Physical verification platform and method of cooperative pointing control algorithm based on multi-turntable networking

Abstract

The present invention relates to the field of collaborative pointing control technology, and in particular to a collaborative pointing control algorithm physical verification platform and method based on multi-turntable networking, including capturing the target two-dimensional imaging information when a moving target simulation device moves with a preset motion trajectory through a target perception module, and solving the target three-dimensional position information; calculating the target three-dimensional position information and the turntable attitude angle measurement signal through a collaborative pointing control algorithm development module, and generating a turntable attitude angle control instruction; and responding to the turntable attitude angle control instruction through a control instruction execution module to control the laser pointer on the two-degree-of-freedom turntable to point to the preset bull's eye. The present invention integrates moving target simulation, target perception, collaborative pointing control algorithm development and control instruction execution modules, and can conveniently and effectively verify the feasibility, real-time nature and stability of the collaborative pointing control algorithm in actual application scenarios, and solve the problem of fusion and migration of the collaborative pointing control algorithm and the actual platform.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative pointing control, and in particular to a collaborative pointing control algorithm physical verification platform and method based on multi-turntable networking. Background Art

[0002] Collaborative pointing control technology is becoming an emerging research field. This technology has broad application potential in collaborative deep space exploration systems, collaborative UAV countermeasures, and beam illumination. However, the comprehensive verification of collaborative pointing control currently still has the following problems: first, there is a lack of a simple, intuitive, and practical integrated verification platform and environment; second, the fusion and migration of control algorithms and specific pointing platforms have not been considered; and finally, there is a lack of integrated research with target perception methods.

[0003] In order to solve these problems, it is urgent to develop a physical experimental platform for collaborative pointing control algorithms to provide a standardized experimental environment to facilitate researchers to design and verify the algorithms, thereby ensuring the repeatability and comparability of the experiments and providing strong support for the research and application of collaborative pointing control technology. Summary of the invention

[0004] The present invention provides a physical verification platform and method for a collaborative pointing control algorithm based on multi-turntable networking, and solves the technical problem that the existing collaborative pointing control verification platform lacks a simple, intuitive and practical integrated verification environment and integrated research on target perception means.

[0005] In order to solve the above technical problems, the present invention provides a physical verification platform and method for a collaborative pointing control algorithm based on multi-turntable networking.

[0006] In a first aspect, the present invention provides a physical verification platform for a collaborative pointing control algorithm based on a multi-turntable network, comprising a moving target simulation module, a target perception module, a collaborative pointing control algorithm development module and a control instruction execution module connected in sequence; the moving target simulation module comprises a moving target simulation device and a plurality of reflective balls, and the reflective balls are installed at the target position of the moving target simulation device; the target perception module comprises an optical motion capture system; the control instruction execution module comprises a plurality of two-degree-of-freedom turntables equipped with laser pointers;

[0007] The moving target simulation module is used to control the moving target simulation device to move along a preset motion trajectory;

[0008] The target perception module is used to capture the target two-dimensional imaging information of the moving target simulation device through an optical motion capture system, and to solve the target two-dimensional imaging information to obtain the target three-dimensional position information, and to send the target three-dimensional position information to the collaborative pointing control algorithm development module;

[0009] The collaborative pointing control algorithm development module is used to calculate the target three-dimensional position information and the turntable attitude angle measurement signal using the collaborative pointing control algorithm to generate a turntable attitude angle control instruction;

[0010] The control instruction execution module is used to measure the attitude angle of the two-degree-of-freedom turntable in real time, and send the generated turntable attitude angle measurement signal to the collaborative pointing control algorithm development module; and, in response to the turntable attitude angle control instruction, adjust the turntable rotor speed through the two-degree-of-freedom turntable control to change the pitch and yaw attitudes, so that the laser pointers on multiple two-degree-of-freedom turntables are concentrated and pointed to the preset bull's eye of the motion target simulation device.

