A Hollow Laser Beam Rig Guidance Simulation Real-Time Control and Display System

Abstract

This invention belongs to the field of optoelectronic testing and real-time control technology, specifically relating to a real-time control and display system for hollow laser beam-riding guidance simulation. It achieves real-time control and display of hollow beam-riding guidance simulation through a guidance and control instrument, a missile motion simulation turntable, a test control computer, and an image tracking and acquisition display system. This system can simultaneously obtain the missile's position coordinates within the laser beam, its television azimuth and elevation, and the azimuth and elevation of the two-axis turntable, thereby verifying the missile's tracking performance within the hollow laser beam. The outstanding advantages of this invention are its ability to simultaneously obtain the missile's position signal, missile deflection control commands, and azimuth and elevation tracking performance; it has both manual and automatic control functions; it includes a television angle measurement verification method; it is convenient, intuitive, and simple to operate; and it provides good real-time image information.

Description

Technical Field

[0001] This invention belongs to the field of optoelectronic testing and real-time control technology, specifically relating to a real-time control and display system for hollow laser beam riding guidance simulation. This system can realize real-time control and display of hollow beam riding guidance simulation, providing necessary experimental verification means for simulating the flight state of a missile in a hollow laser beam. Background Technology

[0002] With the continuous development of laser warning technology, the effectiveness of laser-guided weapon systems has been constrained. Hollowing out the irradiating laser beam can effectively improve the strike effectiveness of laser beam-riding guided weapons. However, the adaptability of missile weapon systems to hollow lasers has become a challenge in weapon system development. A simulation test system was constructed for the early stages of weapon system development. To improve the real-time performance and ease of operation, and to quantitatively verify the tracking performance of the weapon system, a real-time control and display system for hollow laser beam-riding guidance simulation needs to be built. This system will improve the precise quantitative control capability of the two-axis turntable, enabling both manual and automatic control functions. Based on television monitoring, quantitative testing methods were designed and developed to ensure the accuracy and authenticity of the test verification. Simultaneously, real-time control and display functions were designed and developed to achieve real-time display of multi-channel information, providing intuitive and reliable data for the development and testing of the weapon system. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] The present invention addresses three technical problems: First, to realistically simulate the flight motion of a missile, especially its flight state within a hollow laser beam, a guidance and control instrument was designed and developed to achieve precise quantitative manual and automatic control modes. Second, quantitative television testing was implemented to compare and verify missile deflection control commands with television angle measurement tests. Third, real-time display of multi-channel information was achieved, including real-time acquisition and display of video images and angular deviation signals output by the electronic angle measuring instrument, as well as real-time acquisition and display of position information calculated by the onboard computer.

[0005] (II) Technical Solution

[0006] To address the aforementioned technical problems, this invention provides a real-time control and display system for hollow laser beam-riding guidance simulation. The system includes: a guidance and control instrument, a missile motion simulation turntable, a test control computer, and an image tracking, acquisition, and display system, used to realize real-time control and display of hollow beam-riding guidance simulation and verification of deflection.

[0007] The guidance and control instrument is used to control the missile motion simulation turntable in real time according to the control instructions of the test control computer;

[0008] The missile motion simulation turntable is used to complete the support and high-precision deflection motion of the simulated missile under the control of the guidance and control instrument.

[0009] The test control computer is used to obtain the error angle output by the image tracking acquisition and display system, complete the comparison and calculation processing with the actual position of the missile in the laser information field, and calculate the control command of the missile motion simulation turntable according to the deflection command of the onboard computer.

[0010] The image tracking, acquisition, and display system is used to achieve clear imaging of the missile target's field of view under the control of the test control computer, and outputs the error angle between the target and the line of sight, as well as the acquired image and video signals, to the test control computer.

[0011] The guidance and control device integrates a system power supply, a stepper motor drive module, a control device pulse generator, a computer interface converter, control buttons, a manual / automatic switching button, and input / output interfaces.

