Gyroscope deviation correcting method and device, computer readable storage medium and electronic device

Abstract

The invention discloses a gyroscope drift correction method and device, a computer readable storage medium and an electronic device. The method comprises the following steps: acquiring first attitude information and gyro data of the photoelectric sight-stabilizing system; when the speed given quantity of the display control rocker is zero and the inertial navigation state is normal, recording second attitude information of the photoelectric sight-stabilizing system at the moment; judging whether the first attitude information and the second attitude information meet a preset starting condition or not; if yes, carrying out spatial position closed loop based on the first attitude information and the second attitude information, and carrying out gyro inertial stabilization loop according to a spatial position closed loop result and gyro data; according to the method, the influence of load balance weight and earth rotation speed can be eliminated, the method is adaptive to a low-precision high-null-drift gyroscope and a scene of large drift of the gyroscope under a large pitch angle, the gyroscope drift correction can be automatically carried out in real time, the drift correction error is small, the drift correction effect is remarkable, and the real-time performance is effectively improved. The technical problems that the drift compensation error is large, the effect is not obvious, and the real-time performance is poor are solved.

Description

Technical Field

[0001] The present application relates to the field of high-precision stable tracking control, and more specifically, to a gyro drift correction method, device, computer-readable storage medium, and electronic device. Background Art

[0002] The optoelectronic stabilized aiming system is mainly installed on vehicle-mounted or airborne platforms, and is mainly used to stabilize the image, achieve stable aiming and tracking of the target, and use the joystick on the display and control end for target reconnaissance and search. The gyro sensor is its core component, but due to the inherent characteristics of temperature drift and zero drift of the gyro itself, the optoelectronic stabilized aiming system will gradually deviate from the target in the gyro-stabilized inertial state (when the joystick speed is zero), and seriously cause the target to leave the field of view, thus affecting the observation and control of the optoelectronic stabilized aiming system.

[0003] In view of the gyro drift problem in the electro-optical stabilization system, the existing measures mainly compensate for the gyro drift, mainly including: 1) manual compensation: that is, the gyro drift value is estimated by visual observation of the image on the display control by human eyes, and then the compensation value is manually issued through the display control software. 2) automatic compensation: that is, using other angle measurement elements in the system (encoder angle, tracking miss distance, etc.), when the gyro of the electro-optical stabilization system is in a stable inertial state, Calculate the drift angle of the optical axis within a certain time , and then differentiate to obtain the angular velocity of the optical axis (i.e. the drift value of the gyro), and then automatically compensate it to the gyro data. 3) After coordinate transformation using the main inertial attitude information, the attitude information of the optoelectronic stabilization system is obtained to perform closed-loop drift correction of the spatial position loop.

[0004] The existing methods of manual compensation and automatic compensation of gyro drift have a certain effect of slowing down and compensating the drift of the gyro. However, the gyro drift compensation of the pitch axis is affected by the load counterweight and the rotation speed of the earth, so the gyro drift compensation error is large and the effect is not obvious, especially at large pitch angles; at the same time, the effect is not obvious for gyros with low precision and high zero drift; in addition, the existing gyro drift compensation method only compensates once at power-on, and is not a real-time adaptive compensation. Summary of the invention

[0005] The main purpose of the present application is to provide a gyro drift correction method, device, computer-readable storage medium and electronic device to solve the problems of large gyro drift compensation error, unclear effect and poor real-time performance.

[0006] In order to achieve the above objective, according to one aspect of the present application, a gyroscope drift correction method is provided.

[0007] The gyro drift correction method according to the present application includes: obtaining first attitude information and gyro data of the optoelectronic stabilization system; when the display and control joystick speed given value is zero and the inertial navigation state is normal, recording second attitude information of the optoelectronic stabilization system at this time; judging whether the first attitude information and the second attitude information meet the preset start-up conditions; if so, performing a spatial position closed loop based on the first attitude information and the second attitude information, and performing a gyro inertial stabilization loop according to the spatial position closed loop result and the gyro data.