[0011] In a further embodiment, the optical motion capture system includes a plurality of infrared optical cameras, a motion capture controller, and a connector;

[0012] The infrared optical camera is used to emit infrared light to the reflective ball, so that the reflective ball on the moving target simulation device reflects the reflected infrared optical signal back to the infrared optical camera lens, and captures the target two-dimensional imaging information of the reflective ball in the infrared optical camera lens through the reflected infrared optical signal;

[0013] The connector is used to power the multiple infrared optical cameras through cables, and transmit the target two-dimensional imaging information generated by the multiple infrared optical cameras to the motion capture controller;

[0014] The motion capture controller is used to perform three-dimensional position calculation on the target two-dimensional imaging information to obtain the target three-dimensional position information.

[0015] In a further embodiment, the two-degree-of-freedom turntable includes a DAQ data processing module, an encoder, a USB interface, a PWM amplifier, a turntable body, front and rear rotors, and front and rear DC motors; the encoder includes a pitch encoder, a yaw encoder, and a speed encoder;

[0016] The front and rear DC motors are used to drive the front and rear rotors to rotate according to the motor drive control signal, so as to control the pitch rotation of the two-degree-of-freedom turntable around the pitch axis and the yaw rotation around the yaw axis;

[0017] The PWM amplifier is used to generate motor drive control signals for the front and rear DC motors according to the turntable attitude angle control instruction after receiving the turntable attitude angle control instruction;

[0018] The encoder is used to measure the pitch attitude angle and yaw attitude angle of the two-degree-of-freedom turntable, and the motor speed of the front and rear DC motors;

[0019] The DAQ data processing module is used to generate a turntable attitude angle measurement signal according to the pitch attitude angle, the yaw attitude angle and the motor speed, and to exchange information with the collaborative pointing control algorithm development module through the USB interface.

[0020] In a further embodiment, the laser pointer is mounted at the center point of the rotation plane of the two-degree-of-freedom turntable.

[0021] In a further embodiment, the collaborative pointing control algorithm is established by Matlab / Simulink software.

[0022] In a further embodiment, the target perception module is also used to calibrate the optical motion capture system, and the positioning accuracy of the optical motion capture system is at sub-millimeter positioning accuracy.

[0023] In a further embodiment, the control instruction execution module is also used to align the zero positions of all the two-degree-of-freedom turntables, control the reference systems of all the two-degree-of-freedom turntables to be the same, and calibrate the initial positions of the two-degree-of-freedom turntables.

[0024] In a further embodiment, it also includes pointing to an evaluation module;

[0025] The pointing evaluation module is used to evaluate the pointing effect of the collaborative pointing control algorithm according to the sum of the number of target rings in the laser pointers of the plurality of two-degree-of-freedom turntables.

[0026] In a second aspect, the present invention provides a method for physical verification of a collaborative pointing control algorithm based on a multi-turntable network, using the above-mentioned physical verification platform for a collaborative pointing control algorithm based on a multi-turntable network, the method comprising the following steps:

[0027] Controlling the moving target simulation device to move along a preset motion trajectory;

[0028] The target two-dimensional imaging information of the moving target simulation device is captured by an optical motion capture system, and the target two-dimensional imaging information is solved to obtain the target three-dimensional position information;

[0029] Real-time measurement of the attitude angle of the two-degree-of-freedom turntable and generation of turntable attitude angle measurement signal;

[0030] Calculating the target three-dimensional position information and the turntable attitude angle measurement signal by using a coordinated pointing control algorithm to generate a turntable attitude angle control instruction;

[0031] In response to the turntable attitude angle control instruction, the pitch and yaw attitudes are changed by adjusting the turntable rotor speed through the two-degree-of-freedom turntable control, so that the laser pointers on multiple two-degree-of-freedom turntables are focused on the preset center of the moving target simulation device.