[0012] The guidance and control instrument is used to automatically control the missile motion simulation turntable when the test control computer is involved, by which the test control computer calculates the control command of the missile motion simulation turntable based on the deflection command of the onboard computer, and the guidance and control instrument then automatically controls the missile motion simulation turntable based on the control command of the test control computer.

[0013] The guidance and control instrument is used to manually control the missile motion simulation turntable and control the power supply and lens parameters of the CCD camera without the participation of the test control computer, which facilitates debugging and on-site use.

[0014] The image tracking acquisition and display system measures the image and video signals in real time to quantitatively measure the error angle between the target and the line of sight, thereby achieving the purpose of television angle measurement and obtaining the error angle output of the television viewing angle measurement; the error angle and the image and video signals are transmitted together to the test control computer.

[0015] The test control computer verifies the correctness of the deflection command calculated by the simulated onboard computer and the simulated turntable movement by comparing the error angle output by the television viewing angle measurement with the actual position of the missile in the laser information field calculated by the onboard computer.

[0016] The missiles involved in the system are simulated missiles.

[0017] The missile motion simulation turntable provides a support platform for the simulated missile. It consists of two independent rotating devices for azimuth and pitch, which can simulate the azimuth and pitch attitude movements of the missile during controlled flight.

[0018] Each azimuth and pitch axis is controlled by an independent servo control unit. Each axis control loop consists of a control and drive circuit, a stepper motor, and a frame angle sensor. The miss signal output by the computer on the simulated missile is processed and then transmitted to the servo control system of the missile motion simulation turntable, i.e., the guidance and control instrument. The guidance and control instrument controls the rotation of the axis motors to achieve the purpose of beam riding guidance simulation.

[0019] The image tracking acquisition and display system includes a lens, a CCD camera, an electronic goniometer, and an image display unit. The output image and video signals and the error angle are simultaneously sent to the test control computer for information storage and display. The test control computer compares the error angle with the actual position of the simulated missile in the laser information field calculated by the onboard computer to monitor the correctness of the deflection command calculated by the onboard computer and the movement of the simulated turntable.

[0020] The electronic goniometer consists of a DSP processing module, an FPGA logic control and preprocessing module, an image decoding module, an image encoding module, an image buffering module, a system control module, and a power supply filtering module. The video image output by the CCD camera is sent to the electronic goniometer. The electronic goniometer performs target recognition and tracking calculations based on the relevant algorithm rules of image recognition and tracking, and calculates the error angle between the target and the line of sight. The result, along with the image and video signal, is transmitted to the test control computer for storage and display.

[0021] The error angles include pitch error angle and azimuth error angle;

[0022] The output of pitch and azimuth error angles, as well as the parameter setting and control functions of the electronic goniometer, are realized through the RS-422 serial communication interface;

[0023] The relevant algorithms for image recognition and tracking of electronic goniometers include: centroid tracking based on segmentation, differential method based on edge extraction, and feature matching tracking method. The angle measurement algorithm is based on the number of pixels ΔX and ΔY of the target image that deviate from the center of the field of view, multiplied by the cone angle Δβ corresponding to a single pixel. The calculation formula is: horizontal angle error: H = ΔX × Δβ, vertical angle error: V = ΔY × Δβ.

[0024] (III) Beneficial Effects

[0025] Compared with the prior art, the beneficial effects of the present invention are reflected in the following two aspects:

[0026] (1) The hollow laser beam-riding guidance simulation real-time control and display system is mainly used for real-time manual and automatic control of the two-axis turntable and simulation of missile deflection in the hollow laser beam, and to display and quantitatively test the missile's deflection and tracking performance in real time. It provides the necessary conditions for conducting hollow laser beam-riding guidance simulation tests, and provides necessary support for the early design and experimental verification of weapon system guidance and control through real-time control, display and quantitative testing methods.

