A device and method for controlling optical axis of infrared position marker without follower based on double optical wedge

Abstract

The present invention relates to an optical axis control device and method of a non-follow-up infrared position marker based on a double optical wedge. The double optical wedge is composed of two single optical wedges, which are arranged in parallel along the direction of the elastic axis. The central axes of the single optical wedges coincide with the elastic axis. The single optical wedge close to the position marker is recorded as a first single optical wedge, and the other single optical wedge is recorded as a second single optical wedge. The optical axis control device includes two groups of rolling mechanisms and a controller; each group of rolling mechanisms includes a lens barrel, a bearing group, a motor and a code disk; the initial state of the double optical wedge is: the relative rotation angle of the two double optical wedges is 180°, and the light deflection angle is 0°; the controller obtains the yaw angle α and the pitch angle β of the target relative to the missile body coordinate system, calculates the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge so that the optical axis of the position marker points to the target, and finally adopts a PID control algorithm to solve the motor control instructions of the first single optical wedge and the second corresponding single optical wedge to realize the arbitrary pointing of the optical axis in space.

Description

Technical Field

[0001] The invention relates to an optical axis control device and method of a non-follow-up infrared position marker based on double optical wedges, belonging to the field of infrared guidance technology. Background Art

[0002] In view of the high-performance requirements of the seeker in strong environmental adaptability and strong confrontation combat missions in future air combat, it is necessary to carry out research on non-follow-up high-sensitivity infrared seeker technology. By using small optical wedge scanning technology and other technologies, we can break through the small seeker technology, carry out research on a new generation of missiles, improve the combat capability of our Air Force, adapt to future air combat, and meet the requirements of strong confrontation combat in complex battlefield environments in the future. The main mode of future combat will be fourth-generation aircraft against fourth-generation aircraft. In order to ensure that enough weapons are equipped in the limited bomb bay of the fourth-generation aircraft, the missile needs to adopt a miniaturized design. The non-paraxial double optical wedge structure position marker design can greatly reduce the size of the seeker, and it has a simple structure, flexible control, and a large enough deflection angle to meet the needs of miniaturized design.

[0003] At present, the commonly used position marker structures mainly include double frame structure, roll-up structure, etc. The optical system moves with the frame. The position marker of this structure is heavy and difficult to realize miniaturization design.

[0004] The design of the non-following infrared optical axis control device based on double optical wedges can greatly reduce the size of the seeker, and has a simple structure, flexible control, and a large enough deflection angle to meet the needs of miniaturization design. Near-axis double optical wedge scanning technology is widely used in laser scanning working systems. The technology is mature and the control method is complete, but it is generally controlled at a small deflection angle (less than 10°). In the optical axis control of infrared imaging systems, a large tracking field and a large deflection angle are generally required. The control method using laser double optical wedges is not applicable, and a new optical axis control method is needed. Summary of the invention

[0005] The technical problem solved by the present invention is to overcome the deficiencies of the prior art and provide a non-follower infrared optical axis control device and method based on a double optical wedge, which can realize precise control of the optical axis of the seeker by using a simple structure and a classical control method.

[0006] The technical solution to the problem of the present invention is: an optical axis control device of a non-follow-up infrared position marker based on a double optical wedge, wherein the double optical wedge is composed of two single optical wedges, the two single optical wedges are arranged in parallel along the elastic axis direction, the central axis of the single optical wedge coincides with the elastic axis, the single optical wedge close to the position marker is recorded as the first single optical wedge, and the other single optical wedge is recorded as the second single optical wedge, and the optical axis control device includes two groups of rolling mechanisms and a controller; each group of rolling mechanisms includes a lens barrel, a bearing group, a motor and a code disk; the single optical wedge is supported by the lens barrel, and the lens barrel is installed on the housing of the position marker through the bearing group, the motor is used to drive the lens barrel to drive the single optical wedge to rotate around the central axis, and the code disk is used to measure the angle information of the optical wedge rotating around the central axis in real time and feed it back to the controller; the initial state of the double optical wedge is: the relative rotation angle of the two double optical wedges is 180°, and the light deflection angle is 0°, at which time the code disks corresponding to the first single optical wedge and the second single optical wedge are returned to zero position;