[0032] The present invention provides a physical verification platform and method of a collaborative pointing control algorithm based on a multi-turntable network. The platform captures the target two-dimensional imaging information of a moving target simulation device through a target perception module, and solves the target two-dimensional imaging information to obtain the target three-dimensional position information; the collaborative pointing control algorithm development module uses the collaborative pointing control algorithm to calculate the target three-dimensional position information and the turntable attitude angle measurement signal to generate the turntable attitude angle control instruction; the control instruction execution module responds to the turntable attitude angle control instruction, and adjusts the turntable rotor speed through the two-degree-of-freedom turntable control to change the pitch and yaw attitudes, so that the laser pointers on multiple two-degree-of-freedom turntables converge to point to the preset bull's eye of the moving target simulation device. Compared with the prior art, the physical verification platform of the collaborative pointing control algorithm proposed by the present invention integrates the moving target simulation, target perception, collaborative pointing control algorithm development and control instruction execution modules, and can conveniently and effectively verify the feasibility, real-time and stability of the collaborative pointing control algorithm, support the optimization and improvement of experimental verification, make the algorithm more suitable for the actual application scenario, and thus solve the problem of algorithm and actual platform fusion migration. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural block diagram of a physical verification platform for a collaborative pointing control algorithm based on multi-turntable networking provided in an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the overall system of the collaborative pointing control algorithm verification platform provided by an embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram of the overall system hardware and software deployment of the collaborative pointing control algorithm verification platform provided by an embodiment of the present invention;

[0036] Figure 4 is a schematic diagram of the structure of a control instruction execution module provided by an embodiment of the present invention;

[0037] Figure 5 is a schematic diagram of an example structure of a two-degree-of-freedom turntable provided in an embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of a signal driving process of a two-degree-of-freedom turntable provided in an embodiment of the present invention;

[0039] Figure 7 It is a flow chart of a physical verification method of a collaborative pointing control algorithm based on multi-turntable networking provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following specifically illustrates the implementation mode of the present invention in conjunction with the accompanying drawings. The embodiments are provided for illustrative purposes only and cannot be understood as limiting the present invention. The accompanying drawings are provided for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0041] refer to Figure 1 The embodiment of the present invention provides a physical verification platform for a collaborative pointing control algorithm based on a multi-turntable network, such as Figure 1 As shown, the physical verification platform integrates a motion target simulation module 11, a target perception module 12, a collaborative pointing control algorithm development module 13 and a control instruction execution module 14, and the motion target simulation module, the target perception module, the collaborative pointing control algorithm development module and the control instruction execution module are connected in sequence.

[0042] In this embodiment, the moving target simulation module includes a moving target simulation device and a plurality of reflective balls, and the reflective balls are installed at the target position of the moving target simulation device; the moving target simulation module is used to control the moving target simulation device to move along a preset motion trajectory, wherein the moving target simulation device can use a DJI RoboMaster S1 four-wheeled mecha vehicle equipped with a target to simulate a moving target, and set the motion trajectory of the moving target simulation device through remote control drive or programming, and control the moving target simulation device to move along the specified motion trajectory. In this embodiment, four reflective balls for target perception can be set at the target position of the moving target simulation device.

[0043] like Figure 2 As shown, the target perception module includes an optical motion capture system, through which the perception capability of the target is simulated, and the optical motion capture system can adopt the OptiTrack whole-body motion capture system; the target perception module is used to capture the target two-dimensional imaging information of the moving target simulation device through the optical motion capture system, and to solve the target two-dimensional imaging information to obtain the target three-dimensional position information, and send the target three-dimensional position information to the collaborative pointing control algorithm development module; the target perception module is also used to calibrate the optical motion capture system, and the positioning accuracy of the optical motion capture system can provide sub-millimeter positioning accuracy to help the control instruction execution module better track the target and achieve precise motion control.

[0044] In this embodiment, the optical motion capture system includes a plurality of infrared optical cameras, a motion capture controller, a connector and other accessories.

[0045] The infrared optical camera is used to emit infrared light to the reflective ball through the infrared optical camera lens panel, so that the reflective ball on the moving target simulation device reflects the reflected infrared optical signal back to the infrared optical camera lens. The reflected infrared optical signal is captured after image processing to obtain the target two-dimensional imaging information of the reflective ball in the infrared optical camera lens.

[0046] The connector can be an OptiHub2 connector, which is used to connect multiple infrared optical cameras via a USB cable, power the multiple infrared optical cameras, receive target two-dimensional imaging information captured by the multiple infrared optical cameras, and transmit the target two-dimensional imaging information to the motion capture controller via a USB cable.