[0008] Further, after determining whether the first posture information and the second posture information satisfy a preset start condition, the method further includes: if not, determining whether the first posture information and the second posture information satisfy a preset stop condition; if satisfied, stopping the gyro drift correction.

[0009] Furthermore, obtaining the first posture information of the optoelectronic stabilization system includes: using an IMU device to collect the first posture information of the optoelectronic stabilization system in real time.

[0010] Furthermore, obtaining the first attitude information of the electro-optical stabilization system includes: Real-time collection of attitude information of vehicle-mounted or airborne inertial navigation and angle measurement information of the encoder of the electro-optical stabilization system; According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first conversion matrix from the north-east ground coordinate system to the inertial navigation coordinate system is obtained through coordinate conversion: ; Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east earth coordinate system, M1 is the conversion matrix from the north-east earth coordinate system to the inertial navigation coordinate system, yaw is the heading angle, pitch is the pitch angle, and roll is the roll angle. is the expanded form of M1; According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the optoelectronic stabilization system is obtained through coordinate transformation: ; Among them, X b Y b Z b is the inertial navigation coordinate system, XYZ is the optical axis coordinate system, M2 is the conversion matrix from the inertial navigation coordinate system to the optical boresight of the optoelectronic stabilization system, fwcalangle is the azimuth axis encoder angle, gdcalangle is the elevation axis encoder angle, is the expanded form of M2; According to the first conversion matrix and the second conversion matrix, the optical line of sight conversion matrix from the north-east coordinate system to the optoelectronic stabilized aiming system is obtained: ; Among them, X n Y n Z n is the north-east coordinate system, XYZ is the optical axis coordinate system, M3 is the conversion matrix from the north-east ground coordinate system to the optical line of sight of the optoelectronic stabilization system, It is the expanded form of M3; The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix.

[0011] Furthermore, judging whether the first posture information and the second posture information satisfy preset start-up conditions includes: judging whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is greater than a set start-up threshold; if satisfied, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data, including: if yes, taking the heading angle in the second posture information as a given value, and taking the heading angle in the first posture information as a feedback value to perform an azimuth space position closed loop, and calculating a first speed compensation given amount in the north-east coordinate system; calculating a second speed compensation given amount in the inertial navigation coordinate system according to the first transformation matrix, taking the second speed compensation given amount as a given value, and taking the azimuth axis gyro data in the gyro data as a feedback value to perform a gyro inertial stabilization loop.

[0012] Furthermore, judging whether the first posture information and the second posture information satisfy the preset start-up condition also includes: judging whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is greater than the set start-up threshold; if satisfied, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data, including: if yes, taking the pitch angle in the second posture information as a given value, and taking the pitch angle in the first posture information as a feedback value to perform a pitch space position closed loop, and calculating the third speed compensation given amount in the north-east coordinate system; calculating the fourth speed compensation given amount in the inertial navigation coordinate system according to the first transformation matrix, taking the fourth speed compensation given amount as a given value, and taking the pitch axis gyro data in the gyro data as a feedback value to perform a gyro inertial stabilization loop.

[0013] Furthermore, determining whether the first posture information and the second posture information satisfy a preset stop condition includes: determining whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is less than a set stop threshold; or determining whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is less than a set stop threshold.

[0014] In order to achieve the above objective, according to another aspect of the present application, a gyro drift correction device is provided.

[0015] The gyro drift correction device according to the present application includes: an information acquisition module, which is used to obtain the first posture information and gyro data of the optoelectronic stabilization system; an information recording module, which is used to record the second posture information of the optoelectronic stabilization system when the display and control joystick speed setting value is zero and the inertial navigation state is normal; a startup judgment module, which is used to judge whether the first posture information and the second posture information meet the preset startup conditions; and a gyro drift correction module, which is used to perform a spatial position closed loop based on the first posture information and the second posture information if the conditions are met, and perform a gyro inertial stabilization loop based on the spatial position closed loop result and the gyro data.