[0007] The controller obtains the yaw angle α and pitch angle β of the target relative to the missile body coordinate system, and calculates that in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial state B The pitch angle θ0 of the axis rotation, and then around OX B The roll angle γ0 of the rotation is combined with the double wedge refraction principle to calculate the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge so that the optical axis of the position marker points to the target; according to the real-time measured angle information of the rotation of the first single optical wedge and the second single optical wedge around the central axis, the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge, the PID control algorithm is used to solve the motor control instructions of the first single optical wedge and the second corresponding single optical wedge, control the rotation of the motor, and realize the arbitrary pointing of the optical axis in space;

[0008] The projectile coordinate system OX B Y B Z B The definition is as follows:

[0009] O is the center of mass of the projectile, OX B OY is along the longitudinal axis of the projectile, pointing to the warhead. B In the symmetry plane of the projectile, vertical OX B Axis, upward is positive, OZ B It complies with the right-hand rule.

[0010] Preferably, the yaw angle α and pitch angle β of the target relative to the missile body coordinate system are:

[0011]

[0012] Among them, α0 and β0 are the yaw angle and pitch angle of the target relative to the missile body coordinate system determined by the airborne radar, and Δα and Δβ are the yaw misalignment angle and pitch misalignment angle of the target relative to the missile body coordinate system determined by the position marker.

[0013] Preferably, the yaw misalignment angle Δα and pitch misalignment angle Δβ of the target determined by the position marker relative to the missile body coordinate system are directly measured by the position marker to obtain the yaw misalignment angle ε of the target relative to the position marker coordinate system. α 、Pitch misalignment angle ε β Alternative.

[0014] Preferably, in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to be rotated around the missile body coordinate system OZ from the initial position B The pitch angle θ0 of the axis rotation, and then around OX B The roll angle γ0 of the rotation is calculated by the following formula:

[0015]

[0016] Preferably, the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge are:

[0017]

[0018] Among them, γ″ temp1 is the angle of synchronous rotation of the first single optical wedge and the second single optical wedge; |Δγ| is the angle along the missile body coordinate system OX B The angle at which the second single optical wedge is rotated counterclockwise relative to the first single optical wedge, viewed from the axis.

[0019] Preferably, the coordinate system OX B The angle |Δγ| of the second single wedge rotating counterclockwise relative to the first single wedge when viewed from the axis is:

[0020]

[0021]

[0022]

[0023]

[0024] Wherein, n1 is the refractive index of the first single optical wedge, α1 is the wedge angle of the first single optical wedge, n2 is the refractive index of the second single optical wedge, and α2 is the wedge angle of the second single optical wedge.

[0025] Preferably, the first single optical wedge and the second single optical wedge rotate synchronously by an angle γ″ temp1 for:

[0026] γ″ temp1=γ0-γ′ temp1

[0027]

[0028]

[0029] Among them, (x, y, z) is the direction cosine of the light vector emitted by the coordinator.

[0030] Preferably, the PID controller algorithm is:

[0031]

[0032] Where:

[0033] Y1 and Y2 are motor control signals corresponding to the first single optical wedge and the second single optical wedge respectively;

[0034] K p1 , K p2 are proportional controller gains of the first single optical wedge and the second single optical wedge respectively;

[0035] K i1 , K i2 are the integral controller coefficients of the first single optical wedge and the second single optical wedge respectively;

[0036] K dy , K dz are the differential controller coefficients of the first single optical wedge and the second single optical wedge respectively;

[0037] U 1m , U 2m They are the code disk feedback values ​​corresponding to the first single optical wedge and the second single optical wedge respectively.

[0038] Preferably, the first single optical wedge and the second single optical wedge have the same refractive index and the same refractive angle.

