Gyroscope drift correction method and device, computer readable storage medium and electronic device

Abstract

The application discloses a gyro 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 an optoelectronic stabilized sighting system; when the speed of a display control joystick is zero and the inertial navigation state is normal, recording second attitude information of the optoelectronic stabilized sighting system at this time; judging whether the first attitude information and the second attitude information satisfy a preset starting condition; if yes, performing a space position closed loop based on the first attitude information and the second attitude information, and performing a gyro inertial stabilization loop according to a space position closed loop result and the gyro data; the method can eliminate the influence of load counterweight and the earth rotation speed, is suitable for a low-precision high-zero-drift gyro and a large-pitch-angle gyro drift large scene, can automatically and timely correct the gyro drift, has small correction error, obvious correction effect and improved real-time performance. The application solves the technical problems of large drift compensation error, non-obvious effect and poor real-time performance.

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] Electro-optical (EO) stabilized aiming systems are primarily installed on vehicle-mounted or airborne platforms. They are primarily used to stabilize images, achieve stable aiming and tracking of targets, and simultaneously utilize the joystick on the display and control terminal for target reconnaissance and search. The gyro sensor is its core component, but due to the inherent temperature drift and zero drift of the gyro, the optical boresight of the EO stabilized aiming system in the gyro-stabilized inertial state (when the joystick velocity is zero) can gradually deviate from the target. This can severely cause the target to move out of view, thus affecting the system's observation and control.

[0003] In order to solve the gyro drift problem in the electro-optical stabilized aiming 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, 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. Calculate the drift angle of the optical axis within a certain time , thereby differentiating the angular velocity of the optical axis (i.e., the gyro drift value), which is then automatically compensated for in the gyro data. 3) Using the master inertial attitude information to perform coordinate transformation, the attitude information of the electro-optical stabilization system is calculated to perform closed-loop drift correction in the spatial position loop.

[0004] Existing manual and automatic gyro drift compensation methods have a certain effect on slowing down and compensating gyro drift. However, due to the influence of load counterweight and the rotation speed of the earth, the gyro drift compensation error of the pitch axis 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 this 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-mentioned 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 setting 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 starting 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 based on the spatial position closed loop result and the gyro data.

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

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

[0010] Furthermore, obtaining the first attitude information of the electro-optical stabilization system includes:

[0011] Real-time acquisition of attitude information from vehicle-mounted or airborne inertial navigation and angle measurement information from the encoder of the electro-optical stabilization system;

[0012] According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first transformation matrix from the north-east coordinate system to the inertial navigation coordinate system is obtained through coordinate transformation:

[0013] ;

[0014] Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east coordinate system, M1 is the conversion matrix from the north-east 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;

[0015] According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the electro-optical stabilization system is obtained through coordinate transformation:

[0016] ;

[0017] Among them, X b Y b Z bis 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 axis of the electro-optical stabilization system, fwcalangle is the azimuth axis encoder angle, gdcalangle is the pitch axis encoder angle, is the expanded form of M2;

[0018] 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 electro-optical stabilized aiming system is obtained:

[0019] ;

[0020] 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 electro-optical stabilized aiming system, It is the expanded form of M3;

[0021] The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix.

[0022] Furthermore, judging whether the first attitude information and the second attitude information meet the preset start-up conditions includes: judging whether the absolute value of the difference between the heading angle in the second attitude information and the heading angle in the first attitude information is greater than the set start-up threshold; if satisfied, performing a spatial position closed loop based on the first attitude information and the second attitude information, and performing a gyro inertial stabilization loop based on the spatial position closed loop result and the gyro data, including: if yes, taking the heading angle in the second attitude information as a given value, and taking the heading angle in the first attitude information as a feedback value to perform an azimuth spatial 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.

[0023] Furthermore, 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 spatial position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop based on the spatial 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 spatial 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 based on 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.

[0024] Furthermore, determining whether the first posture information and the second posture information meet 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.

[0025] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a gyroscope drift correction device is provided.

[0026] 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 at this time 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 to perform a gyro inertial stabilization loop based on the spatial position closed loop result and the gyro data.

[0027] In order to achieve the above objective, according to another aspect of the present application, a computer-readable storage medium is provided.

[0028] 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 system when running.

[0029] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a gyroscope drift correction device is provided.

[0030] 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.

[0031] In an 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 at this time is recorded; it is judged whether the first attitude information and the second attitude information meet the preset starting 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 gyro with low precision and high zero drift and the scene with 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

[0032] The drawings that constitute part of this application are used to provide a further understanding of this application and make other features, objects and advantages of this application more apparent. The illustrative embodiment drawings of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0033] Figure 1 1 is a flow chart of a gyro drift correction method according to an embodiment of the present application;

[0034] Figure 2 is a schematic structural diagram of a gyro drift correction device according to an embodiment of the present application;

[0035] Figure 3 is a control block diagram of an electro-optical stabilization system according to an embodiment of the present application;

[0036] Figure 4 is a schematic diagram of coordinate conversion according to an embodiment of the present application;

[0037] Figure 5 It is a flow chart of a gyro drift correction method according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0039] 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 sequential order. 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 that includes 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.