[0016] In order to achieve the above objective, according to another aspect of the present application, a computer-readable storage medium is provided.

[0017] According to the computer-readable storage medium of the present application, a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the gyro drift correction method for an electro-optical stabilization aiming system when running.

[0018] In order to achieve the above objective, according to another aspect of the present application, a gyro drift correction device is provided.

[0019] The electronic device according to the present application includes: a memory and a processor, wherein the memory stores a computer program, wherein the processor is configured to run the computer program to execute the gyro drift correction method for an electro-optical stabilization system.

[0020] In the embodiment of the present application, a conditional judgment and calculation processing method is adopted to obtain the first attitude information and gyro data of the optoelectronic stabilization system; when the display and control joystick speed setting is zero and the inertial navigation state is normal, the second attitude information of the optoelectronic stabilization system is recorded at this time; it is determined whether the first attitude information and the second attitude information meet the preset start-up conditions; if so, a spatial position closed loop is performed based on the first attitude information and the second attitude information, and a gyro inertial stabilization loop is performed according to the spatial position closed loop result and the gyro data; it can eliminate the influence of the load counterweight and the earth's rotation speed, adapt to the scenes of low-precision and high-zero drift gyroscopes and large gyro drift at large pitch angles, and can automatically perform gyro drift correction in real time, thereby achieving a small drift correction error, significant drift correction effect, and effectively improving the real-time technical effect, thereby solving the technical problems of large drift compensation error, unclear effect, and poor real-time performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings: Figure 1 is a flow chart of a gyro drift correction method according to an embodiment of the present application; Figure 2 is a schematic structural diagram of a gyro drift correction device according to an embodiment of the present application; Figure 3 is a control block diagram of an electro-optical stabilization system according to an embodiment of the present application; Figure 4 is a schematic diagram of coordinate transformation according to an embodiment of the present application; Figure 5 It is a flow chart of a gyro drift correction method according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0025] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0026] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] According to an embodiment of the present invention, a gyro drift correction method is provided, such as Figure 1 , 3 As shown in FIG. 4 , the method includes the following steps S101 to S104: Step S101, obtaining first attitude information and gyro data of an electro-optical stabilization aiming system; The first attitude information of the electro-optical stabilization system includes the heading angle yawlos, the pitch angle pitchlos, and the roll angle rolllos; this information can be obtained by direct detection or indirect calculation.

[0029] In a preferred embodiment, obtaining the first posture information of the optoelectronic stabilization system includes: using an IMU device to collect the first posture information of the optoelectronic stabilization system in real time, thereby avoiding complex calculation and processing processes and reducing processor pressure.

[0030] In another preferred embodiment, Figure 3 As shown, obtaining the first attitude information of the electro-optical stabilization system includes: Real-time collection of vehicle-mounted or airborne inertial navigation attitude information (yaw, pitch, roll) and the angle measurement information of the electro-optical stabilization system's own encoder (azimuth axis encoder angle fwcalangle, pitch axis encoder angle gdcalangle); According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first conversion matrix from the north-east ground coordinate system to the inertial navigation coordinate system is obtained through coordinate conversion: ; Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east earth coordinate system, M1 is the conversion matrix from the north-east earth coordinate system to the inertial navigation coordinate system, yaw is the heading angle, pitch is the pitch angle, and roll is the roll angle. is the expanded form of M1; According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the optoelectronic stabilization system is obtained through coordinate transformation: ; Among them, X b Y b Z b is the inertial navigation coordinate system, XYZ is the optical axis coordinate system, M2 is the conversion matrix from the inertial navigation coordinate system to the optical boresight of the optoelectronic stabilization system, fwcalangle is the azimuth axis encoder angle, gdcalangle is the elevation axis encoder angle, is the expanded form of M2; According to the first conversion matrix and the second conversion matrix, the optical line of sight conversion matrix from the north-east coordinate system to the optoelectronic stabilized aiming system is obtained: ; Among them, X n Y n Zn is the north-east coordinate system, XYZ is the optical axis coordinate system, M3 is the conversion matrix from the north-east ground coordinate system to the optical line of sight of the optoelectronic stabilization system, It is the expanded form of M3; The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix.