[0039] Another technical solution of the present invention is to provide a method for controlling a non-following infrared optical axis, the method comprising the following steps:

[0040] S1, adjusting the initial state of the double optical wedges to: the relative rotation angle of the two double optical wedges is 180°, the light deflection angle is 0°, and the code disks corresponding to the first single optical wedge and the second single optical wedge are returned to zero position;

[0041] S2. Obtain the yaw angle α and pitch angle β of the target relative to the missile body coordinate system, and calculate that in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial state B The pitch angle θ0 of the axis rotation, and then around OX B The roll angle of rotation γ0;

[0042] The projectile coordinate system OX B Y B Z B The definition is as follows:

[0043] O is the center of mass of the projectile, OX B OY is along the longitudinal axis of the projectile, pointing to the warhead. B In the symmetry plane of the projectile, vertical OX B Axis, upward is positive, OZ B It complies with the right-hand rule;

[0044] S3, combining the double wedge refraction principle, calculating the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge so that the optical axis of the position marker points to the target;

[0045] S4. According to the angle information of the first single optical wedge and the second single optical wedge rotating around the central axis measured in real time by the code disks corresponding to the first single optical wedge and the second single optical wedge, the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge, the PID control algorithm is used to calculate the motor control instructions of the first single optical wedge and the second corresponding single optical wedge, control the rotation of the motor, and realize the arbitrary pointing of the optical axis in space.

[0046] The beneficial effects of the present invention compared with the prior art are:

[0047] (1) The non-follow-up infrared optical axis control device has the characteristics of simple and stable structure, good dynamic response, and large deflection angle. The optical axis control is achieved by using double optical wedge differential roll control.

[0048] (2) The position marker has a simple structure, a classic and flexible control rule, and a large enough deflection angle to meet the needs of product miniaturization design.

[0049] (3) The dual optical wedge mechanism of the present invention is classic, with mature technology and easy engineering implementation, laying a foundation for the development of subsequent models.

[0050] (4) The control method of the present invention adopts Snell's law in vector form to calculate the deviation angle of the output optical axis. Compared with the traditional double wedge calculation method, the optical axis angle can be calculated more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] A more complete understanding of the present invention can be obtained from the accompanying drawings which constitute a part of this application and from the following detailed description.

[0052] Figure 1 A simplified diagram of a control system according to an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of coordinate transformation according to an embodiment of the present invention;

[0054] Figure 3A schematic diagram of a double wedge according to an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of the optical wedge structure of an embodiment of the present invention;

[0056] Figure 5 Schematic diagram of a single optical wedge according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The present invention will be further described below in conjunction with the embodiments.

[0058] In order to achieve the above-mentioned invention object, a dual rolling optical axis control method based on a non-paraxial large deflection angle dual optical wedge is specifically described as follows:

[0059] 1. Double wedge principle

[0060] The present invention adopts a wedge group consisting of two wedges with the same refractive index and equal refractive angle as the optical system of the position marker. The double wedge group not only has the characteristics of a single wedge, but also can realize different directions of the optical axis in space by controlling the rotation of the two wedges.

[0061] The single optical wedge has a refracting effect on light, and different materials have different refraction angles. When the single optical wedge rotates around the central axis at a certain speed, the outgoing light scans a cone surface with an opening angle of δ in space.

[0062] like Figure 5 As shown in the figure, a prism with a small vertex angle A is called a wedge. When light enters the wedge from the side of the wedge, it is refracted, and a certain angle will be formed between the incident light and the outgoing light, which is set as δ. When δ is small, the following approximate relationship is satisfied:

[0063] δ=(n-1)A

[0064] Where:

[0065] δ is the angle between the incident and outgoing light rays of a single wedge

[0066] n is the refractive index of the wedge, and A is the apex angle of the wedge.

[0067] When δ is large, the above method will result in large errors and a new method is needed to solve it.

[0068] If two wedges with the same vertex angle A in a double wedge are placed together at different angles, then: when the two wedges are placed in parallel and in the same direction, the maximum deflection angle generated by the double wedge is 2δ; when one of the wedges rotates 180° around the central axis, the light deflection angle is 0° when the two single wedges are placed in opposite directions; when one of the single wedges rotates around the central axis at any angle within 0 to 180°, the light deflection angle is between 0 and 2δ; if the double wedges rotate around the central axis at the same time, the outgoing light will scan a conical surface with an angle between 0 and 2δ in space. When the relative positions of the two wedges are fixed, when the two wedges rotate around the central axis at the same time in the same or opposite directions, a spatial optical axis angle with a fixed deflection angle will be formed.