[0047] The motion capture controller is used to use Motive motion capture software to perform three-dimensional position calculation on the target two-dimensional imaging information to obtain the target three-dimensional position information. The Simulink software can obtain the target three-dimensional position information calculated by Motive by calling the target perception module. In order to ensure the correctness and consistency of the data, this embodiment can pre-process the target three-dimensional position information and then input it into the collaborative pointing control algorithm development module.

[0048] In this embodiment, the collaborative pointing control algorithm development module is used to calculate the target three-dimensional position information and the turntable attitude angle measurement signal using the collaborative pointing control algorithm to generate a turntable attitude angle control instruction; in this embodiment, the collaborative pointing control algorithm is established by Matlab / Simulink software, and researchers can migrate the collaborative pointing control algorithm to Matlab / Simulink or directly use Matlab / Simulink to design a collaborative pointing controller (collaborative pointing control algorithm). Figure 3 This is a schematic diagram of the overall system hardware and software deployment of the collaborative pointing control algorithm verification platform.

[0049] In this embodiment, the control instruction execution module includes multiple two-degree-of-freedom turntables equipped with laser pointers, wherein the laser pointer serves as a simulation pointing unit and is installed at the center point of the rotation plane of the two-degree-of-freedom turntable; the control instruction execution module is used to measure the attitude angle of the two-degree-of-freedom turntable in real time, and send the generated turntable attitude angle measurement signal to the collaborative pointing control algorithm development module; and, in response to the turntable attitude angle control instruction, the pitch and yaw attitudes are changed by adjusting the turntable rotor speed through the two-degree-of-freedom turntable control, so that the laser pointers on multiple two-degree-of-freedom turntables gather and point to the preset bull's eye of the motion target simulation device. During the actual experimental operation, the control instruction execution module needs to align the zero positions of all the two-degree-of-freedom turntables, and control the reference systems of all the two-degree-of-freedom turntables to be the same, and after calibrating the initial position of the two-degree-of-freedom turntable, turn on the laser pointer.

[0050] like Figure 4 As shown, the two-degree-of-freedom turntable includes a DAQ data processing module, an encoder, a USB interface, a PWM amplifier, a turntable body, front and rear rotors, and front and rear DC motors, wherein the USB interface is used for communication interaction, and the present embodiment may adopt a QFLEX2 USB interface, the encoder includes a pitch encoder, a yaw encoder, and a speed encoder, and the front and rear DC motors adopt direct-drive brushed DC motors.

[0051] The PWM amplifier is used to generate motor drive control signals for the front and rear DC motors according to the turntable attitude angle control instruction after receiving the turntable attitude angle control instruction.

[0052] The front and rear DC motors are used to dynamically respond according to the motor drive control signal, drive the front and rear rotors to rotate according to the motor drive control signal, and provide sufficient thrust to control the pitch rotation of the two-degree-of-freedom turntable around the pitch axis and the yaw rotation around the yaw axis.

[0053] The encoder is used to measure the motion angle and motor speed of the two-degree-of-freedom turntable, that is, to measure the pitch attitude angle and yaw attitude angle of the two-degree-of-freedom turntable, and the motor speed of the front and rear DC motors, and feed these data back to the DAQ data processing module.

[0054] The DAQ data processing module is used to generate a turntable attitude angle measurement signal according to the pitch attitude angle, the yaw attitude angle and the motor speed, and to exchange information with the collaborative pointing control algorithm development module through the USB interface to complete the interaction between the turntable attitude angle control command and the turntable attitude angle measurement signal measured by the encoder. This embodiment provides real-time turntable position and attitude angle feedback to the collaborative pointing control algorithm development module through a two-degree-of-freedom turntable, which can be used to monitor the motion state and actual output of the control instruction execution module in real time, thereby realizing closed-loop control and improving the stability and robustness of the control system. In order to ensure the accuracy and consistency of the data, this embodiment can pre-process the turntable attitude angle measurement signal and input it into the collaborative pointing control algorithm development module. Figure 5 A schematic diagram of an example of a two-degree-of-freedom turntable structure provided in an embodiment of the present invention; Figure 6 A schematic diagram of a two-degree-of-freedom turntable signal driving process provided in an embodiment of the present invention.