[0031] Without adding additional hardware equipment, the spatial attitude information of the optoelectronic stabilization system can be inversely calculated by making full use of the attitude information of the vehicle-mounted or airborne inertial navigation and the encoder angle measurement information of the optoelectronic stabilization system itself, which can effectively reduce the size of the system.

[0032] The gyro data includes the azimuth axis gyro data fw_gyrovalue and the elevation axis gyro data gd_gyrovalue; the data can be directly collected from the electro-optical stabilization system.

[0033] Step S102: when the given speed of the display and control joystick is zero and the inertial navigation state is normal, the second attitude information of the optoelectronic stabilization aiming system is recorded; The second attitude information of the electro-optical stabilization system includes the heading angle yawlostemp, the pitch angle pitchlostemp, and the roll angle rolllostemp; which can be directly obtained from the electro-optical stabilization system.

[0034] Step S103, determining whether the first posture information and the second posture information meet a preset start condition; Step S104: If the conditions are met, a spatial position closed loop is performed based on the first posture information and the second posture information, and a gyro inertial stabilization loop is performed according to the spatial position closed loop result and the gyro data.

[0035] Judging whether the first posture information and the second posture information meet the preset start-up conditions includes: judging whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is greater than the set start-up threshold; if satisfied, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data, including: if yes, taking the heading angle in the second posture information as a given value, and taking the heading angle in the first posture information as a feedback value to perform an azimuth space position closed loop, and calculating the first speed compensation given amount in the north-east coordinate system; calculating the second speed compensation given amount in the inertial navigation coordinate system according to the first conversion matrix, taking the second speed compensation given amount as a given value, and taking the azimuth axis gyro data in the gyro data as a feedback value to perform a gyro inertial stabilization loop.

[0036] Specifically, it is determined whether |yawlostemp-yawlos| is greater than the set start threshold. If it is greater than the start threshold, yawlostemp is used as a given value, and yawlos in the first attitude information is used as a feedback value to close the azimuth space position loop, and the first velocity compensation given value geofwvelgive in the north-east coordinate system is calculated. The second velocity compensation given value fwvelgive in the inertial navigation coordinate system is calculated according to the first conversion matrix, and the second velocity compensation given value fwvelgive is used as a given value, wherein, ; The real-time gyro data fw_gyrovalue of the azimuth axis is used as the feedback value for the gyro inertial stabilization loop to correct the azimuth axis gyro drift. and stop threshold According to the actual drift correction effect, real-time adjustment is recommended to start the threshold The stop threshold is 0.5% of the current field of view. is 0.05% of the current field of view. The current field of view = , where f is the current focal length of the optical payload (mm) and l is the pixel size of the detector (um).

[0037] Determining whether the first posture information and the second posture information meet the preset start-up conditions also includes: determining whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is greater than a set start-up threshold; if satisfied, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data, including: if yes, taking the pitch angle in the second posture information as a given value, and taking the pitch angle in the first posture information as a feedback value to perform a pitch space position closed loop, and calculating the third speed compensation given amount in the north-east coordinate system; calculating the fourth speed compensation given amount in the inertial navigation coordinate system according to the first conversion matrix, taking the fourth speed compensation given amount as a given value, and taking the pitch axis gyro data in the gyro data as a feedback value to perform a gyro inertial stabilization loop.

