Photoelectric detection device combination gyro mirror stabilizing device and method

Abstract

The present application belongs to the technical field of photoelectric detection, and relates to a photoelectric detection equipment combined gyro reflector stabilizing device and method. The stabilizing device comprises a base, an azimuth frame and a pitch frame. The azimuth frame is arranged on the base, and the pitch frame is arranged on the azimuth frame. Angle measuring elements and motors are arranged on the pitch frame and the azimuth frame. The stabilizing device further comprises a combined gyro. The combined gyro comprises a first gyro for measuring the position of the reflector and a second gyro mounted on the base for measuring the position of the base. Seven sensitive values are obtained through the first and second gyros and two angle measuring elements. The line-of-sight inertial system angular velocity is calculated according to the method in the present application. The line-of-sight angular velocity calculation formula does not depend on the frame differential angular velocity with high noise. All variables in the formula can be directly measured by sensors. The calculated line-of-sight inertial system angular velocity has high precision, and the line-of-sight stabilization precision is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of photoelectric detection technology, and relates to a photoelectric detection device combined with a gyroscope reflector stabilization device and method. Background Technology

[0002] Imaging devices such as infrared detectors and televisions are mounted on moving platforms such as aircraft, ships, ground vehicles, and missiles. During the sensor's integration period, due to various interferences, the movement of the line of sight may exceed the sensor's resolution, resulting in blurred images. In engineering applications, stabilization control systems are frequently designed to keep the line of sight stable in inertial space. Mirror stabilization is a common stabilization method for photoelectric detection equipment. It is a two-axis, two-frame configuration where the mirror is mounted on the elevation frame, as shown in the attached diagram. Figure 1 As shown, the gyroscope is set to measure the angular velocity of the line-of-sight inertial space. The motor control quantity is calculated through a stability control algorithm, and the motor drives the reflector to compensate for angular velocity disturbances, thereby achieving stability of the line-of-sight inertial space.

[0003] According to the law of reflection, the rotation angle of the line of sight is twice the rotation angle of the mirror. Installing a gyroscope at the mirror and stabilizing the mirror in inertial space cannot stabilize the line of sight because the gyroscope's sensitive quantity is the inertial angular velocity of the mirror, not the inertial angular velocity of the line of sight. The three-axis gyroscope can be mounted on the mirror frame, azimuth frame, or base, as shown in the attached figure. Figure 2 As shown, by combining the frame angular velocity and using mathematical calculations, the line-of-sight inertial angular velocity can be obtained. This system, with angle measuring elements on both axes and both frames, allows for real-time acquisition of angle values ​​fed back from these elements. By performing velocity differential calculations, the frame angular velocity can be obtained.

[0004] However, this stabilization method places high demands on the angular accuracy of the frame's angle measuring elements. Currently, the angle measuring elements installed in photoelectric detection equipment are generally smaller than 300mm. Small-sized angle measuring elements have relatively low angular accuracy (greater than 30 arcseconds), resulting in significant noise in differential velocimetry and low accuracy in calculating the line-of-sight inertial angular velocity, which cannot meet the requirements for high-precision stability. High-precision angle measuring elements larger than 500mm cannot be used in photoelectric detection equipment. Summary of the Invention

[0005] The technical problem to be solved by this invention:

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a photoelectric detection device combined with a gyroscope reflector stabilization device and method. The line-of-sight inertial frame angular velocity obtained by this device and method does not depend on the high-noise frame differential angular velocity, has low requirements for the accuracy of the angle measuring element, and the calculated line-of-sight inertial frame angular velocity has high accuracy, thus solving the accuracy and stability problems of photoelectric detection devices based on reflector stabilization configurations.

[0007] One technical solution provided by this invention is:

[0008] A photoelectric detection device combined gyro mirror stabilizing device, comprising: a base, an azimuth frame, and a pitch frame, the azimuth frame is arranged on the base, and the pitch frame is arranged on the azimuth frame, and angle measuring elements and motors are arranged on the pitch frame and the azimuth frame; the stabilizing device further comprises a combined gyro, and the combined gyro comprises:

[0009] a first gyro, which is installed on the pitch frame, the pitch frame is loaded with a mirror, and the first gyro is used for measuring the position of the mirror;

[0010] a second gyro, which is installed on the base, and is used for measuring the position of the base.