[0055] The physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking provided in this embodiment also includes a pointing evaluation module, which is used to evaluate the pointing effect of the collaborative pointing control algorithm according to the sum of the number of target rings hit by the laser pointers of the multiple two-degree-of-freedom turntables. In this embodiment, the sum of the number of target rings hit by multiple turntables can be used as an indicator for intuitively evaluating the quality of the pointing effect.

[0056] The physical verification platform for the collaborative pointing control algorithm based on multi-turntable networking provided in this embodiment is fully compatible with MATLAB / Simulink. This embodiment can use MATLAB / Simulink to design and develop the collaborative pointing control algorithm. For ease of understanding, the following will use Simulink software to design and develop the collaborative pointing control algorithm as an example to describe in detail the operation process of the collaborative pointing experimental system designed in this embodiment of the present invention:

[0057] Starting the optical motion capture system of the target perception module, calibrating the optical motion capture system, and running the software program of the optical motion capture system;

[0058] Initialize the two-degree-of-freedom turntable system and turn on the laser pointer; the system initialization specifically includes the following: align the zero position of all two-degree-of-freedom turntables AERO, control the reference system of all two-degree-of-freedom turntables AERO to be the same, and calibrate the initial position of all two-degree-of-freedom turntables AERO;

[0059] The moving target simulation device of the moving target simulation module is started, and the moving target simulation device carrying the target is remotely controlled to move, for example: the RoboMaster S1 four-wheeled mecha vehicle equipped with the target is remotely controlled to move along a predetermined trajectory to simulate a dynamic maneuvering target.

[0060] The target is captured by an optical motion capture camera, and the position information of the target is solved by Motive motion capture software; the control station pre-processes the target 3D position information solved by Motive and the turntable attitude angle information obtained by the turntable attitude encoder and inputs them into the Simulink collaborative pointing control program;

[0061] The Simulink control program is started. When the optical motion capture system receives the target position information of the motion target simulation device, the target three-dimensional position information and the turntable attitude angle measurement signal are calculated using the collaborative pointing control algorithm to generate a turntable attitude angle control instruction. The calculated turntable attitude angle control instruction is sent to multiple two-degree-of-freedom turntables through serial port communication.

[0062] Start the control program of the two-degree-of-freedom turntable AERO. After receiving the turntable attitude angle control command, multiple two-degree-of-freedom turntables quickly adjust the rotor speed to change the pitch and yaw attitudes, so that the laser pointers on the multiple two-degree-of-freedom turntables converge and point to the target center of the moving target simulation device in real time;

[0063] The attitude angle information collected by the encoder and the target position information obtained by the optical motion capture system are stored, analyzed and verified. The turntable attitude angle information is recorded in the workspace by calling the relevant modules in the Matlab / Simulink software and saved to the local path in the workspace. The target position information can also be saved to the local path from Matlab / Simulink according to the above method, or through the "Export Tracking Data" in the Motive software command bar, select the export file format and configure the corresponding export settings to save to the local path. The indicator for intuitively evaluating the pointing effect is the sum of the target rings of multiple turntables. The experimental results can also be observed in real time through the oscilloscope module in Simulink.

[0064] The embodiment of the present invention provides a physical verification platform for a collaborative pointing control algorithm based on a multi-turntable network, wherein the physical verification platform for the collaborative pointing control algorithm integrates a moving target simulation module, a target perception module, a collaborative pointing control algorithm development module, and a control instruction execution module, and realizes that the turntable attitude angle control instruction generated by the collaborative pointing control algorithm development module is sent to multiple two-degree-of-freedom turntables through serial communication. The two-degree-of-freedom turntable changes the rotor speed by adjusting the motor voltage according to the turntable attitude angle control instruction, so that the laser pointer located at the center point of the rotation plane of the two-degree-of-freedom turntable gathers and points to the center of the target. The physical verification platform for the collaborative pointing control algorithm proposed in the present application can provide a convenient and effective verification method, help researchers better design and verify the collaborative pointing control algorithm in experiments, ensure the repeatability and comparability of experiments, solve the problem of fusion and migration of the collaborative pointing control algorithm with the actual platform, improve the applicability and stability of the algorithm, thereby better supporting the optimization and improvement of experimental verification, and providing strong support for the research and application of collaborative pointing control technology.