[0038] Determine whether |pitchlostemp-pitchlos| is greater than the set start threshold , if it is greater than the start threshold , then pitchlostemp is taken as the given value, pitchlos is taken as the feedback value to perform pitch space position closed loop, and the third velocity compensation given value geogdvelgive in the north-east earth coordinate system is calculated, and the fourth velocity compensation given value gdvelgive in the inertial navigation coordinate system is calculated according to the first conversion matrix, and the fourth velocity compensation given value gdvelgive is taken as the given value, where, ; The real-time gyro data gd_gyrovalue of the pitch axis is used as the feedback value for the gyro inertial stabilization loop to correct the gyro drift of the pitch axis. and stop threshold According to the actual drift correction effect, real-time adjustment is recommended to start the threshold The stop threshold is 0.5% of the current field of view. is 0.05% of the current field of view. The current field of view = , where f is the current focal length of the optical payload (mm) and l is the pixel size of the detector (um).

[0039] Further, after determining whether the first posture information and the second posture information satisfy a preset start condition, the method further includes: if not, determining whether the first posture information and the second posture information satisfy a preset stop condition; if satisfied, stopping the gyro drift correction.

[0040] Specifically, judging whether the first posture information and the second posture information meet the preset stop condition includes: judging whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is less than a set stop threshold; or judging whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is less than a set stop threshold. If it is less than the stop threshold The azimuth space position closed loop is not performed, that is, the gyro drift correction is not performed; if it is less than the stop threshold The pitch space position closed loop is not performed, that is, the gyro drift correction is not performed.

[0041] From the above description, it can be seen that the present invention achieves the following technical effects: In the embodiment of the present application, a conditional judgment and calculation processing method is adopted to obtain the first attitude information and gyro data of the optoelectronic stabilization system; when the display and control joystick speed setting is zero and the inertial navigation state is normal, the second attitude information of the optoelectronic stabilization system is recorded at this time; it is determined whether the first attitude information and the second attitude information meet the preset start-up conditions; if so, a spatial position closed loop is performed based on the first attitude information and the second attitude information, and a gyro inertial stabilization loop is performed according to the spatial position closed loop result and the gyro data; it can eliminate the influence of the load counterweight and the earth's rotation speed, adapt to the scenes of low-precision and high-zero drift gyroscopes and large gyro drift at large pitch angles, and can automatically perform gyro drift correction in real time, thereby achieving a small drift correction error, significant drift correction effect, and effectively improving the real-time technical effect, thereby solving the technical problems of large drift compensation error, unclear effect, and poor real-time performance.

[0042] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0043] According to an embodiment of the present invention, a device for implementing the above gyro drift correction method is also provided, such as Figure 2 , 3 As shown in 4, the device includes: An information acquisition module 10 is used to acquire first attitude information and gyro data of an electro-optical stabilization aiming system; The first attitude information of the electro-optical stabilization system includes the heading angle yawlos, the pitch angle pitchlos, and the roll angle rolllos; this information can be obtained by direct detection or indirect calculation.

[0044] In a preferred embodiment, obtaining the first posture information of the optoelectronic stabilization system includes: using an IMU device to collect the first posture information of the optoelectronic stabilization system in real time, thereby avoiding complex calculation and processing processes and reducing processor pressure.

[0045] In another preferred embodiment, Figure 3 As shown, obtaining the first attitude information of the electro-optical stabilization system includes: Real-time collection of vehicle-mounted or airborne inertial navigation attitude information (yaw, pitch, roll) and the angle measurement information of the electro-optical stabilization system's own encoder (azimuth axis encoder angle fwcalangle, pitch axis encoder angle gdcalangle); According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first conversion matrix from the north-east ground coordinate system to the inertial navigation coordinate system is obtained through coordinate conversion: ; Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east earth coordinate system, M1 is the conversion matrix from the north-east earth coordinate system to the inertial navigation coordinate system, yaw is the heading angle, pitch is the pitch angle, and roll is the roll angle. is the expanded form of M1; According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the optoelectronic stabilization system is obtained through coordinate transformation: ; Among them, X b Y b Zb is the inertial navigation coordinate system, XYZ is the optical axis coordinate system, M2 is the conversion matrix from the inertial navigation coordinate system to the optical boresight of the optoelectronic stabilization system, fwcalangle is the azimuth axis encoder angle, gdcalangle is the elevation axis encoder angle, is the expanded form of M2; According to the first conversion matrix and the second conversion matrix, the optical line of sight conversion matrix from the north-east coordinate system to the optoelectronic stabilized aiming system is obtained: ; Among them, X n Y n Z n is the north-east coordinate system, XYZ is the optical axis coordinate system, M3 is the conversion matrix from the north-east ground coordinate system to the optical line of sight of the optoelectronic stabilization system, It is the expanded form of M3; The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix.