[0011] A further technical solution of the present application is that the stabilizing device further comprises a stabilizing controller, which is used for controlling the motor to drive the mirror to realize inertial stabilization control of the line of sight.

[0012] A further technical solution of the present application is that the first gyro is a three-axis gyro, one axis of the three-axis gyro is parallel to the rotation axis of the pitch frame, and one axis of the three-axis gyro is arranged at a fixed angle with the long axis of the mirror.

[0013] A further technical solution of the present application is that the second gyro is a two-axis gyro, one axis of the two-axis gyro is parallel to the rotation axis of the azimuth frame, and one axis of the two-axis gyro is parallel to the 0-degree axis of the azimuth frame.

[0014] A further technical solution of the present application is that the motor is a torque motor.

[0015] A further technical solution of the present application is that the fixed angle is 45°.

[0016] Another technical solution provided by the present application is:

[0017] A photoelectric detection device combined gyro mirror stabilizing method, comprising the following method steps:

[0018] Step 1: build a two-axis two-frame mirror platform: install the mirror as the load of the pitch frame, install the angle measuring elements and the torque motor in the pitch frame, embed the pitch frame into the azimuth frame, the pitch frame is the load of the azimuth frame, and the azimuth frame is simultaneously installed with the angle measuring elements and the torque motor;

[0019] Step 2: initialization: install the first gyro on the pitch frame, so that the y-axis of the first gyro is parallel to the rotation axis of the pitch frame, the x-axis of the first gyro is at a fixed angle of 45° with the long axis of the mirror, the second gyro is installed on the base, the z-axis of the second gyro is parallel to the rotation axis of the azimuth frame, the x-axis of the second gyro is parallel to the x-axis of the base, the y-axis of the base is parallel to the rotation axis of the pitch frame, the angle between the mirror and the x-axis of the base is 45°, the angle of the pitch frame is 0°, and the angle of the azimuth frame is 0°.

[0020] Step 3: let the azimuth frame rotate an angle of θ FW , denoted as azimuth angle, and the azimuth frame angular velocity is The pitch frame rotates an angle of θ FY , and the pitch frame angular velocity is Let the three-axis angular velocity of the azimuth frame inertial system be

[0021] The three-axis angular velocity of the base inertial system is

[0022] Then, we have:

[0023]

[0024]

[0025] The pitch frame rotates the azimuth frame by an angle of θ FY in the y-axis direction;

[0026] The three-axis angular velocity of the mirror inertial system is

[0027]

[0028]

[0029]

[0030] The line-of-sight coordinate system rotates the mirror coordinate system by an angle of θ FY in the y-axis direction,

[0031] The three-axis angular velocity of the line-of-sight inertial system is

[0032]

[0033]

[0034] where ω Lz is the azimuth line-of-sight angular velocity, and ω Ly is the pitch line-of-sight angular velocity;

[0035] Step 4: after obtaining the real-time angular velocity of the line-of-sight according to step 3, set a PID stabilization controller according to the azimuth and pitch stabilization ring input commands and the real-time angular velocity, calculate the motor control amount, control the motor to drive the azimuth and pitch mechanism, and realize the line-of-sight inertial system stabilization control.

[0036] Advantages

[0037] Compared with the prior art, the advantages of the present application are:

[0038] The application provides a photoelectric detection device combined gyro mirror stabilizing device and method, a combined gyro is arranged, a first gyro is installed on a pitching frame and is used for measuring the position of the mirror, a second gyro is installed on a base and is used for measuring the position of the base, seven sensitive values are obtained through the two gyros (five direction angular velocities) and two angle measuring elements (two direction angles), and the inertial system angular velocity of the line of sight is calculated according to the formula involved in the method in the application. According to the stabilizing speed loop control instruction and the real-time inertial system angular velocity of the line of sight, a stabilizing controller is designed, the motor control quantity is obtained, the motor is controlled to drive the mirror, and the inertial stability of the line of sight is realized. The line of sight angular velocity calculation formula does not depend on the frame differential angular velocity with high noise, all the variables in the formula can be directly measured through sensors, the precision of the calculated inertial system angular velocity of the line of sight is high, and the line of sight stability precision is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a two-axis two-frame mirror platform in the prior art.

[0040] Figure 2 It is a mirror gyro and base gyro installation diagram in the prior art.

[0041] Figure 3 It is a combined gyro mirror stabilizing installation diagram in the application.