[0069] 2. Optical axis control method

[0070] like Figure 3 As shown, in a specific embodiment of the present invention, the double optical wedge is composed of two single optical wedges, and the two single optical wedges are arranged in parallel along the elastic axis. The central axes of the single optical wedges coincide with the elastic axis. The single optical wedge close to the position marker is recorded as the first single optical wedge, and the other single optical wedge is recorded as the second single optical wedge.

[0071] like Figure 1 As shown, the non-follow-up infrared optical axis control device is composed of two groups of rolling mechanisms and a controller, each group of rolling mechanisms includes a lens barrel, a bearing group, a motor and a code disk; the single optical wedge is supported by the lens barrel, and the lens barrel is installed on the position marker housing through the bearing group, the motor is used to drive the lens barrel to drive the single optical wedge to rotate around the central axis, and the code disk is used to measure the angle information of the optical wedge rotating around the central axis in real time and feed it back to the controller; the initial state of the double optical wedge is: the relative rotation angle of the two double optical wedges is 180°, and the light deflection angle is 0°. At this time, the code disks corresponding to the first single optical wedge and the second single optical wedge are returned to zero position.

[0072] The controller obtains the yaw angle α and pitch angle β of the target relative to the missile body coordinate system, and calculates that in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial state B The pitch angle θ0 of the axis rotation, and then around OX B The rotating roll angle γ0 is combined with the double wedge refraction principle to calculate the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge so that the optical axis of the position marker points to the target; according to the real-time measured angle information of the rotation of the first single optical wedge and the second single optical wedge around the central axis, the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge, the PID control algorithm is used to solve the motor control instructions of the first single optical wedge and the second corresponding single optical wedge, and the motor is controlled to drive the optical wedge to rotate around the elastic axis to achieve the arbitrary direction of the optical axis in space; each roll mechanism drives an optical wedge to rotate around the central axis. Through the same direction and relative movement of the two optical wedges, the arbitrary direction of the optical axis in space can be achieved.

[0073] Through the analysis of the double wedge refraction principle, it can be known that by controlling the relative movement and co-directional movement of the two wedges, the different positions of the emitted light in space, that is, the spatial orientation of the optical axis angle, can be achieved, which is equivalent to the pitch position control and roll position control of the optical axis of the position marker. Therefore, in order to achieve the control of the optical axis angle, the following two steps are implemented:

[0074] (a) Coordinate calculation

[0075] like Figure 3 As shown, the projectile coordinate system OX B Y B Z B The definition is as follows:

[0076] O is the center of mass of the projectile, OX B OY is along the longitudinal axis of the projectile, pointing to the warhead. B In the symmetry plane of the projectile, vertical OX B Axis, upward is positive, OZ B It complies with the right-hand rule.

[0077] When the two wedges are at any angle, the deflection angle of the outgoing light is between 0 and 2δ. If the two wedges rotate around the central axis at the same time, the outgoing light will scan a cone with an angle in space.

[0078] When the position marker is tracking the target, the target misalignment angle measured by the position marker can be converted into the target position coordinates, and the non-paraxial double optical wedge can be controlled to rotate to point the optical axis to the target.

[0079] Coordinate system OX S Y S Z S :O is the center of mass of the projectile, OX S is the optical axis of the position marker, OZ S Coordinate measuring device pitch axis, vertical OX S Axis, Up, OY S Coordinate yaw axis.

[0080] The target position is divided into two parts. One part is the yaw angle α0 and pitch angle β0 of the target relative to the missile body coordinate system determined by the airborne radar, and the other part is the yaw misalignment angle and pitch misalignment angle Δα, Δβ of the target relative to the missile body coordinate system determined by the position marker.

