Real-time estimation method for stability precision of aerial aiming line of photoelectric pod

Abstract

The invention belongs to the technical field of automatic control. The invention provides a photoelectric pod air aiming line stability precision real-time estimation method. According to the embodiment of the invention, a collimator does not need to be erected for setting a target source and collecting the image of the photoelectric pod sensor, and real-time estimation of the stability precision can be realized only by the gyro angular velocity data and the angular velocity given value of the photoelectric pod. The stability of the optical axis can be quantitatively estimated when the photoelectric pod is actually installed and hung, and the stability precision can also be calculated when the given angular velocity value of the photoelectric pod is not 0. The method can be integrated in motion control software of the photoelectric pod, and real-time output of a stable precision estimated value is achieved.

Description

Technical Field

[0001] The disclosed embodiments relate to the field of automatic control technology, and in particular to a real-time estimation method for the stability accuracy of an aerial aiming line of sight of an optoelectronic pod. Background Art

[0002] The stabilization accuracy of the sighting line is one of the most important indicators of the optoelectronic pod. The stabilization accuracy refers to the residual steady-state angle error of the sighting line of the optoelectronic pod after inertial stabilization in the carrier disturbance environment. It is usually defined by the 1σ root mean square value in units of mrad or urad. It reflects the ability of the optoelectronic pod stabilization platform to maintain inertial space pointing stability when the carrier attitude changes.

[0003] During the actual installation and aerial flight of the optoelectronic pod, we hope to obtain the current stability accuracy of the pod to quantitatively evaluate the stability of the pod in the inertial state.

[0004] There is no method for achieving stable and accurate real-time aerial measurement during the flight process at home and abroad. The common general method for testing the stability of optoelectronic pods requires fixing the optoelectronic pod on a two-axis swing table on the ground, placing a target source (generally a cross target generated by a collimator) in front of the optoelectronic pod, switching the optoelectronic pod to the minimum field of view of the sensor, finding the target source within the field of view, and entering the inertial stable state, keeping the given angular velocity value of the optoelectronic pod at 0, and the two-axis swing table performs sinusoidal swings of given frequency and amplitude in the azimuth and pitch directions. Collect dozens of continuous frames, analyze the azimuth and pitch deviation pixels of the aiming line relative to the target source in each frame, and calculate the aiming line stability accuracy based on the single pixel field of view angle of the minimum field of view. This method requires setting up a collimator to set the target source and collecting optoelectronic pod sensor images on the ground, and also requires observing the pixel deviation values ​​in the collected dozens of frames of images afterwards, and then calculating.

[0005] The stability accuracy measured by the above method can only represent the effect of ground simulation and often does not match the actual flight effect. It has little reference value and is a post-calculation, which cannot achieve real-time estimation of stability accuracy. During the actual installation and flying of the optoelectronic pod, the above test conditions cannot be achieved, and real-time estimation of stability accuracy in the air cannot be achieved.

[0006] Therefore, it is necessary to improve one or more problems existing in the above-mentioned related technical solutions.

[0007] It should be noted that this section is intended to provide background or context for the technical solutions of the present disclosure stated in the claims. The description herein is not admitted to be prior art by virtue of being included in this section. Summary of the invention

[0008] The purpose of the embodiments of the present disclosure is to provide a real-time estimation method for the stability accuracy of an optoelectronic pod aerial aiming line, thereby overcoming one or more problems caused by the limitations and defects of related technologies at least to a certain extent.

[0009] According to an embodiment of the present disclosure, a method for real-time estimation of the stability accuracy of an optoelectronic pod aerial sighting line is provided, the method comprising: Collect multi-point azimuth angular velocity data and given azimuth angular velocity data of the azimuth gyroscope at preset time intervals within 1 second; Collecting multi-point pitch angular velocity data and given pitch angular velocity data of the pitch gyro at intervals of the preset time length within 1 second; Obtaining azimuth stability accuracy data according to the multi-point azimuth velocity data and the azimuth velocity given data; Obtaining pitch angle stability accuracy data according to the multi-point pitch angle velocity data and the pitch angle velocity given data; An estimation value of the line of sight stabilization accuracy is obtained based on the azimuth stabilization accuracy data and the elevation stabilization accuracy data.

[0010] Furthermore, the step of collecting multi-point azimuth angular velocity data and given azimuth angular velocity data of the azimuth gyroscope at preset time intervals within 1 second includes: Collecting the angular velocity value of the azimuth gyroscope at intervals of the preset time length within 1 second to obtain n pieces of the multi-point azimuth angular velocity data; The azimuth angular velocity given value of the azimuth gyro is collected at intervals of the preset time length within 1 second to obtain n azimuth angular velocity given data.