[0042] Figure 4 The application is a control system control block diagram.

[0043] In the figure: 21. Pitching frame; 22. Azimuth frame; 11. First gyro; 12. Second gyro. DETAILED DESCRIPTION

[0044] The embodiments described below with reference to the drawings are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application.

[0045] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0046] Example 1

[0047] A photoelectric detection device combined gyro mirror stabilizing device, comprising: a base, an azimuth frame 22, and a pitch frame 21, the azimuth frame 22 is arranged on the base, and the pitch frame 21 is arranged on the azimuth frame 22, and angle measuring elements and motors are arranged on the pitch frame 21 and the azimuth frame 22; the stabilizing device further comprises a combined gyro, and the combined gyro comprises:

[0048] a first gyro 11, which is mounted on the pitch frame 21, the pitch frame 21 is loaded with a mirror, and the first gyro 11 is used for measuring the position of the mirror;

[0049] a second gyro 12, which is mounted on the base, and is used for measuring the position of the base.

[0050] The stabilizing device further comprises a stabilizing controller, which is used for controlling the motors to drive the mirror to realize the inertial stabilization of the visual axis.

[0051] The first gyro 11 is a three-axis gyro, one axis of the three-axis gyro is parallel to the rotation axis of the pitch frame 21, and one axis of the three-axis gyro has a fixed angle of 45° with the long axis of the mirror; the second gyro 12 is a two-axis gyro, one axis of the two-axis gyro is parallel to the rotation axis of the azimuth frame 22, and one axis of the two-axis gyro is parallel to the 0° axis of the azimuth frame 22.

[0052] Embodiment 2

[0053] A photoelectric detection device combined gyro mirror stabilizing method, three-axis gyroscopes are arranged on a two-axis two-frame mirror platform and a mirror, two-axis gyroscopes are arranged on a base, real-time gyro data and two frame angles are obtained, visual azimuth and pitch angular velocity are calculated, a stabilizing controller is designed according to a stabilizing speed loop control instruction and real-time visual axis inertial angular velocity, motor control amounts are obtained, and the motors are controlled to drive the mirror to realize the stabilization control of the visual axis.

[0054] The specific method steps of the stabilizing method are as follows:

[0055] Step 1: Build a two-axis two-frame mirror platform: design and install a mirror as the load of a pitch frame 21, design angle measuring elements and torque motors in the pitch frame 21, embed the pitch frame 21 into an azimuth frame 22, design the pitch frame 21 as the load of the azimuth frame 22, and design angle measuring elements and torque motors in the azimuth frame 22;

[0056] Step 2: initialization: install the first gyroscope 11 on the pitch frame 21 so that the y-axis of the first gyroscope 11 is parallel to the rotation axis of the pitch frame 21, and the x-axis of the first gyroscope 11 forms a fixed angle of 45° with the long axis of the reflector, which is elliptical in shape and has a long axis and a short axis; install the second gyroscope 12 on the base, with the z-axis of the second gyroscope 12 parallel to the rotation axis of the azimuth frame 22, the x-axis of the second gyroscope 12 parallel to the x-axis of the base, the y-axis of the base parallel to the rotation axis of the pitch frame 21, and the reflector forming an angle of 45° with the x-axis of the base, so that the angle of the pitch frame 21 is 0° and the angle of the azimuth frame 22 is 0°;

[0057] Step 3: rotate the azimuth frame 22 by an angle of θ FW (azimuth angle), and the angular velocity of the azimuth frame 22 is rotate the pitch frame 21 by an angle of θ FY , and the angular velocity of the pitch frame 21 is the three-axis angular velocity of the azimuth frame 22 in the inertial system is

[0058] the three-axis angular velocity of the base in the inertial system is

[0059]

[0060]

[0061] rotate the pitch reflector frame relative to the azimuth frame 22 by an angle of θ FY in the y-axis; the three-axis angular velocity of the reflector in the inertial system is

[0062]

[0063]

[0064]

[0065] rotate the line-of-sight coordinate system relative to the reflector coordinate system by an angle of θ FY in the y-axis, and the three-axis angular velocity of the line-of-sight in the inertial system is

[0066]

[0067]

[0068] where ω Lz is the azimuth line-of-sight angular velocity, and ω Ly is the pitch line-of-sight angular velocity;