[0081] The yaw angle α and pitch angle β of the target relative to the missile body coordinate system are:

[0082]

[0083] Among them, α0 and β0 are the yaw angle and pitch angle of the target relative to the missile body coordinate system determined by the airborne radar, and Δα and Δβ are the yaw misalignment angle and pitch misalignment angle of the target relative to the missile body coordinate system determined by the position marker.

[0084] Since the yaw misalignment angle ε of the target relative to the coordinate system of the calibrator is measured by the calibrator α 、Pitch misalignment angle ε β The yaw angle α0 and pitch angle β0 of the target determined by the airborne radar relative to the missile body coordinate system are small, so the yaw misalignment angle Δα and pitch misalignment angle Δβ of the target determined by the position marker relative to the missile body coordinate system are directly measured by the position marker to obtain the yaw misalignment angle ε of the target relative to the position marker coordinate system. α 、Pitch misalignment angle ε β Alternative.

[0085] Right now:

[0086]

[0087] (b) Optical axis control method

[0088] Initial state optical axis and OX B Coaxial, define OX B Unit vector in the axis direction [1 0 0] T To direct the optical axis to the target, there are two conversion methods:

[0089] The first method: the vector can be revolved around OZ B Rotate the pitch angle β, then rotate around OY B After turning the yaw angle α, the optical axis points to the target, and the component of the unit vector in the missile body coordinate system is:

[0090]

[0091] The second method is to first revolve the vector around OZ B Rotate the pitch angle θ0, and then rotate around OX B After the roll angle γ0, the optical axis points to the target, and the component of the unit vector in the missile body coordinate system is:

[0092]

[0093] For the same target, the coordinates in the missile body coordinate system are fixed, then:

[0094]

[0095] Therefore, in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial position B The pitch angle θ0 of the axis rotation, and then around OX BThe roll angle γ0 of the rotation is calculated by the following formula:

[0096]

[0097] The double rolling seeker single wedge mirror group is equivalent to a single wedge with a wedge angle α and a refractive index of n. Figure 4 As shown, the first single optical wedge Π1 (close to the detector) has a wedge angle α1, a refractive index n1, and a target roll angle γ1. The second single optical wedge Π2 has a wedge angle α2, a refractive index n2, and a target roll angle γ2. Assume that the incident light beam is along OX B Directional incidence, the light vector is expressed as a unit vector:

[0098]

[0099] The normal vector of the left interface of the first single wedge Π1 can be expressed as:

[0100] n1=(-cosα1 sinα1sinγ1 sinα1cosγ1) T

[0101] Applying Snell's law in vector form, we can obtain the refracted light vector of the left interface of the first single wedge Π1:

[0102]

[0103] The right interface of the first single optical wedge Π1 and the left interface of the second single optical wedge Π2 are parallel to each other, and the propagation direction of the light beam is not changed. The incident light vector incident on the right interface of the second single optical wedge Π2 is:

[0104]

[0105] The normal vector of the right interface of the second single optical wedge Π2 can be expressed as:

[0106] n2=(-cosα2-sinα2sinγ2-sinα2cosγ2) T

[0107] Applying Snell's law in vector form, we can obtain the refracted light vector of the right interface of the second single wedge Π2:

[0108]

[0109] Combining the above formulas, we can get the direction cosine of the outgoing light of the second single light wedge Π2:

[0110]

[0111] in:

[0112]

[0113] The direction of the outgoing light vector is the direction of the optical axis of the seeker, and the deflection angle θ0 of the optical axis is:

[0114] θ0=arc cos(x)

[0115] We can get:

[0116]

[0117] From the above formula, it can be obtained that for a given double optical wedge, the deflection angle θ0 of the optical axis depends only on the rolling angle of the two optical wedges |Δγ|=|γ2-γ1|. Therefore, in order to obtain the target rolling angle γ1 of the first single optical wedge and the target rolling angle γ2 of the second single optical wedge, the solution can be divided into two steps. The first is to keep one of the optical wedges stationary and control the motor to drive the other single optical wedge to rotate around the elastic axis |Δγ|=|γ1-γ2| so that the yaw angle of the optical axis reaches the target value; the second is to control the double optical wedges to rotate γ" at the same time while keeping the angle of the double optical wedges unchanged. temp1 , so that the azimuth angle of the optical axis reaches the target value, realizing arbitrary pointing of the optical axis in space.