[0011] Further, the step of obtaining azimuth stability accuracy data according to the multi-point azimuth velocity data and the azimuth velocity given data includes: Obtaining an azimuth velocity error value between the multi-point azimuth velocity data and the azimuth velocity given data according to the multi-point azimuth velocity data and the azimuth velocity given data; Obtaining an integral of the azimuth velocity error value according to the azimuth velocity error value; According to the integration of the azimuth velocity error value, obtaining the azimuth sighting line angular displacement excluding the given velocity; Obtaining an azimuth gyro drift rate according to the azimuth line of sight angular displacement data; Obtaining azimuth sighting line angular displacement data according to the integral of the azimuth velocity error value and the azimuth gyro drift rate; The azimuth angle stability accuracy data is obtained according to the azimuth angle of sight line angular displacement data.

[0012] Furthermore, the expression of the azimuth velocity error value is:

[0013] in, is the multi-point azimuth velocity data, The data for azimuth velocity is given; The expression of the azimuth sighting line angular displacement is:

[0014] in, is the angular displacement of the line of sight at the n-1th azimuth, and T is the sampling time; The expression of the azimuth gyro drift rate is:

[0015] The expression of the azimuth sighting line angular displacement data is:

[0016] The expression of the azimuth stability accuracy data is:

[0017] in, It is the azimuth stability accuracy data.

[0018] Furthermore, the step of collecting the multi-point pitch angular velocity data and the given pitch angular velocity data of the pitch gyro at intervals of the preset time length within 1 second includes: Collecting the angular velocity value of the pitch gyro at intervals of the preset time length within 1 second to obtain n multi-point pitch angular velocity data; The pitch angular velocity given value of the pitch gyro is collected at intervals of the preset time length within 1 second to obtain n pieces of the pitch angular velocity given data.

[0019] Furthermore, the step of obtaining the pitch angle stability accuracy data according to the multi-point pitch angle velocity data and the pitch angle velocity given data includes: Obtaining a pitch angular velocity error value of the multi-point pitch angular velocity data and the pitch angular velocity given data according to the multi-point pitch angular velocity data and the pitch angular velocity given data; Obtaining an integral of the pitch angular velocity error value according to the pitch angular velocity error value; According to the integration of the pitch angle velocity error value, obtaining the pitch angle sighting line angular displacement excluding the given velocity; Obtaining a pitch angle gyro drift rate according to the pitch angle sighting line angular displacement data; Obtaining pitch angle sighting line angular displacement data according to the integral of the pitch angle velocity error value and the pitch angle gyro drift rate; The pitch angle stabilization accuracy data is obtained according to the pitch angle sighting line angular displacement data.

[0020] Furthermore, the pitch angular velocity error value is expressed as:

[0021] in, is the multi-point pitch angular velocity data, The data for pitch angular velocity is given; The expression of the angular displacement of the pitch angle sighting line is:

[0022] in, is the angular displacement of the sighting line at the n-1th elevation angle, and T is the sampling time; The expression of the pitch gyro drift rate is:

[0023] The expression of the elevation angle sighting line angular displacement data is:

[0024] The expression of the pitch angle stability accuracy data is:

[0025] in, It is the pitch angle stability accuracy data.

[0026] Furthermore, the expression of the estimation value of the stabilization accuracy of the aiming line is:

[0027] in, Estimated value of the line of sight stabilization accuracy.

[0028] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: In the embodiments of the present disclosure, through the above-mentioned method for real-time estimation of the stability accuracy of the optoelectronic pod aerial aiming line, on the one hand, there is no need to set up a collimator to set the target source and collect the optoelectronic pod sensor image, and only the gyro angular velocity data and the given angular velocity value of the optoelectronic pod are needed to realize the real-time estimation of the stability accuracy. On the other hand, when the optoelectronic pod is actually installed and flown, the stability of the optical axis can be quantitatively estimated, and the stability accuracy can also be calculated when the given angular velocity value of the optoelectronic pod is not 0. This method can be integrated into the motion control software of the optoelectronic pod to realize the real-time output of the stability accuracy estimation value. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0030] Figure 1 A step diagram showing a method for real-time estimation of the stability accuracy of an airborne sighting line of sight of an optoelectronic pod in an exemplary embodiment of the present disclosure; Figure 2 A specific flow chart showing a method for real-time estimation of the stability accuracy of an optoelectronic pod aerial sighting line in an exemplary embodiment of the present disclosure; Figure 3 A diagram showing the real-time estimation result of the stabilization accuracy of the aerial aiming line of sight of a certain electro-optical pod test flight in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0031] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0032] In addition, the accompanying drawings are only schematic illustrations of the embodiments of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated descriptions will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0033] This example implementation provides a real-time estimation method for the stability accuracy of an optoelectronic pod aerial aiming line. Figure 1 As shown in , the real-time estimation method for the stable accuracy of the aerial aiming line of sight of the optoelectronic pod may include: steps S101 to S105.