[0046] Without adding additional hardware equipment, the spatial attitude information of the optoelectronic stabilization system can be inversely calculated by making full use of the attitude information of the vehicle-mounted or airborne inertial navigation and the encoder angle measurement information of the optoelectronic stabilization system itself, which can effectively reduce the size of the system.

[0047] The gyro data includes the azimuth axis gyro data fw_gyrovalue and the elevation axis gyro data gd_gyrovalue; the data can be directly collected from the electro-optical stabilization system.

[0048] The information recording module 20 is used to record the second attitude information of the electro-optical stabilization system when the given speed of the display and control joystick is zero and the inertial navigation state is normal; The second attitude information of the electro-optical stabilization system includes the heading angle yawlostemp, the pitch angle pitchlostemp, and the roll angle rolllostemp; which can be directly obtained from the electro-optical stabilization system.

[0049] A start-up judgment module 30 is used to judge whether the first posture information and the second posture information meet a preset start-up condition; The gyro drift correction module 40 is used to perform a space position closed loop based on the first posture information and the second posture information if the conditions are met, and perform a gyro inertial stabilization loop according to the space position closed loop result and the gyro data.

[0050] Judging whether the first posture information and the second posture information meet the preset start-up conditions includes: judging whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is greater than the set start-up threshold; if satisfied, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data, including: if yes, taking the heading angle in the second posture information as a given value, and taking the heading angle in the first posture information as a feedback value to perform an azimuth space position closed loop, and calculating the first speed compensation given amount in the north-east coordinate system; calculating the second speed compensation given amount in the inertial navigation coordinate system according to the first conversion matrix, taking the second speed compensation given amount as a given value, and taking the azimuth axis gyro data in the gyro data as a feedback value to perform a gyro inertial stabilization loop.

[0051] Specifically, it is determined whether |yawlostemp-yawlos| is greater than the set start threshold. If it is greater than the start threshold, yawlostemp is used as a given value, and yawlos in the first attitude information is used as a feedback value to close the azimuth space position loop, and the first velocity compensation given value geofwvelgive in the north-east coordinate system is calculated. The second velocity compensation given value fwvelgive in the inertial navigation coordinate system is calculated according to the first conversion matrix, and the second velocity compensation given value fwvelgive is used as a given value, wherein, ; The real-time gyro data fw_gyrovalue of the azimuth axis is used as the feedback value for the gyro inertial stabilization loop to correct the azimuth axis gyro drift. and stop threshold According to the actual drift correction effect, real-time adjustment is recommended to start the threshold The stop threshold is 0.5% of the current field of view. is 0.05% of the current field of view. The current field of view = , where f is the current focal length of the optical payload (mm) and l is the pixel size of the detector (um).

[0052] Determining whether the first posture information and the second posture information meet the preset start-up conditions also includes: determining whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is greater than a set start-up threshold; if satisfied, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data, including: if yes, taking the pitch angle in the second posture information as a given value, and taking the pitch angle in the first posture information as a feedback value to perform a pitch space position closed loop, and calculating the third speed compensation given amount in the north-east coordinate system; calculating the fourth speed compensation given amount in the inertial navigation coordinate system according to the first conversion matrix, taking the fourth speed compensation given amount as a given value, and taking the pitch axis gyro data in the gyro data as a feedback value to perform a gyro inertial stabilization loop.