[0065] In one embodiment, Figure 7 As shown, an embodiment of the present invention provides a physical verification method of a collaborative pointing control algorithm based on a multi-turntable network, using the above-mentioned physical verification platform of a collaborative pointing control algorithm based on a multi-turntable network, and the method includes the following steps:

[0066] S1. Control the moving target simulation device to move along a preset motion trajectory;

[0067] S2. The target two-dimensional imaging information of the moving target simulation device is captured by an optical motion capture system, and the target two-dimensional imaging information is solved to obtain the target three-dimensional position information;

[0068] S3. Real-time measurement of the attitude angle of the two-degree-of-freedom turntable, generating a turntable attitude angle measurement signal;

[0069] S4. Calculate the three-dimensional position information of the target and the turntable attitude angle measurement signal using a collaborative pointing control algorithm to generate a turntable attitude angle control command;

[0070] S5. In response to the turntable attitude angle control instruction, the pitch and yaw attitudes are changed by adjusting the turntable rotor speed through the two-degree-of-freedom turntable control, so that the laser pointers on multiple two-degree-of-freedom turntables converge and point to the preset center of the moving target simulation device.

[0071] It should be noted that the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0072] For the specific definition of a physical verification method of a collaborative pointing control algorithm based on multi-turntable networking, please refer to the above-mentioned definition of a physical verification platform for a collaborative pointing control algorithm based on multi-turntable networking, which will not be repeated here. A person of ordinary skill in the art will appreciate that the various modules and steps described in conjunction with the embodiments disclosed in this application can be implemented in hardware, software, or a combination of both. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0073] The embodiment of the present invention provides a physical verification method of a collaborative pointing control algorithm based on a multi-turntable network, wherein the method captures the target two-dimensional imaging information of a moving target simulation device through an optical motion capture system, and solves the target two-dimensional imaging information to obtain the target three-dimensional position information; the target three-dimensional position information and the turntable attitude angle measurement signal are calculated using the collaborative pointing control algorithm to generate a turntable attitude angle control instruction; in response to the turntable attitude angle control instruction, the turntable rotor speed is adjusted by a two-degree-of-freedom turntable control to change the pitch and yaw attitudes, so that the laser pointers on multiple two-degree-of-freedom turntables are gathered to point to the preset bull's eye of the moving target simulation device. Compared with the prior art, the present application can conveniently and effectively verify the feasibility, real-time and stability of the collaborative pointing control algorithm in actual application scenarios, solve the problem of fusion migration of the collaborative pointing control algorithm with the actual platform, improve the applicability and stability of the algorithm, and at the same time, realize closed-loop control by real-time monitoring of the motion state and actual output of the control system, thereby improving the stability and robustness of the control system.

[0074] The above-mentioned embodiments only express several preferred implementation modes of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in the technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be based on the protection scope of the claims.

Claims

1. A physical verification platform for collaborative pointing control algorithm based on multi-turntable networking, characterized by: It comprises a moving target simulation module, a target perception module, a collaborative pointing control algorithm development module and a control instruction execution module which are connected in sequence; the moving target simulation module comprises a moving target simulation device and a plurality of reflective balls, and the reflective balls are installed at the target position of the moving target simulation device; the target perception module comprises an optical motion capture system; the control instruction execution module comprises a plurality of two-degree-of-freedom turntables equipped with laser pointers; The moving target simulation module is used to control the moving target simulation device to move along a preset motion trajectory; The target perception module is used to capture the target two-dimensional imaging information of the moving target simulation device through an optical motion capture system, and to solve the target two-dimensional imaging information to obtain the target three-dimensional position information, and to send the target three-dimensional position information to the collaborative pointing control algorithm development module; The collaborative pointing control algorithm development module is used to calculate the target three-dimensional position information and the turntable attitude angle measurement signal using the collaborative pointing control algorithm to generate a turntable attitude angle control instruction; The control instruction execution module is used to measure the attitude angle of the two-degree-of-freedom turntable in real time, and send the generated turntable attitude angle measurement signal to the collaborative pointing control algorithm development module; And, in response to the turntable attitude angle control instruction, the pitch and yaw attitudes are changed by adjusting the turntable rotor speed through the two-degree-of-freedom turntable control, so that the laser pointers on multiple two-degree-of-freedom turntables are focused and pointed to the preset center of the moving target simulation device.