[0040] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe the present invention and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0041] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0042] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0043] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this 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.

[0044] According to an embodiment of the present invention, a gyro drift correction method is provided, such as Figure 1 、 3 As shown in FIG4 , the method includes the following steps S101 to S104:

[0045] Step S101: Acquire first attitude information and gyro data of an electro-optical stabilization system;

[0046] 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.

[0047] In a preferred embodiment, obtaining the first posture information of the electro-optical stabilization system includes: using an IMU device to collect the first posture information of the electro-optical stabilization system in real time, thereby avoiding complex calculation and processing processes and reducing processor pressure.

[0048] In another preferred embodiment, Figure 3 As shown, obtaining the first attitude information of the electro-optical stabilization system includes:

[0049] Real-time acquisition of attitude information (yaw, pitch, roll) from vehicle-mounted or airborne inertial navigation and angle measurement information (azimuth axis encoder angle fwcalangle, pitch axis encoder angle gdcalangle) from the electro-optical stabilization system's own encoder.

[0050] According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first transformation matrix from the north-east coordinate system to the inertial navigation coordinate system is obtained through coordinate transformation:

[0051] ;

[0052] Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east coordinate system, M1 is the conversion matrix from the north-east 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;

[0053] According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the electro-optical stabilization system is obtained through coordinate transformation:

[0054] ;

[0055] 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 axis of the electro-optical stabilization system, fwcalangle is the azimuth axis encoder angle, gdcalangle is the pitch axis encoder angle, is the expanded form of M2;

[0056] 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 electro-optical stabilized aiming system is obtained:

[0057] ;

[0058] 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 electro-optical stabilized aiming system, It is the expanded form of M3;

[0059] The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix.

[0060] 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; the system size can be effectively reduced.

[0061] The gyro data includes the azimuth axis gyro data fw_gyrovalue and the elevation axis gyro data gd_gyrovalue. This data can be directly collected from the electro-optical stabilization system.

[0062] Step S102: When the display and control joystick speed setting value is zero and the inertial navigation state is normal, record the second attitude information of the electro-optical stabilization system at this time;

[0063] 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 obtained directly from the electro-optical stabilization system.

[0064] Step S103: determining whether the first posture information and the second posture information meet a preset starting condition;

[0065] 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.

[0066] Determining whether the first posture information and the second posture information meet the preset start-up conditions 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 greater than the set start-up threshold; if satisfied, performing a spatial position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop based on the spatial 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 spatial 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.

[0067] Specifically, it is determined whether |yawlostemp-yawlos| is greater than the set startup threshold. If it is greater than the startup threshold, yawlostemp is used as the given value, and yawlos in the first attitude information is used as the feedback value to perform a closed-loop azimuth space position. The first velocity compensation given value geofwvelgive in the northeast coordinate system is calculated, and the second velocity compensation given value fwvelgive in the inertial navigation coordinate system is calculated according to the first conversion matrix. The second velocity compensation given value fwvelgive is used as the given value, where,

[0068] ;

[0069] 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 stopping threshold According to the actual drift correction effect, real-time adjustment is recommended. The stop threshold is 0.5% of the current field of view. 0.05% of the current field of view, 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).

[0070] 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 the set start-up threshold; if satisfied, performing a spatial position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop based on the spatial 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 spatial 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.

[0071] Determine whether |pitchlostemp-pitchlos| is greater than the set startup threshold If it is greater than the start threshold , then pitchlostemp is used as the given value, pitchlos is used as the feedback value to perform pitch space position closed loop, calculate the third velocity compensation given value geogdvelgive in the north-east coordinate system, calculate the fourth velocity compensation given value gdvelgive in the inertial navigation coordinate system according to the first conversion matrix, and use the fourth velocity compensation given value gdvelgive as the given value, where,

[0072] ;

[0073] 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 pitch axis gyro drift. and stopping threshold According to the actual drift correction effect, real-time adjustment is recommended. The stop threshold is 0.5% of the current field of view. 0.05% of the current field of view, 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).

[0074] Furthermore, after determining whether the first posture information and the second posture information meet a preset start condition, the method further includes: if not, determining whether the first posture information and the second posture information meet a preset stop condition; if so, stopping the gyro drift correction.

[0075] 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.

[0076] From the above description, it can be seen that the present invention achieves the following technical effects:

[0077] In an 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 at this time is recorded; it is judged whether the first attitude information and the second attitude information meet the preset starting 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 gyro with low precision and high zero drift and the scene with 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.