[0034] Step S101: collecting multi-point azimuth angular velocity data and given azimuth angular velocity data of the azimuth gyroscope at preset time intervals within 1 second; Step S102: obtaining azimuth stability accuracy data according to the multi-point azimuth velocity data and the azimuth velocity given data; Step S103: collecting multi-point pitch angular velocity data and given pitch angular velocity data of the pitch gyro at intervals of the preset time length within 1 second; Step S104: obtaining pitch angle stability accuracy data according to the multi-point pitch angle velocity data and the pitch angle velocity given data; Step S105: obtaining a line of sight stabilization accuracy estimation value according to the azimuth stabilization accuracy data and the elevation stabilization accuracy data.

[0035] Through the above-mentioned real-time estimation method of the stability accuracy of the photoelectric pod aerial aiming line, on the one hand, there is no need to set up a collimator to set the target source and collect the sensor image of the photoelectric pod. Only the gyro angular velocity data and the given angular velocity value of the photoelectric pod are needed to realize the real-time estimation of the stability accuracy. On the other hand, when the photoelectric pod is actually installed and flown, the stability of the optical axis can be quantitatively estimated, and the stability accuracy can also be calculated when the given angular velocity value of the photoelectric pod is not 0. This method can be integrated in the motion control software of the photoelectric pod to realize the real-time output of the stability accuracy estimation value.

[0036] Next, we will refer to Figures 1 to 3 The various steps of the above-mentioned method for real-time estimation of the stability accuracy of the aerial aiming line of sight of the optoelectronic pod in this example implementation are described in more detail.

[0037] In step S101 and step S102, the optoelectronic pod has two axes, azimuth and pitch, and estimating its stability accuracy requires simultaneously estimating the stability accuracy of the two axes.

[0038] The angular velocity value of the azimuth gyro is collected every 10ms within 1s to obtain 100 angular velocity data. … , and collect the azimuth velocity given value to obtain … These are 100 angular velocity given value data.

[0039] Difference of the above two sets of data:

[0040] Get the error value between the azimuth gyro angular velocity value and the given azimuth angular velocity value within 1s … .

[0041] Then calculate the integral of the multi-point azimuth velocity error within 1 second to obtain the angular displacement of the line of sight excluding the given azimuth velocity. … .

[0042]

[0043] Where T is the sampling time which is 0.01s.

[0044] The gyro drift in a short time of 1s is basically linear. The least squares method is used to estimate the azimuth gyro drift speed. .

[0045]

[0046] The calculation then eliminates gyro drift and gives the boresight angular displacement given by azimuth velocity. … .

[0047]

[0048] The azimuth boresight stabilization accuracy is then calculated based on the given boresight angular displacement data excluding gyro drift and azimuth angular velocity.

[0049]

[0050] In step S103 and step S104, the same method is then used to estimate the stabilization accuracy of the line of sight in the pitch direction. .

[0051] The angular velocity value of the pitch gyro is collected every 10ms within 1s to obtain 100 angular velocity data. … , and at the same time collect the pitch angular velocity given value to obtain … These are 100 angular velocity given value data.

[0052] Difference of the above two sets of data:

[0053] Get the error value between the pitch gyro angular velocity value and the given pitch angular velocity value within 1s … .

[0054] Then calculate the integral of the multi-point pitch angular velocity error within 1 second to obtain the angular displacement of the line of sight excluding the pitch velocity. … .

[0055]

[0056] Where T is the sampling time which is 0.01s.

[0057] The gyro drift in a short time of 1s is basically linear. The least squares method is used to estimate the pitch gyro drift speed. .

[0058]

[0059] The calculation then eliminates gyro drift and pitch rate to give the boresight angular displacement … .

[0060]

[0061] Then the stabilization accuracy of the line of sight in pitch is calculated based on the given line of sight angular displacement data excluding the gyro drift and the pitch angular velocity.