2. A physical verification platform for a collaborative pointing control algorithm based on a multi-turntable network as claimed in claim 1, characterized in that: The optical motion capture system includes a plurality of infrared optical cameras, a motion capture controller and a connector; The infrared optical camera is used to emit infrared light to the reflective ball, so that the reflective ball on the moving target simulation device reflects the reflected infrared optical signal back to the infrared optical camera lens, and captures the target two-dimensional imaging information of the reflective ball in the infrared optical camera lens through the reflected infrared optical signal; The connector is used to supply power to the plurality of infrared optical cameras through cables, and transmit the target two-dimensional imaging information generated by the plurality of infrared optical cameras to the motion capture controller; The motion capture controller is used to perform three-dimensional position calculation on the target two-dimensional imaging information to obtain the target three-dimensional position information.

3. The physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking as claimed in claim 1, characterized in that: The two-degree-of-freedom turntable includes a DAQ data processing module, an encoder, a USB interface, a PWM amplifier, a turntable body, front and rear rotors, and front and rear DC motors; the encoder includes a pitch encoder, a yaw encoder, and a speed encoder; The front and rear DC motors are used to drive the front and rear rotors to rotate according to the motor drive control signal, so as to control the pitch rotation of the two-degree-of-freedom turntable around the pitch axis and the yaw rotation around the yaw axis; The PWM amplifier is used to generate motor drive control signals for the front and rear DC motors according to the turntable attitude angle control instruction after receiving the turntable attitude angle control instruction; The encoder is used to measure the pitch attitude angle and yaw attitude angle of the two-degree-of-freedom turntable, and the motor speed of the front and rear DC motors; The DAQ data processing module is used to generate a turntable attitude angle measurement signal according to the pitch attitude angle, the yaw attitude angle and the motor speed, and to exchange information with the collaborative pointing control algorithm development module through the USB interface.

4. The physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking as claimed in claim 1, characterized in that: The laser pointer is installed at the center point of the rotation plane of the two-degree-of-freedom turntable.

5. The physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking as claimed in claim 1, characterized in that: The collaborative pointing control algorithm is established using Matlab / Simulink software.

6. The physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking as claimed in claim 1, characterized in that: The target perception module is also used to calibrate the optical motion capture system, and the positioning accuracy of the optical motion capture system is at sub-millimeter level.

7. The physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking as claimed in claim 1, characterized in that: The control instruction execution module is also used to align the zero positions of all the two-degree-of-freedom turntables, control the reference systems of all the two-degree-of-freedom turntables to be the same, and calibrate the initial positions of the two-degree-of-freedom turntables.

8. The physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking as claimed in claim 1, characterized in that: It also includes a pointing evaluation module; The pointing evaluation module is used to evaluate the pointing effect of the collaborative pointing control algorithm according to the sum of the number of target rings in the laser pointers of the plurality of two-degree-of-freedom turntables.

9. A physical verification method of a collaborative pointing control algorithm based on a multi-turntable network, characterized in that: Using the physical verification platform of the collaborative pointing control algorithm based on multi-turntable networking as described in any one of claims 1 to 8, the method comprises the following steps: Controlling the moving target simulation device to move along a preset motion trajectory; The target two-dimensional imaging information of the moving target simulation device is captured by an optical motion capture system, and the target two-dimensional imaging information is solved to obtain the target three-dimensional position information; Real-time measurement of the attitude angle of the two-degree-of-freedom turntable and generation of turntable attitude angle measurement signal; Calculating the target three-dimensional position information and the turntable attitude angle measurement signal by using a collaborative pointing control algorithm to generate a turntable attitude angle control instruction; In response to the turntable attitude angle control instruction, the pitch and yaw attitudes are changed by adjusting the turntable rotor speed through the two-degree-of-freedom turntable control, so that the laser pointers on multiple two-degree-of-freedom turntables converge and point to the preset center of the moving target simulation device.

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