[0118] Therefore, first rotate the first single optical wedge Π1 to keep the target roll angle γ1 at 0°, and rotate the second single optical wedge Π2 in the positive direction to |Δγ|. At this time, the optical axis points to a new direction, and its optical axis deflection angle reaches the target value θ0. At this time, γ1 = 0, γ2 = |Δγ|, and the azimuth angle of the optical axis is γ′ temp1 , the azimuth is γ′ temp1 The value is -180°~180, which can be calculated by the following formula:

[0119]

[0120] Then the double wedges are rotated synchronously so that the optical axis reaches the specified roll angle γ0. The angle of synchronous rotation is

[0121] γ″ temp1 =γ0-γ′ temp1

[0122] The target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge are:

[0123]

[0124] Among them, γ″ temp1 is the angle of synchronous rotation of the first single optical wedge and the second single optical wedge; |Δγ| is the angle along the missile body coordinate system OX B The angle at which the second single optical wedge is rotated counterclockwise relative to the first single optical wedge, viewed from the axis.

[0125] Along the missile body coordinate system OX BThe angle |Δγ| of the second single wedge rotating counterclockwise relative to the first single wedge when viewed from the axis is:

[0126]

[0127]

[0128]

[0129]

[0130] Wherein, n1 is the refractive index of the first single optical wedge, α1 is the wedge angle of the first single optical wedge, n2 is the refractive index of the second single optical wedge, and α2 is the wedge angle of the second single optical wedge.

[0131] The first single optical wedge and the second single optical wedge rotate synchronously at an angle γ″ temp1 for:

[0132] γ″ temp1 =γ0-γ′ temp1

[0133]

[0134]

[0135] Among them, (x, y, z) is the direction cosine of the light vector emitted by the coordinator.

[0136] 3. Double wedge control method

[0137] Each optical wedge rolling mechanism of the position marker is composed of a lens barrel, a bearing group, a motor and a code disk. According to the control instructions solved by the above steps, the DSP solves the controller in real time, outputs the control quantity to control the motor to drive the optical wedge to rotate, and the position information of the rolling optical wedge mechanism is measured in real time by the code disk for feedback to form a closed loop, and finally realizes the position control of the optical axis. The algorithm is simple and easy to implement.

[0138] In a specific embodiment of the present invention, the controller adopts a classic PID control algorithm, and the PID controller algorithm is:

[0139]

[0140] Where:

[0141] Y1 and Y2 are motor control signals corresponding to the first single optical wedge and the second single optical wedge respectively;

[0142] K p1 , K p2 are proportional controller gains of the first single optical wedge and the second single optical wedge respectively;

[0143] Ki1 , K i2 are the integral controller coefficients of the first single optical wedge and the second single optical wedge respectively;

[0144] K dy , K dz are the differential controller coefficients of the first single optical wedge and the second single optical wedge respectively;

[0145] U 1m , U 2m They are the code disk feedback values ​​corresponding to the first single optical wedge and the second single optical wedge respectively.

[0146] The first single optical wedge and the second single optical wedge have the same refractive index and the same refractive angle.

[0147] 4. Improvement of single optical wedge structure

[0148] In actual product applications, since infrared materials have different refractive indices for light of different wavelengths, in order to achieve lightweight, it is necessary to seek infrared-transmitting materials with a large refractive index to meet the light path deflection requirements with the smallest wedge angle; since light of different wavelengths has different deflection angles after passing through the optical wedge, there is dispersion of medium-wave infrared light after passing through the wedge mirror, and chromatic aberration compensation is required, so a combined optical wedge is used to reduce the impact of chromatic aberration on the system. Figure 4 The first single optical wedge Π1 and the second single optical wedge Π2 are respectively an optical wedge pair consisting of two optical wedges, and each optical wedge pair is fixedly connected and used as a single optical wedge.