[0027] (2) It can improve the research and development methods of precision-guided weapons and ensure the accuracy and authenticity of test verification. This real-time control and display system can solve the quantitative testing problem of hollow laser beam-riding guidance simulation, realize the automatic control and real-time display of the system, and provide simple and reliable test conditions for the establishment of guidance control models and test evaluation of hollow laser beam-riding guidance weapon systems. Attached Figure Description

[0028] Figure 1 This is a block diagram of the hollow laser beam riding guidance simulation real-time control and display system of the present invention.

[0029] Figure 2 This is a schematic diagram of the principle of television angle measurement.

[0030] Figure 3 It is the position of the missile in the hollow laser information field displayed by the test control computer.

[0031] Figure 4 It is a real-time television monitoring and control system displayed on the computer, showing the results of the television angle measurement position deviation. Detailed Implementation

[0032] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0033] To address the aforementioned technical problems, this invention provides a real-time control and display system for hollow laser beam-riding guidance simulation. The system includes: a guidance and control instrument, a missile motion simulation turntable, a test control computer, and an image tracking, acquisition, and display system, used to realize real-time control and display of hollow beam-riding guidance simulation and verification of deflection.

[0034] The guidance and control instrument is used to control the missile motion simulation turntable in real time according to the control instructions of the test control computer;

[0035] The missile motion simulation turntable is used to complete the support and high-precision deflection motion of the simulated missile under the control of the guidance and control instrument.

[0036] The test control computer is used to obtain the error angle output by the image tracking acquisition and display system, complete the comparison and calculation processing with the actual position of the missile in the laser information field, and calculate the control command of the missile motion simulation turntable according to the deflection command of the onboard computer.

[0037] The image tracking, acquisition, and display system is used to achieve clear imaging of the missile target's field of view under the control of the test control computer, and outputs the error angle between the target and the line of sight, as well as the acquired image and video signals, to the test control computer.

[0038] The guidance and control device integrates a system power supply, a stepper motor drive module, a control device pulse generator, a computer interface converter, control buttons, a manual / automatic switching button, and input / output interfaces.

[0039] The guidance and control instrument is used to automatically control the missile motion simulation turntable when the test control computer is involved, by which the test control computer calculates the control command of the missile motion simulation turntable based on the deflection command of the onboard computer, and the guidance and control instrument then automatically controls the missile motion simulation turntable based on the control command of the test control computer.

[0040] The guidance and control instrument is used to manually control the missile motion simulation turntable and control the power supply and lens parameters of the CCD camera without the participation of the test control computer, which facilitates debugging and on-site use.

[0041] The image tracking acquisition and display system measures the image and video signals in real time to quantitatively measure the error angle between the target and the line of sight, thereby achieving the purpose of television angle measurement and obtaining the error angle output of the television viewing angle measurement; the error angle and the image and video signals are transmitted together to the test control computer.

[0042] The test control computer verifies the correctness of the deflection command calculated by the simulated onboard computer and the simulated turntable movement by comparing the error angle output by the television viewing angle measurement with the actual position of the missile in the laser information field calculated by the onboard computer.

[0043] The missiles involved in the system are simulated missiles.

[0044] The missile motion simulation turntable provides a support platform for the simulated missile. It consists of two independent rotating devices for azimuth and pitch, which can simulate the azimuth and pitch attitude movements of the missile during controlled flight.

[0045] Each azimuth and pitch axis is controlled by an independent servo control unit. Each axis control loop consists of a control and drive circuit, a stepper motor, and a frame angle sensor. The miss signal output by the computer on the simulated missile is processed and then transmitted to the servo control system of the missile motion simulation turntable, i.e., the guidance and control instrument. The guidance and control instrument controls the rotation of the axis motors to achieve the purpose of beam riding guidance simulation.