[0053] Determine whether |pitchlostemp-pitchlos| is greater than the set start threshold , if it is greater than the start threshold , then pitchlostemp is taken as the given value, pitchlos is taken as the feedback value to perform pitch space position closed loop, and the third velocity compensation given value geogdvelgive in the north-east earth coordinate system is calculated, and the fourth velocity compensation given value gdvelgive in the inertial navigation coordinate system is calculated according to the first conversion matrix, and the fourth velocity compensation given value gdvelgive is taken as the given value, where, ; The real-time gyro data gd_gyrovalue of the pitch axis is used as the feedback value for the gyro inertial stabilization loop to correct the gyro drift of the pitch axis. and stop threshold According to the actual drift correction effect, real-time adjustment is recommended to start the threshold The stop threshold is 0.5% of the current field of view. is 0.05% of the current field of view. The current field of view = , where f is the current focal length of the optical payload (mm) and l is the pixel size of the detector (um).

[0054] Further, after determining whether the first posture information and the second posture information satisfy a preset start condition, the method further includes: if not, determining whether the first posture information and the second posture information satisfy a preset stop condition; if satisfied, stopping the gyro drift correction.

[0055] Specifically, judging whether the first posture information and the second posture information meet the preset stop condition includes: judging whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is less than a set stop threshold; or judging whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is less than a set stop threshold. If it is less than the stop threshold The azimuth space position closed loop is not performed, that is, the gyro drift correction is not performed; if it is less than the stop threshold The pitch space position closed loop is not performed, that is, the gyro drift correction is not performed.

[0056] From the above description, it can be seen that the present invention achieves the following technical effects: In the embodiment of the present application, a conditional judgment and calculation processing method is adopted to obtain the first attitude information and gyro data of the optoelectronic stabilization system; when the display and control joystick speed setting is zero and the inertial navigation state is normal, the second attitude information of the optoelectronic stabilization system is recorded at this time; it is determined whether the first attitude information and the second attitude information meet the preset start-up conditions; if so, a spatial position closed loop is performed based on the first attitude information and the second attitude information, and a gyro inertial stabilization loop is performed according to the spatial position closed loop result and the gyro data; it can eliminate the influence of the load counterweight and the earth's rotation speed, adapt to the scenes of low-precision and high-zero drift gyroscopes and large gyro drift at large pitch angles, and can automatically perform gyro drift correction in real time, thereby achieving a small drift correction error, significant drift correction effect, and effectively improving the real-time technical effect, thereby solving the technical problems of large drift compensation error, unclear effect, and poor real-time performance.

[0057] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0058] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gyro drift correction method, characterized in that: include: Obtain the first attitude information and gyro data of the electro-optical stabilization system; When the speed setting of the display and control joystick is zero and the inertial navigation state is normal, the second attitude information of the electro-optical stabilization system is recorded at this time; Determine whether the first posture information and the second posture information meet a preset start condition; If the conditions are met, a space position closed loop is performed based on the first posture information and the second posture information, and a gyro inertial stabilization loop is performed according to the space position closed loop result and the gyro data.

2. The gyro drift correction method according to claim 1, characterized in that: After determining whether the first posture information and the second posture information meet the preset starting condition, the method further includes: If not, determining whether the first posture information and the second posture information meet a preset stop condition; If satisfied, stop gyro drift correction.

3. The gyro drift correction method according to claim 1, characterized in that: The first attitude information of the electro-optical stabilization system is obtained by: The IMU device is used to collect the first attitude information of the electro-optical stabilization system in real time.