[0149] Based on the above device, the present invention also provides a non-follow-up infrared optical axis control method, which is characterized by comprising the following steps:

[0150] S1, adjusting the initial state of the double optical wedges to: the relative rotation angle of the two double optical wedges is 180°, the light deflection angle is 0°, and the code disks corresponding to the first single optical wedge and the second single optical wedge are returned to zero position;

[0151] S2. Obtain the yaw angle α and pitch angle β of the target relative to the missile body coordinate system, and calculate that in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial state B The pitch angle θ0 of the axis rotation, and then around OX B The roll angle of rotation γ0;

[0152] The projectile coordinate system OX B Y B Z B The definition is as follows:

[0153] O is the center of mass of the projectile, OX B OY is along the longitudinal axis of the projectile, pointing to the warhead. B In the symmetry plane of the projectile, vertical OXB Axis, upward is positive, OZ B It complies with the right-hand rule;

[0154] S3, combining the double wedge refraction principle, calculating the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge so that the optical axis of the position marker points to the target;

[0155] S4. According to the angle information of the first single optical wedge and the second single optical wedge rotating around the central axis measured in real time by the code disks corresponding to the first single optical wedge and the second single optical wedge, the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge, the PID control algorithm is used to calculate the motor control instructions of the first single optical wedge and the second corresponding single optical wedge, control the rotation of the motor, and realize the arbitrary pointing of the optical axis in space.

[0156] In summary, the present invention adopts a non-follow-up device based on double optical wedges to realize the pointing control of the optical axis, which meets the design requirements of product miniaturization. At the same time, the position marker has a simple structure and a classic and flexible control law.

[0157] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An optical axis control device for a non-following infrared position marker based on a double optical wedge, wherein the double optical wedge is composed of two single optical wedges, the two single optical wedges are arranged in parallel along the elastic axis direction, the central axis of the single optical wedge coincides with the elastic axis, the single optical wedge close to the position marker is marked as the first single optical wedge, and the other single optical wedge is marked as the second single optical wedge, characterized in that The optical axis control device includes two groups of rolling mechanisms and a controller; each group of rolling mechanisms includes a lens barrel, a bearing group, a motor and a code disk; the single optical wedge is supported by the lens barrel, and the lens barrel is installed on the position marker housing through the bearing group, the motor is used to drive the lens barrel to drive the single optical wedge to rotate around the central axis, and the code disk is used to measure the angle information of the optical wedge rotating around the central axis in real time and feed it back to the controller; the initial state of the double optical wedge is: the relative rotation angle of the two double optical wedges is 180°, the light deflection angle is 0°, and the code disks corresponding to the first single optical wedge and the second single optical wedge are returned to zero position; The controller obtains the yaw angle α and pitch angle β of the target relative to the missile body coordinate system, and calculates that in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial state B Pitch angle of axis rotation Go around OX B The roll angle γ0 of the rotation is combined with the double wedge refraction principle to calculate the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge so that the optical axis of the position marker points to the target; according to the real-time measured angle information of the rotation of the first single optical wedge and the second single optical wedge around the central axis, the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge, the PID control algorithm is used to solve the motor control instructions of the first single optical wedge and the second corresponding single optical wedge, control the rotation of the motor, and realize the arbitrary pointing of the optical axis in space; The projectile coordinate system OX B Y B Z B The definition is as follows: O is the center of mass of the projectile, OX B OY is along the longitudinal axis of the projectile, pointing to the warhead. B In the symmetry plane of the projectile, vertical OX B Axis, upward is positive, OZ B It complies with the right-hand rule.

2. According to claim 1, the optical axis control device of the infrared position marker without follow-up based on double optical wedges is characterized in that The yaw angle α and pitch angle β of the target relative to the missile body coordinate system are: Among them, α0 and β0 are the yaw angle and pitch angle of the target relative to the missile body coordinate system determined by the airborne radar, and Δα and Δβ are the yaw misalignment angle and pitch misalignment angle of the target relative to the missile body coordinate system determined by the position marker.