[0078] 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.

[0079] According to an embodiment of the present invention, a device for implementing the above-mentioned gyro drift correction method is also provided, such as Figure 2 、 3 As shown in Figure 4, the device includes:

[0080] An information acquisition module 10 is used to obtain first attitude information and gyro data of the electro-optical stabilization system;

[0081] 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.

[0082] In a preferred embodiment, obtaining the first posture information of the electro-optical stabilization system includes: using an IMU device to collect the first posture information of the electro-optical stabilization system in real time, thereby avoiding complex calculation and processing processes and reducing processor pressure.

[0083] In another preferred embodiment, Figure 3 As shown, obtaining the first attitude information of the electro-optical stabilization system includes:

[0084] Real-time acquisition of attitude information (yaw, pitch, roll) from vehicle-mounted or airborne inertial navigation and angle measurement information (azimuth axis encoder angle fwcalangle, pitch axis encoder angle gdcalangle) from the electro-optical stabilization system's own encoder.

[0085] According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first transformation matrix from the north-east coordinate system to the inertial navigation coordinate system is obtained through coordinate transformation:

[0086] ;

[0087] Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east coordinate system, M1 is the conversion matrix from the north-east 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;

[0088] According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the electro-optical stabilization system is obtained through coordinate transformation:

[0089] ;

[0090] 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 axis of the electro-optical stabilization system, fwcalangle is the azimuth axis encoder angle, gdcalangle is the pitch axis encoder angle, is the expanded form of M2;

[0091] 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 electro-optical stabilized aiming system is obtained:

[0092] ;

[0093] Among them, Xn 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 electro-optical stabilized aiming system, It is the expanded form of M3;

[0094] The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix.

[0095] 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; the system size can be effectively reduced.

[0096] The gyro data includes the azimuth axis gyro data fw_gyrovalue and the elevation axis gyro data gd_gyrovalue. This data can be directly collected from the electro-optical stabilization system.

[0097] The information recording module 20 is used to record the second attitude information of the electro-optical stabilization system when the display and control joystick speed setting value is zero and the inertial navigation state is normal;

[0098] 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 obtained directly from the electro-optical stabilization system.

[0099] A start judgment module 30 is used to judge whether the first posture information and the second posture information meet a preset start condition;

[0100] The gyro drift correction module 40 is configured 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.

[0101] Determining whether the first posture information and the second posture information meet the preset start-up conditions 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 greater than the set start-up threshold; if satisfied, performing a spatial position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop based on the spatial 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 spatial 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.

[0102] Specifically, it is determined whether |yawlostemp-yawlos| is greater than the set startup threshold. If it is greater than the startup threshold, yawlostemp is used as the given value, and yawlos in the first attitude information is used as the feedback value to perform a closed-loop azimuth space position. The first velocity compensation given value geofwvelgive in the northeast coordinate system is calculated, and the second velocity compensation given value fwvelgive in the inertial navigation coordinate system is calculated according to the first conversion matrix. The second velocity compensation given value fwvelgive is used as the given value, where,

[0103] ;

[0104] 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 stopping threshold According to the actual drift correction effect, real-time adjustment is recommended. The stop threshold is 0.5% of the current field of view. 0.05% of the current field of view, 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).

[0105] 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 the set start-up threshold; if satisfied, performing a spatial position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop based on the spatial 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 spatial 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.

[0106] Determine whether |pitchlostemp-pitchlos| is greater than the set startup threshold If it is greater than the start threshold , then pitchlostemp is used as the given value, pitchlos is used as the feedback value to perform pitch space position closed loop, calculate the third velocity compensation given value geogdvelgive in the north-east coordinate system, calculate the fourth velocity compensation given value gdvelgive in the inertial navigation coordinate system according to the first conversion matrix, and use the fourth velocity compensation given value gdvelgive as the given value, where,

[0107] ;

[0108] 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 pitch axis gyro drift. and stopping threshold According to the actual drift correction effect, real-time adjustment is recommended. The stop threshold is 0.5% of the current field of view. 0.05% of the current field of view, 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).

[0109] Furthermore, after determining whether the first posture information and the second posture information meet a preset start condition, the method further includes: if not, determining whether the first posture information and the second posture information meet a preset stop condition; if so, stopping the gyro drift correction.

[0110] 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.

[0111] From the above description, it can be seen that the present invention achieves the following technical effects:

[0112] In an 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 at this time is recorded; it is judged whether the first attitude information and the second attitude information meet the preset starting 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 gyro with low precision and high zero drift and the scene with 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.