[0046] The image tracking acquisition and display system includes a lens, a CCD camera, an electronic goniometer, and an image display unit. The output image and video signals and the error angle are simultaneously sent to the test control computer for information storage and display. The test control computer compares the error angle with the actual position of the simulated missile in the laser information field calculated by the onboard computer to monitor the correctness of the deflection command calculated by the onboard computer and the movement of the simulated turntable.

[0047] The electronic goniometer consists of a DSP processing module, an FPGA logic control and preprocessing module, an image decoding module, an image encoding module, an image buffering module, a system control module, and a power supply filtering module. The video image output by the CCD camera is sent to the electronic goniometer. The electronic goniometer performs target recognition and tracking calculations based on the relevant algorithm rules of image recognition and tracking, and calculates the error angle between the target and the line of sight. The result, along with the image and video signal, is transmitted to the test control computer for storage and display.

[0048] The error angles include pitch error angle and azimuth error angle;

[0049] The output of pitch and azimuth error angles, as well as the parameter setting and control functions of the electronic goniometer, are realized through the RS-422 serial communication interface;

[0050] The relevant algorithms for image recognition and tracking of electronic goniometers include: centroid tracking based on segmentation, differential method based on edge extraction, and feature matching tracking method. The angle measurement algorithm is based on the number of pixels ΔX and ΔY of the target image that deviate from the center of the field of view, multiplied by the cone angle Δβ corresponding to a single pixel. The calculation formula is: horizontal angle error: H = ΔX × Δβ, vertical angle error: V = ΔY × Δβ.

[0051] Example 1

[0052] When the hollow laser beam-riding guidance simulation real-time control and display system is placed within the hollow laser beam, testing can be conducted by switching between manual and automatic modes on the guidance controller. In manual control mode, the turntable is powered by the turntable power supply on the guidance controller, and the manual power supply powers the manual control buttons. Wide-range adjustment of the CCD lens can be achieved using the zoom+ and zoom- buttons on the guidance controller, fine-tuning of the monitoring camera's image sharpness can be achieved using the focus+ and focus- buttons, and manual adjustment of azimuth+, azimuth-, pitch+, and pitch- buttons can be achieved using the azimuth+ and azimuth-, pitch+ and pitch- buttons. In automatic control mode, the guidance controller, in conjunction with the test control computer, automatically completes the test tasks.

[0053] The power supply required for the hollow laser beam-riding guidance simulation real-time control and display system is achieved through an AC / DC power conversion module. The types of power supplies are as follows:

[0054] a) DC36V, 5A is the main circuit drive power supply for the turntable stepper motor;

[0055] b) DC±12V, 2A is the power supply for the CCD camera and the lens parameter control power supply;

[0056] c) DC 20V, 1A provides power to the internal electrical unit of the simulated missile;

[0057] d) DC5V, 1A provides power to the pulse generator and control button indicator lights.

[0058] Even when the computer system is not involved in operation, a manual pulse generator unit is specially designed to perform related motion control on the turntable, which facilitates the operation and use of the system.

[0059] The simulation turntable provides a support platform for the simulated missile and is one of the main components of the system. It consists of two independent rotation devices for azimuth and pitch, which can simulate the azimuth and pitch attitude movements of a missile during controlled flight. Each axis system is controlled by an independent servo control unit, and each axis system control loop consists of control and drive circuits, stepper motors, frame angle sensors, etc. The miss distance signal output by the computer on the simulated missile is processed and transmitted to the turntable servo control system. The servo control system controls the rotation of the axis system motors to achieve the purpose of ray riding guidance simulation.

[0060] To ensure the accuracy of the turntable, the following measures were taken in the design:

[0061] a) Outer ring mechanism: The stepper motor drives the worm gear to rotate, the worm gear drives the turbine to rotate, and finally drives the platform to rotate, so as to realize the azimuth angle rotation of the platform.

