A semi-physical simulation device for high-speed electronic despinning

Abstract

The application relates to a kind of semi-physical simulation devices for high-speed electronic despinning, including fixed support, bullet mounting platform, debugging device, target mounting flat, rotating platform, adjustable flat support, first cube mirror and second cube mirror, the fixed support is used to fix the bullet mounting platform on assembly platform, the adjustable flat support is used to level the rotating platform and adjust the position relationship between the bullet mounting platform and the rotating platform, the rotating platform is used to fix the target mounting flat, and the rotation of the target mounting flat and the simulation target thereon is realized by controlling motor, the target mounting flat is used to install simulation target, the debugging device is used to receive the image data fed back by guide camera, and the electronic despinning algorithm is debugged and verified.The device can simulate the high-speed rotating state of bullet body in actual launching and flight process, realize the debugging and verification of electronic despinning algorithm, so as to shorten the development cycle, more comprehensive and faster verify the effect and performance of electronic despinning algorithm.

Description

Technical Field

[0001] This invention relates to the field of ground testing and simulation technology, and in particular to image enhancement and its application technology in image processing, providing a hardware-in-the-loop simulation device for high-speed electron derotation. Background Technology

[0002] During launch and flight, the projectile rotates at high speed, causing blurring of the images output by the guidance cameras and severely affecting guidance functionality. To address this issue, in addition to mechanical despinning methods, electronic despinning is often employed. However, developing and verifying electronic despinning capabilities through live-fire testing is costly, impractical, and involves uncontrollable experimental conditions. Therefore, a ground-based simulation device capable of high-speed electronic despinning is needed. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a hardware-in-the-loop simulation device for high-speed electronic despinning, which can simulate the high-speed rotation state of a projectile during launch and flight on the ground, and is used for the research and development of the projectile's electronic despinning function.

[0004] The present invention adopts the following technical solution:

[0005] A hardware-in-the-loop simulation device for high-speed electron desiccation, characterized in that it comprises:

[0006] A fixed bracket that is fixedly installed on the assembly platform;

[0007] A projectile mounting platform is fixedly installed on the fixed bracket. The projectile is vertically installed at the center of the projectile mounting platform, and the guidance camera in the projectile is connected to the debugging equipment.

[0008] A target mounting platform with a simulated target installed at the center;

[0009] A rotating platform is installed at the center below the target mounting platform. The rotating platform is driven by a motor to rotate the target mounting platform and the simulated target on it. The motor control box is connected to the debugging equipment.

[0010] An adjustable leveling bracket installed between the rotating platform and the assembly platform is used to level the rotating platform and adjust the positional relationship between the projectile mounting platform and the rotating platform;

[0011] A first cubic mirror and a second cubic mirror are respectively installed on the projectile mounting platform and the rotating platform. The first cubic mirror and the second cubic mirror are used in conjunction with a laser tracker or a theodolite to calibrate the positions of the projectile mounting platform and the rotating platform and determine the axial relationship between them.

[0012] After the device is powered on, the debugging equipment dynamically adjusts the rotation time and speed of the rotating platform through the motor control box and the motor, and at the same time receives image data fed back by the guidance camera to debug and verify the electronic despinning algorithm in the projectile guidance.

[0013] This invention proposes a hardware-in-the-loop simulation device for high-speed electronic despinning. This device can simulate the high-speed rotation of a projectile during actual launch and flight, enabling the debugging and verification of the electronic despinning algorithm. This shortens the development cycle and allows for a more comprehensive and rapid verification of the algorithm's effectiveness and performance. This invention also has the following beneficial effects:

[0014] (1) This device can simulate the rotational working state of the projectile during launch and flight on the ground, which is beneficial to the development and verification of projectile products;

[0015] (2) The device, through the design of a rotating platform and an adjustable leveling bracket, can simulate the working condition where the rotation axis of the projectile coincides with the rotation axis of the target, or the working condition where they do not coincide. It can also simulate the situation where the horizontal plane of the camera is not parallel to the horizontal plane of the target.