4. The gyro drift correction method according to claim 1, characterized in that: The first attitude information of the electro-optical stabilization system is obtained by: Real-time collection of attitude information of vehicle-mounted or airborne inertial navigation and angle measurement information of the encoder of the electro-optical stabilization system; According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first conversion matrix from the north-east ground coordinate system to the inertial navigation coordinate system is obtained through coordinate conversion: ； Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east earth coordinate system, M1 is the conversion matrix from the north-east earth coordinate system to the inertial navigation coordinate system, yaw is the heading angle, pitch is the pitch angle, and roll is the roll angle. is the expanded form of M1; According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the optoelectronic stabilization system is obtained through coordinate transformation: ； Among them, X b Y b Z b is the inertial navigation coordinate system, XYZ is the optical axis coordinate system, M2 is the conversion matrix from the inertial navigation coordinate system to the optical boresight of the optoelectronic stabilization system, fwcalangle is the azimuth axis encoder angle, gdcalangle is the elevation axis encoder angle, is the expanded form of M2; According to the first conversion matrix and the second conversion matrix, the optical line of sight conversion matrix from the north-east coordinate system to the optoelectronic stabilized aiming system is obtained: ； Among them, X n Y n Z n is the north-east coordinate system, XYZ is the optical axis coordinate system, M3 is the conversion matrix from the north-east ground coordinate system to the optical line of sight of the optoelectronic stabilization system, It is the expanded form of M3; The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix.

5. The gyro drift correction method according to claim 4, characterized in that: Determining whether the first posture information and the second posture information meet a preset start condition includes: Determine whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is greater than a set start threshold; If the conditions are met, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data includes: If so, the heading angle in the second attitude information is taken as the given value, and the heading angle in the first attitude information is taken as the feedback value to perform the azimuth space position closed loop, and the first speed compensation given amount in the north-east earth coordinate system is calculated; the second speed compensation given amount in the inertial navigation coordinate system is calculated according to the first transformation matrix, the second speed compensation given amount is taken as the given value, and the azimuth axis gyro data in the gyro data is taken as the feedback value to perform the gyro inertial stabilization loop.

6. The gyro drift correction method according to claim 4, characterized in that: Determining whether the first posture information and the second posture information meet a preset start condition further includes: Determine whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is greater than a set start threshold; If the conditions are met, performing a space position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the space position closed loop result and the gyro data includes: If so, the pitch angle in the second attitude information is taken as the given value, and the pitch angle in the first attitude information is taken as the feedback value to perform the pitch space position closed loop, and the third speed compensation given amount in the north-east coordinate system is calculated; the fourth speed compensation given amount in the inertial navigation coordinate system is calculated according to the first transformation matrix, and the fourth speed compensation given amount is taken as the given value, and the pitch axis gyro data in the gyro data is taken as the feedback value to perform the gyro inertial stabilization loop.

7. The gyro drift correction method according to claim 2, characterized in that: Determining whether the first posture information and the second posture information meet a preset stop condition includes: Determine whether the absolute value of the difference between the heading angle in the second posture information and the heading angle in the first posture information is less than a set stop threshold; or, determine whether the absolute value of the difference between the pitch angle in the second posture information and the pitch angle in the first posture information is less than a set stop threshold.

8. A gyro drift correction device, characterized in that: include: An information acquisition module, used to acquire the first attitude information and gyro data of the electro-optical stabilization system; The information recording module is used to record the second attitude information of the optoelectronic stabilization system when the display and control joystick speed setting value is zero and the inertial navigation state is normal; A start judgment module is used to judge whether the first posture information and the second posture information meet a preset start condition; The gyro drift correction module is used to perform a space position closed loop based on the first posture information and the second posture information if the conditions are met, and to perform a gyro inertial stabilization loop according to the space position closed loop result and the gyro data.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the gyro drift correction method according to any one of claims 1 to 7 when running.

10. An electronic device comprising: A memory and a processor, characterized in that a computer program is stored in the memory, wherein the processor is configured to run the computer program to execute the gyro drift correction method according to any one of claims 1 to 7.

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