Step 2, target three-dimensional position estimation: Based on the three-dimensional velocity obtained in step 1, combined with the system control cycle and the servo control delay caused by the calculation delay, estimate the predicted value of the target's spatial three-dimensional position in the next cycle; Step 3, target two-dimensional miss distance estimation: according to the target three-dimensional position prediction value obtained in step 2, combined with the servo mechanism attitude data, satellite position and attitude data, payload imaging model and system configuration matrix parameters, the target three-dimensional position prediction value is projected onto the two-dimensional image plane to obtain the target two-dimensional miss distance movement prediction value; Step 4, generating a control amount for compensating for the miss amount of target movement: Based on the target miss amount movement prediction value obtained in step 3, combined with a control rate generation algorithm, a feedback control amount required for compensating for the miss amount of target movement is generated.

5. The method according to claim 4, characterized in that In step 4, the control rate generation algorithm is a PID algorithm.

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