[0069] Step 4: According to the real-time angular velocity of the visual axis obtained in step 3, according to the azimuth and pitch stabilization ring input instructions and the real-time angular velocity, a PID stabilization controller is designed, and the motor control amount is calculated to control the motor to drive the two-axis two-frame mirror platform, so as to realize the visual axis inertial system stabilization control, and the control block flow chart is as shown in Figure 4

[0070] Seven sensitive values are obtained through the first gyro 11 and the second gyro 12 (five direction angular velocities) and two angle measuring elements (two direction angles), and the visual axis inertial system angular velocity is calculated according to the above formula. According to the stabilization speed ring control instruction and the real-time visual axis inertial angular velocity, a stabilization controller is designed to obtain the motor control amount, and the motor is controlled to drive the mirror to realize the visual axis inertial stabilization. The visual axis speed acquisition method does not depend on the frame angular velocity, the visual axis inertial system angular velocity measurement accuracy is higher, and the visual axis stabilization accuracy is greatly improved.

[0071] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and modifications to the above embodiments without departing from the principles and purposes of the present application within the scope of the present application.​

Claims

1. A method of opto-electronic detection device combination gyro mirror stabilization, characterized by: The method is implemented by a photoelectric detection device combined gyro mirror stabilizing device, the stabilizing device comprising a base, an azimuth frame, a pitch frame, a combined gyro and a stabilizing controller; the base is provided with the azimuth frame, the azimuth frame is provided with the pitch frame, the pitch frame and the azimuth frame are both provided with an angle measuring element and a motor, the combined gyro comprises a first gyro and a second gyro, the first gyro is installed on the pitch frame, the pitch frame is loaded with a mirror, the first gyro is used for measuring the position of the mirror, the second gyro is installed on the base and is used for measuring the position of the base; the stabilizing controller is used for controlling the motor to drive the mirror to realize the inertial stability control of the visual axis; The first gyro is a three-axis gyro, one axis of the three-axis gyro is parallel to the rotation axis of the pitch frame, and one axis is provided with a fixed included angle with the long axis of the mirror; the second gyro is a two-axis gyro, one axis of the two-axis gyro is parallel to the rotation axis of the azimuth frame, and one axis is parallel to the 0-degree axis of the azimuth frame; the motor is a torque motor; The photoelectric detection device combined gyro mirror stabilizing method comprises the following steps: Step 1: build a two-axis two-frame mirror platform: install the mirror as the load of the pitch frame, install the angle measuring element and the torque motor on the pitch frame, embed the pitch frame into the azimuth frame, the pitch frame is the load of the azimuth frame, and the azimuth frame is provided with the angle measuring element and the torque motor; Step 2: initialization: install the first gyro on the pitch frame, so that the y-axis of the first gyro is parallel to the rotation axis of the pitch frame, the x-axis of the first gyro has a fixed 45° included angle with the long axis of the mirror, the second gyro is installed on the base, the z-axis of the second gyro is parallel to the rotation axis of the azimuth frame, the x-axis of the second gyro is parallel to the x-axis of the base, the y-axis of the base is parallel to the rotation axis of the pitch frame, the included angle between the mirror and the x-axis of the base is 45°, the angle of the pitch frame is 0°, and the angle of the azimuth frame is 0°; Step 3: calculate the real-time angular velocity of the visual axis; The specific calculation process is as follows: Let the azimuth frame rotate by an angle θ FW , denoted as azimuth angle, the azimuth frame angular velocity is , let the pitch frame rotate by an angle θ FY , the pitch frame angular velocity is , let the three-axis angular velocity of the azimuth frame inertia system be , Base inertial frame three-axis angular velocity ; then (1) (2) The pitch frame relative orientation frame is rotated about the y-axis by a pitch angle θ FY ; Mirror inertial frame three-axis angular velocity ; (3) (4) (5) The boresight coordinate system is rotated relative to the mirror coordinate system by a pitch angle θ in the y-axis FY , Boresight inertial frame three-axis angular velocity (6) (7) wherein is the azimuth gimbaling angle velocity, is the pitch gimbaling angle velocity; Step 4: after obtaining the real-time angular velocity of the visual axis in step 3, setting a PID stabilizing controller according to the azimuth and pitch stabilizing ring input command and the real-time angular velocity, calculating the motor control amount, controlling the motor to drive the azimuth and pitch mechanism, and realizing the inertial system stability control of the visual axis.

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