3. The optical axis control device of the double optical wedge-based non-follow-up infrared position marker according to claim 2, characterized in that The yaw misalignment angle Δα and pitch misalignment angle Δβ of the target determined by the position marker relative to the missile body coordinate system are directly measured by the position marker to obtain the yaw misalignment angle ε of the target relative to the position marker coordinate system. α 、Pitch misalignment angle ε β Alternative.

4. The optical axis control device based on double optical wedges without follow-up infrared position marker according to claim 1, characterized in that In order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial position B Pitch angle of axis rotation Go around OX B The roll angle γ0 of the rotation is calculated by the following formula:

5. The optical axis control device of the double optical wedge-based non-follow-up infrared position marker according to claim 1, characterized in that The target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge are: Among them, γ t ” emp1 is the angle of synchronous rotation of the first single optical wedge and the second single optical wedge; |Δγ| is the angle along the missile body coordinate system OX B The angle at which the second single optical wedge is rotated counterclockwise relative to the first single optical wedge, viewed from the axis.

6. The optical axis control device of the double optical wedge-based non-follow-up infrared position marker according to claim 5, characterized in that Along the missile body coordinate system OX B The angle |Δγ| of the second single wedge rotating counterclockwise relative to the first single wedge when viewed from the axis is: Wherein, n1 is the refractive index of the first single optical wedge, α1 is the wedge angle of the first single optical wedge, n2 is the refractive index of the second single optical wedge, and α2 is the wedge angle of the second single optical wedge.

7. The optical axis control device of the double optical wedge-based non-follow-up infrared position marker according to claim 5, characterized in that The first single optical wedge and the second single optical wedge rotate synchronously at an angle γ″ temp1 for: c″ temp1 =γ0-γ′ temp1 Among them, (x, y, z) is the direction cosine of the light vector emitted by the coordinator.

8. The optical axis control device of the double optical wedge-based non-follow-up infrared position marker according to claim 1, characterized in that The PID controller algorithm is: Where: Y1 and Y2 are motor control signals corresponding to the first single optical wedge and the second single optical wedge respectively; K p1 , K p2 are proportional controller gains of the first single optical wedge and the second single optical wedge respectively; K i1 , K i2 are the integral controller coefficients of the first single optical wedge and the second single optical wedge respectively; K dy , K dz are the differential controller coefficients of the first single optical wedge and the second single optical wedge respectively; U 1m , U 2m They are the code disk feedback values ​​corresponding to the first single optical wedge and the second single optical wedge respectively.

9. The optical axis control device based on double optical wedges without follow-up infrared position marker according to claim 1, characterized in that The first single optical wedge and the second single optical wedge have the same refractive index and the same refractive angle.

10. A method for controlling a non-following infrared optical axis based on the device of any one of claims 1 to 9, characterized in that The steps include: S1, adjusting the initial state of the double optical wedges to: the relative rotation angle of the two double optical wedges is 180°, the light deflection angle is 0°, and the code disks corresponding to the first single optical wedge and the second single optical wedge are returned to zero position; S2. Obtain the yaw angle α and pitch angle β of the target relative to the missile body coordinate system, and calculate that in order to make the optical axis of the position marker point to the target, the optical axis of the position marker needs to rotate around the missile body coordinate system OZ from the initial state B Pitch angle of axis rotation Go around OX B The roll angle of rotation γ0; The projectile coordinate system OX B Y B Z B The definition is as follows: O is the center of mass of the projectile, OX B OY is along the longitudinal axis of the projectile, pointing to the warhead. B In the symmetry plane of the projectile, vertical OX B Axis, upward is positive, OZ B It complies with the right-hand rule; S3, combining the double wedge refraction principle, calculating the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge so that the optical axis of the position marker points to the target; S4. According to the angle information of the first single optical wedge and the second single optical wedge rotating around the central axis measured in real time by the code disks corresponding to the first single optical wedge and the second single optical wedge, the target roll angle γ1 of the first single optical wedge and the target roll angle γ2 of the second single optical wedge, the PID control algorithm is used to calculate the motor control instructions of the first single optical wedge and the second corresponding single optical wedge, control the rotation of the motor, and realize the arbitrary pointing of the optical axis in space.

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