[0016] (3) The device uses a laser tracker or a theodolite in conjunction with a cubic mirror to measure the relative positional relationship between the projectile and the target, thereby ensuring the accurate installation of the device and improving the simulation accuracy.

[0017] (4) The device has the characteristics of high precision, dynamic adjustability and easy operation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a hardware-in-the-loop simulation device for high-speed electron desiccation according to the present invention;

[0019] Figure 2 This is a flowchart for an electron racemization simulation software.

[0020] Explanation of reference numerals in the attached drawings: 1. Assembly platform; 2. Fixed bracket; 3. Projectile mounting platform; 4. Projectile; 5. Debugging equipment; 6. Target mounting platform; 7. Rotating platform; 8. Adjustable leveling bracket; 9. First cubic mirror; 10. Second cubic mirror. Detailed Implementation

[0021] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings and preferred embodiments.

[0022] This invention provides a hardware-in-the-loop simulation device that can simulate the high-speed rotation of a projectile during launch and flight on the ground. It is used for the research and development of the high-speed electronic despinning function of the projectile and features high precision, dynamic adjustability, and ease of operation.

[0023] like Figure 1 As shown, the hardware-in-the-loop simulation device for high-speed electronic despinning in this embodiment includes a fixed bracket 2, a projectile mounting platform 3, a debugging device 5, a target mounting platform 6, a rotating platform 7, an adjustable leveling bracket 8, a first cubic mirror 9, and a second cubic mirror 10. The fixed bracket 2 is used to fix the projectile mounting platform 3 onto the assembly platform 1; the adjustable leveling bracket 8 is used to level the rotating platform 7 and also to adjust the positional relationship between the projectile mounting platform 3 and the rotating platform 7, such as aligning the centerlines of the two platforms; the rotating platform 7 is used to fix the target mounting platform 6 and to rotate the target mounting platform and the simulated target on it by controlling the motor; the target mounting platform 6 is used to mount the simulated target; and the debugging device 5 is used to connect the guidance camera and processor in the projectile 4 to achieve software debugging and simulation verification.

[0024] Specifically, during installation, the projectile 4 is first installed on the projectile mounting platform 3. Through structural design and assembly, it is ensured that the projectile is perpendicular to the projectile mounting platform 3 and located at the center of the projectile mounting platform 3.

[0025] Next, the projectile mounting platform 3 is assembled onto the fixed bracket 2, and the fixed bracket 2 is then mounted onto the assembly platform 1. In this embodiment, the fixed bracket 2 adopts an inverted L shape, which is simple in structure, but other shapes that can achieve the same function can also be used.

[0026] Install the simulation target on the target mounting platform 6. The simulation target can be a physical model, an image, or an ultra-high frame rate display device, etc. During installation, ensure that the simulation target is centered on the target mounting platform 6.

[0027] The target mounting platform 6 is installed at the center below the rotating platform 7. The rotating platform 7 includes a motor and a motor control box. The motor drives the target mounting platform 6 to rotate, and the motor control box is connected to the debugging equipment 5. The projectile 4 on the assembly platform 1 remains stationary, while the simulated target rotates, thereby realizing the relative rotation of the guidance camera and the simulated target, and achieving ground simulation of the projectile rotation process.

[0028] The rotating platform 7 is mounted onto the adjustable leveling bracket 8 located on the assembly platform 1.

[0029] After all components of the device are installed, the positions are calibrated using a theodolite and a cube mirror to determine the positional relationship between the projectile mounting platform and the rotating platform. Then, according to specific simulation requirements, the height and horizontal position of the adjustable leveling bracket are adjusted to change the axial relationship between the two platforms, such as aligning the centerlines of the two platforms. The position calibration process includes the following steps:

[0030] Install the theodolite in the appropriate position on assembly platform 1;

[0031] The crosshair cursor on the theodolite is aligned with the crosshair of the first cubic mirror 9 on the projectile mounting platform 3 by adjusting the mechanism on the theodolite.