[0113] Obviously, those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computing device. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0114] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection 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; Obtaining the first attitude information of the electro-optical stabilization system includes: Real-time acquisition of attitude information from vehicle-mounted or airborne inertial navigation and angle measurement information from the encoder of the electro-optical stabilization system; According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first transformation matrix from the north-east coordinate system to the inertial navigation coordinate system is obtained through coordinate transformation: ； Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east coordinate system, is the conversion matrix from the north-eastern coordinate system to the inertial navigation coordinate system, yaw is the heading angle, pitch is the pitch angle, and roll is the roll angle; According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the electro-optical 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, is the conversion matrix from the inertial navigation coordinate system to the optical boresight of the electro-optical stabilization system, fwcalangle is the azimuth axis encoder angle, and gdcalangle is the pitch axis encoder angle; 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 electro-optical 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, The conversion matrix from the north-east coordinate system to the optical boresight of the electro-optical stabilized aiming system; The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix; When the speed setting of the display and control stick 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 starting condition; If satisfied, a spatial position closed loop is performed based on the first and second posture information, and a gyro inertial stabilization loop is performed based on the spatial position closed loop result and the gyro data; if not satisfied, whether the first and second posture information meet the preset stop condition is determined; if satisfied, the gyro drift correction is stopped; the threshold is started The stop threshold is 0.5% of the current field of view. It is 0.05% of the current field of view.

2. The gyro drift correction method according to claim 1, characterized in that: Obtaining the first attitude information of the electro-optical stabilization system includes: IMU equipment is used to collect the first attitude information of the electro-optical stabilization system in real time.

3. The gyro drift correction method according to claim 1, characterized in that: Determining whether the first posture information and the second posture information meet a preset starting condition includes: Determining whether an absolute value of a difference between a heading angle in the second posture information and a heading angle in the first posture information is greater than a set start threshold; If the conditions are met, performing a spatial position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the spatial position closed loop result and the gyro data includes: If so, the heading angle in the second attitude information is used as the given value, and the heading angle in the first attitude information is used as the feedback value to perform an azimuth space position closed loop, and the first speed compensation given amount in the north-east coordinate system is calculated; the second speed compensation given amount in the inertial navigation coordinate system is calculated according to the first conversion matrix, the second speed compensation given amount is used as the given value, and the azimuth axis gyro data in the gyro data is used as the feedback value to perform a gyro inertial stabilization loop.

4. The gyro drift correction method according to claim 1, characterized in that: Determining whether the first posture information and the second posture information meet a preset starting condition further includes: Determining whether an absolute value of a difference between a pitch angle in the second posture information and a pitch angle in the first posture information is greater than a set start threshold; If the conditions are met, performing a spatial position closed loop based on the first posture information and the second posture information, and performing a gyro inertial stabilization loop according to the spatial position closed loop result and the gyro data includes: If so, the pitch angle in the second attitude information is used as the given value, and the pitch angle in the first attitude information is used as the feedback value to perform a 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 conversion matrix, the fourth speed compensation given amount is used as the given value, and the pitch axis gyro data in the gyro data is used as the feedback value to perform a gyro inertial stabilization loop.

5. The gyro drift correction method according to claim 1, 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.

6. A gyro drift correction device, characterized in that: include: An information acquisition module is used to obtain the first attitude information and gyro data of the electro-optical stabilization system; Obtaining the first attitude information of the electro-optical stabilization system includes: Real-time acquisition of attitude information from vehicle-mounted or airborne inertial navigation and angle measurement information from the encoder of the electro-optical stabilization system; According to the attitude information of the vehicle-mounted or airborne inertial navigation, the first transformation matrix from the north-east coordinate system to the inertial navigation coordinate system is obtained through coordinate transformation: ； Among them, X b Y b Z b is the inertial navigation coordinate system, X n Y n Z n is the north-east coordinate system, is the conversion matrix from the north-eastern coordinate system to the inertial navigation coordinate system, yaw is the heading angle, pitch is the pitch angle, and roll is the roll angle; According to the angle measurement information, the second conversion matrix from the inertial navigation coordinate system to the electro-optical 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, is the conversion matrix from the inertial navigation coordinate system to the optical boresight of the electro-optical stabilization system, fwcalangle is the azimuth axis encoder angle, and gdcalangle is the pitch axis encoder angle; 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 electro-optical 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, The conversion matrix from the north-east coordinate system to the optical boresight of the electro-optical stabilized aiming system; The first attitude information of the electro-optical stabilization system is obtained by inverse calculation based on the optical line of sight conversion matrix; The information recording module is used to record the second attitude information of the electro-optical stabilization system when the display and control joystick speed setting value is zero and the inertial navigation state is normal; A startup judgment module, configured to judge whether the first posture information and the second posture information meet a preset startup condition; The gyro drift correction module 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; if not, determine whether the first posture information and the second posture information meet the preset stop condition; if so, stop the gyro drift correction; start the threshold The stop threshold is 0.5% of the current field of view. It is 0.05% of the current field of view.

7. 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 5 when running.

8. 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 5.

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