[0062] b) Inner ring mechanism: Similar to the outer ring, a stepper motor drives a worm gear to rotate, which in turn drives a worm wheel to rotate, ultimately rotating the platform to achieve pitch angle rotation. The main difference between these two rings is that the inner ring's structure is mounted on top of the outer ring. When the azimuth angle rotates, only the outer ring's pivot rotates, while the entire inner ring's structure rotates simultaneously.

[0063] c) Positioning detection and control system: The pulse encoder fixed on the servo motor shaft realizes accurate control of the shaft movement and closed-loop feedback position detection and monitoring.

[0064] Since the reduction ratio of worm gear / worm drive is constant, the actual rotation angle of the turntable can be indirectly detected by detecting the rotation angle of the motor shaft.

[0065] d) The frame is constructed using a high-strength steel frame structure with a tensile strength σ b With a bearing capacity of 340 MPa, the spindle is machined from 40Cr steel, and a precision rotary shaft system is constructed using paired angular contact ball bearings with P4 precision. This increases the radial and axial load-bearing capacity, with a rotation range of ±3″-±5″. A servo motor and a high-precision, backlash-free worm gear directly drive the frame, eliminating the need for an intermediate transmission chain. This reduces backlash and elastic deformation, increases coupling stiffness, significantly reduces the motor's equivalent inertia, and improves torsional stiffness.

[0066] e) In order to achieve quantitative testing, a high-resolution incremental pulse encoder with an accuracy of 217p / rev was selected for the angle feedback element. Its output pulse is directly connected to the position control card and divided into 4 in the card. The final angle resolution is 360° / (4×217)=0.00068°(0.25″), which meets the control accuracy requirements.

[0067] f) Control methods

[0068] In addition to computer control, the turntable has added manual operation function, which can search for targets over a large range. In order to achieve large-scale search and positioning, this function is implemented through corresponding control buttons.

[0069] The test structure for the main indicators of the turntable is as follows.

[0070] 1) Working range: Azimuth ±25°

[0071] Pitch ±25°

[0072] 2) Angular velocity: azimuth 15° / s

[0073] Pitch 15° / s

[0074] 3) Angular acceleration: azimuth 25° / s²

[0075] Pitch 25° / s2

[0076] 4) Angular resolution: ≤10″

[0077] 5) Positioning accuracy: ≤13″

[0078] Due to the high precision of the turntable, an optical lever method is used for magnified measurement. The optical lever test method is as follows: Figure 2 The test setup is shown. During the test, a length ruler is used to measure the distance L and the movement position h of the light spot, according to the formula: Calculate the angle resolution of the deflection.

[0079] The image tracking, acquisition, and display system consists of a lens, a CCD camera, an electronic goniometer, and an image display unit. Video images and angle measurement signals are simultaneously sent to the test control computer for information storage and display. The test control computer compares the output error angle with the simulated projectile's actual position in the laser information field calculated by the onboard computer (e.g., ...). Figure 3 The system compares and monitors the correctness of the deflection commands calculated by the computer on the simulated missile and the movement of the simulated turntable. The electronic goniometer consists of a DSP processing module, an FPGA logic control and preprocessing module, an image decoding module, an image encoding module, an image buffer module, a system control module, and a power supply filtering module. The video image output from the CCD camera is sent to the electronic goniometer. Based on the relevant algorithms for image recognition and tracking, the electronic goniometer performs target recognition and tracking calculations, and calculates the error angle between the target and the line of sight. The result, along with the video image, is transmitted to the test control computer for storage and display.

[0080] The output of pitch and azimuth error angles, as well as the parameter setting and control functions of the electronic goniometer, are implemented through an RS-422 serial communication interface. Image recognition and tracking algorithms include: centroid tracking based on segmentation, differential tracking based on edge extraction, and feature matching tracking, etc. The software also has anti-interference processing functions. The angle measurement algorithm is based on the number of pixels (ΔX, ΔY) of the target image deviating from the center of the field of view multiplied by the cone angle (Δβ) corresponding to a single pixel. The calculation formulas are: horizontal angle error: H = ΔX × Δβ, vertical angle error: V = ΔY × Δβ.