[0032] After the cursors coincide, the projectile mounting platform 3 is mechanically fixed.

[0033] Based on the simulation requirements, move the crosshair cursor of the theodolite to the corresponding position, i.e., the target position.

[0034] By adjusting the position and height of the adjustable leveling bracket 8, the crosshairs of the second cubic mirror 10 on the rotating platform 7 are made to coincide with the crosshairs cursor on the theodolite.

[0035] After the cursors are aligned, the projectile mounting platform 8 and the rotating platform are mechanically fixed to complete the position calibration process.

[0036] The debugging interface of the projectile 4 is connected to the debugging device 5 via a simulator or wire, and the guidance camera feeds back the acquired image data to the debugging device 5 through the debugging interface.

[0037] Connect the motor in the rotating platform 7 to the motor control box, and then connect the motor control box to the debugging device 5. The debugging device 5 controls the rotation of the motor, thereby dynamically adjusting the rotation time and speed of the rotating platform 7. The theodolite can also be replaced by a laser tracker.

[0038] Using a theodolite and a cube mirror for position calibration enables accurate measurement of the relative position of the rotation axis of the rotating platform 7 and the axis of the projectile 4.

[0039] After the device is powered on, the debugging equipment 5 can dynamically adjust the rotation time and speed of the rotating platform 7, and at the same time receive image data fed back by the guidance camera to realize the simulation and verification of the electronic despinning algorithm in the missile guidance.

[0040] The hardware of debugging equipment 5 includes a computer, a rotating platform communication interface, and a network transmission interface. The computer serves three functions: controlling the rotation of the rotating platform 7, communicating with the guide camera, and simulating the electronic despinning algorithm. The rotating platform communication interface is the interface through which the computer controls the rotating platform 7; it can use a conventional interface such as a serial interface. The network transmission interface is where the computer receives image data or other information data from the guide camera via wired or wireless network. It also allows for parameter configuration of the guide camera. The electronic despinning simulation software installed on the computer is mainly used for debugging and verifying the electronic despinning algorithm. Figure 2 As shown, the electron racemization simulation software performs the following steps:

[0041] Step 1: First, perform software initialization;

[0042] Step 2: Guide camera parameter configuration and complete camera parameter initialization;

[0043] Step 3: Output rotation time and rotation speed commands to rotating platform 7 through the rotating platform communication interface. Rotating platform 7 rotates according to the rotation time and rotation speed commands.

[0044] Step 4: Receive image data sent by the guide camera through the network transmission interface;

[0045] Step 5: Process the image data using the electronic derotation algorithm and determine whether the derotation effect meets the requirements. For example, determine whether the image sharpness after processing with the electronic derotation algorithm meets the threshold requirements. In this step, the image sharpness can be judged using a subjective evaluation method or an objective evaluation method. If the image sharpness after processing with the electronic derotation algorithm meets the requirements at the current rotation speed, then end the simulation; otherwise, return to step 3, adjust the rotation time and rotation speed of the rotating platform 7, and re-output the rotation time command and rotation speed command to the rotating platform 7 to continue debugging and verifying the effect and performance of the electronic derotation algorithm.

[0046] Furthermore, the electronic despinning simulation software installed on the computer has a visual interface that displays the rotation time and speed of the rotating platform 7, as well as the simulation verification results of the electronic despinning algorithm, in real time.

[0047] The working principle of the hardware-in-the-loop simulation device for high-speed electronic despinning in this embodiment is as follows: the device simulates the relative rotational motion between the projectile 4 and the simulated target by rotating the simulated target through the rotating platform 7. By controlling the speed of the rotating platform 7, the changes in rotational speed during projectile launch and flight can be accurately simulated, which is essential for the development, simulation, and verification of the electronic despinning function in the projectile. In order to accurately determine the axial relationship between the projectile 4 and the rotating platform 7, the present invention installs cubic mirrors on the projectile mounting platform 3 and the rotating platform 7 respectively to determine the axial relationship between the two. The positional relationship between each cubic mirror and the center point of the platform is ensured through structural design and assembly, and the accurate value can be measured by a laser tracker or a theodolite.