[0081] The test control computer is primarily used to acquire video images and angular deviation signals output by the electronic angle measuring instrument, exchange information with the onboard computer, and store and display this information. It processes and calculates the position deviation signals output by the onboard computer, and outputs control signals to the simulation turntable based on the calculation results, controlling the simulated missile to move according to guidance commands. The test control computer mainly consists of a host computer, an image acquisition card, a stepper motor motion control card, multiple serial port cards, I / O cards, and system programs.

[0082] The main functions of the system program include system operation interface management, image and parameter display, serial communication, deviation calculation, and deviation control. To reduce the difficulty of system research and accelerate its pace, various software products suitable for this system's development can be selected, and secondary development can be carried out on this basis. The human-machine interface adopts a standard Windows program interface, such as main menus, pop-up menus, pop-up dialog boxes, and information boxes. Input and output combine text and graphical displays. Text input and output are used for parameter binding, control commands, and parameter output. The graphical display mode simulates the display and operating interface of an oscilloscope. After operation, the corresponding data is displayed on the screen. Data is recorded and saved to disk; file recording and saving can be performed as needed during program operation. Measurement data is displayed in the form of status indicator lights and data, allowing testers to make preliminary identification and evaluation of the test situation and interference effects on-site. Simultaneously, the main control computer stores and records this data for later processing. The system interface is as follows: Figure 4 As shown.

[0083] In summary, this invention belongs to the field of optoelectronic testing and real-time control technology, specifically relating to a real-time control and display system for hollow laser beam-riding guidance simulation. This system is used for real-time manual and automatic control of a two-axis turntable and simulated missile deflection within a hollow laser beam, and for real-time display and quantitative testing of the missile's deflection and tracking performance. It provides the necessary conditions for hollow laser beam-riding guidance simulation by using a guidance control instrument, a missile motion simulation turntable, a test control computer, and an image tracking and acquisition display system to achieve real-time control and display of the hollow beam-riding guidance simulation. This provides the necessary experimental verification means for simulating the missile's flight state within a hollow laser beam. The real-time control and display system can simultaneously obtain the missile's position coordinates, azimuth and elevation within the laser beam, and the azimuth and elevation of the two-axis turntable, thereby verifying the missile's tracking performance within the hollow laser beam. The construction of a real-time control and display system for simulating hollow laser beam riding guidance plays a crucial role in simulating hollow laser beam riding guidance. To control the missile's flight attitude, a guidance control instrument was designed. This instrument allows for manual control of the turntable without the involvement of the computer system, or decoding of deflection commands from the onboard computer into turntable control commands, facilitating debugging and field use. The missile motion simulation turntable provides a support platform for the simulated missile, enabling high-precision azimuth and pitch control. The image tracking acquisition and display system provides real-time display of television angle measurement and missile tracking performance. The test control computer acquires video images and error angle signals output by the electronic angle measuring instrument, completes the acquisition of position information calculated by the onboard computer, and stores and displays this information. The outstanding advantages of this invention are its ability to simultaneously obtain the missile's position signal, missile deflection control commands, and azimuth and pitch tracking performance; it offers both manual and automatic control functions; it includes television angle measurement verification; it is convenient, intuitive, and simple to operate; and it provides good real-time image information.

[0084] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A hollow laser beam-riding guidance simulation real-time control and display system, characterized in that, The system includes: a guidance and control instrument, a missile motion simulation turntable, a test control computer, and an image tracking acquisition and display system, which are used to realize real-time control and display of hollow beam riding guidance simulation and verification of deflection amount; The guidance and control instrument is used to control the missile motion simulation turntable in real time according to the control instructions of the test control computer; The missile motion simulation turntable is used to complete the supporting and deflecting motion of the simulated missile under the control of the guidance and control instrument. The test control computer is used to obtain the error angle output by the image tracking acquisition and display system, complete the comparison and calculation processing with the actual position of the missile in the laser information field, and calculate the control command of the missile motion simulation turntable according to the deflection command of the onboard computer. The image tracking, acquisition, and display system is used to achieve clear imaging of the missile target's field of view under the control of the test control computer, and outputs the error angle between the target and the line of sight, as well as the acquired image and video signals, to the test control computer.

2. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 1, characterized in that, The guidance and control instrument integrates a system power supply, a stepper motor drive module, a control instrument pulse generator, a computer interface converter, control buttons, a manual / automatic switching button, and input / output interfaces.

3. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 2, characterized in that, The guidance and control instrument is used to automatically control the missile motion simulation turntable when the test control computer is involved, by having the test control computer calculate the control command of the missile motion simulation turntable based on the deflection command of the onboard computer, and then the guidance and control instrument automatically controls the missile motion simulation turntable based on the control command of the test control computer.

4. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 2, characterized in that, The guidance and control instrument is used to manually control the missile motion simulation turntable without the involvement of the test control computer.

5. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 1, characterized in that, The image tracking acquisition and display system measures the image and video signals in real time, realizing the quantitative measurement of the error angle between the target and the line of sight, thereby achieving the purpose of television angle measurement and obtaining the error angle output of the television viewing angle measurement; the error angle and the image and video signals are transmitted together to the test control computer; The test control computer verifies the correctness of the deflection command calculated by the simulated onboard computer and the simulated turntable movement by comparing the error angle output by the television viewing angle measurement with the actual position of the missile in the laser information field calculated by the onboard computer.

6. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 1, characterized in that, The missiles involved in the system are simulated missiles.

7. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 6, characterized in that, The missile motion simulation turntable provides a support platform for the simulated missile. It consists of two independent rotating devices for azimuth and pitch, which can simulate the azimuth and pitch attitude movements of the missile during controlled flight. Each azimuth and pitch axis is controlled by an independent servo control unit. Each axis control loop consists of a control and drive circuit, a stepper motor, and a frame angle sensor. The miss signal output by the computer on the simulated missile is processed and then transmitted to the servo control system of the missile motion simulation turntable, i.e., the guidance and control instrument. The guidance and control instrument controls the rotation of the axis motors to achieve the purpose of beam riding guidance simulation.

8. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 7, characterized in that, The image tracking acquisition and display system includes a lens, a CCD camera, an electronic goniometer, and an image display unit. The output image and video signals, along with the error angle, are simultaneously sent to the test control computer for information storage and display. The test control computer compares the error angle with the actual position of the simulated missile in the laser information field calculated by the onboard computer to monitor the correctness of the deflection command calculated by the onboard computer and the motion of the simulated turntable.

9. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 8, characterized in that, The electronic goniometer consists of a DSP processing module, an FPGA logic control and preprocessing module, an image decoding module, an image encoding module, an image buffering module, a system control module, and a power supply filtering module. The video image output by the CCD camera is sent to the electronic goniometer. The electronic goniometer performs target recognition and tracking calculations based on the relevant algorithm rules of image recognition and tracking, and calculates the error angle between the target and the line of sight. The result, along with the image and video signal, is transmitted to the test control computer for storage and display.

10. The hollow laser beam-riding guidance simulation real-time control and display system as described in claim 9, characterized in that, The error angles include pitch error angle and azimuth error angle; The pitch and azimuth error angles are output via an RS-422 serial communication interface. The relevant algorithms for image recognition and tracking of electronic goniometers include: centroid tracking based on segmentation, differential method based on edge extraction, and feature matching tracking method; The angle measurement algorithm is based on the number of pixels ΔX and ΔY of the target image that deviate from the center of the field of view, multiplied by the cone angle Δβ corresponding to a single pixel. The calculation formula is: horizontal angle error: H = ΔX × Δβ, vertical angle error: V = ΔY × Δβ.

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