[0048] The hardware-in-the-loop simulation device of the present invention ensures the overall accuracy of the device through various aspects such as structural design, structural assembly and position calibration, and has the characteristics of simple structure and strong operability.

[0049] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A hardware-in-the-loop simulation method for high-speed electron racemization, characterized in that, include: Fixed bracket (2) is fixedly installed on the assembly platform (1); The projectile mounting platform (3) is fixedly installed on the fixed bracket (2), the projectile (4) is vertically installed at the center of the projectile mounting platform (3), and the guidance camera in the projectile (4) is connected to the debugging equipment (5); A target mounting platform (6) with a simulated target installed at the center position; A rotating platform (7) is installed at the center below the target mounting platform (6). The rotating platform (7) drives the target mounting platform (6) and the simulated target on it to rotate via a motor. The motor control box is connected to the debugging equipment (5). An adjustable leveling bracket (8) installed between the rotating platform (7) and the assembly platform (1) is used to level the rotating platform (7) and adjust the positional relationship between the projectile mounting platform (3) and the rotating platform (7); A first cubic mirror (9) and a second cubic mirror (10) are respectively installed on the projectile mounting platform (3) and the rotating platform (7). The first cubic mirror (9) and the second cubic mirror (10) are used in conjunction with a laser tracker or a theodolite to calibrate the positions of the projectile mounting platform (3) and the rotating platform (7) and determine the axial relationship between them. The process of calibrating the positions using the first cubic mirror (9), the second cubic mirror (10) and the theodolite includes the following steps: The theodolite is installed on the assembly platform (1); The crosshair cursor on the theodolite is aligned with the crosshair of the first cubic mirror (9) on the projectile mounting platform (3) by adjusting the mechanism on the theodolite. After the cursors coincide, the projectile mounting platform (3) is mechanically fixed. Then move the crosshair cursor of the theodolite to the target position; By adjusting the position and height of the adjustable leveling bracket (8), the crosshairs of the second cubic mirror (10) on the rotating platform (7) are made to coincide with the crosshairs cursor on the theodolite; After the cursors coincide, the rotating platform (7) is mechanically fixed to complete the position calibration; After the device is powered on, the debugging equipment (5) dynamically adjusts the rotation time and rotation speed of the rotating platform (7) through the motor control box and the motor, and at the same time receives the image data fed back by the guidance camera to debug and verify the electronic despinning algorithm in the projectile guidance. The debugging equipment (5) includes a computer, a rotating platform communication interface and a network transmission interface. The computer controls the rotation of the rotating platform (7) through the rotating platform communication interface and configures the parameters of the guide camera and receives the image data fed back by the guide camera through the network transmission interface. The computer is equipped with electronic racemization simulation software, which performs the following steps: Step 1: Software initialization; Step 2: Guide camera parameter configuration and complete camera parameter initialization; Step 3: Output rotation time command and rotation speed command to the rotating platform (7), and the rotating platform (7) rotates according to the rotation time command and rotation speed command; Step 4: Receive image data sent by the guide camera; Step 5: Use the electronic derotation algorithm to process the image data and determine whether the derotation effect of the image meets the requirements. If yes, end the simulation; otherwise, return to step 3, adjust the rotation time and rotation speed, and re-output the rotation time command and rotation speed command to the rotating platform (7).

2. The hardware-in-the-loop simulation method for high-speed electron racemization according to claim 1, characterized in that, The communication interface of the rotating platform is a serial interface.

3. The hardware-in-the-loop simulation method for high-speed electron racemization according to claim 1, characterized in that, The simulation target can be any one of a physical model, an image, or an ultra-high frame rate display device.

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