[0062]

[0063] In step S105, since the two axes of the optoelectronic pod are orthogonal, the aiming line stability accuracy of the optoelectronic pod can be calculated. .

[0064]

[0065] In a specific embodiment, Figure 2 As shown, it is a specific flow chart of the real-time estimation method of the stable precision of the aiming line of sight of the optoelectronic pod in the air. When the optoelectronic pod is in an inertial stable state, the real-time estimation of the stable precision of the aiming line of sight is performed; if it is not in an inertial stable state, no estimation is performed.

[0066] In a specific embodiment, Figure 3 As shown in the figure, the real-time estimation result of the stable accuracy of the aiming line of sight of a photoelectric pod during its test flight in the air is shown.

[0067] The corresponding data are as follows: [1] Through the above-mentioned real-time estimation method of the stability accuracy of the photoelectric pod aerial aiming line, on the one hand, there is no need to set up a collimator to set the target source and collect the sensor image of the photoelectric pod. Only the gyro angular velocity data and the given angular velocity value of the photoelectric pod are needed to realize the real-time estimation of the stability accuracy. On the other hand, when the photoelectric pod is actually installed and flown, the stability of the optical axis can be quantitatively estimated, and the stability accuracy can also be calculated when the given angular velocity value of the photoelectric pod is not 0. This method can be integrated in the motion control software of the photoelectric pod to realize the real-time output of the stability accuracy estimation value.

[0068] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. in the above description indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present disclosure.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0070] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0071] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0073] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A real-time estimation method for the stability accuracy of an optoelectronic pod aerial aiming line, characterized in that: The method includes: Collect multi-point azimuth angular velocity data and given azimuth angular velocity data of the azimuth gyroscope at preset time intervals within 1 second; Obtaining azimuth stability accuracy data according to the multi-point azimuth velocity data and the azimuth velocity given data; Collecting multi-point pitch angular velocity data and given pitch angular velocity data of the pitch gyro at intervals of the preset time length within 1 second; Obtaining pitch angle stability accuracy data according to the multi-point pitch angle velocity data and the pitch angle velocity given data; An estimation value of the line of sight stabilization accuracy is obtained based on the azimuth stabilization accuracy data and the elevation stabilization accuracy data.

2. According to the method for real-time estimation of the stability accuracy of the aerial aiming line of sight of the optoelectronic pod according to claim 1, it is characterized in that: The step of collecting multi-point azimuth angular velocity data and given azimuth angular velocity data of the azimuth gyroscope at preset time intervals within 1 second includes: Collecting the angular velocity value of the azimuth gyroscope at intervals of the preset time length within 1 second to obtain n pieces of the multi-point azimuth angular velocity data; The azimuth angular velocity given value of the azimuth gyro is collected at intervals of the preset time length within 1 second to obtain n azimuth angular velocity given data.

3. According to the real-time estimation method of the stable accuracy of the photoelectric pod aerial aiming line of sight according to claim 2, it is characterized in that: The step of obtaining azimuth stability accuracy data according to the multi-point azimuth velocity data and the azimuth velocity given data comprises: Obtaining an azimuth velocity error value between the multi-point azimuth velocity data and the azimuth velocity given data according to the multi-point azimuth velocity data and the azimuth velocity given data; Obtaining an integral of the azimuth velocity error value according to the azimuth velocity error value; According to the integration of the azimuth velocity error value, obtaining the azimuth sighting line angular displacement excluding the given velocity; Obtaining an azimuth gyro drift rate according to the azimuth line of sight angular displacement data; Obtaining azimuth sighting line angular displacement data according to the integral of the azimuth velocity error value and the azimuth gyro drift rate; The azimuth angle stability accuracy data is obtained according to the azimuth angle sighting line angular displacement data.

4. According to the real-time estimation method of the stable accuracy of the photoelectric pod aerial aiming line of sight according to claim 3, it is characterized in that: The expression of the azimuth velocity error value is: in, is the multi-point azimuth velocity data, The data for azimuth velocity is given; The expression of the azimuth sighting line angular displacement is: in, is the angular displacement of the line of sight at the n-1th azimuth, and T is the sampling time; The expression of the azimuth gyro drift rate is: The expression of the azimuth sighting line angular displacement data is: The expression of the azimuth stability accuracy data is: in, It is the azimuth stability accuracy data.

5. According to claim 4, the real-time estimation method of the stable accuracy of the photoelectric pod aerial aiming line is characterized in that: The step of collecting multi-point pitch angular velocity data and given pitch angular velocity data of the pitch gyro at intervals of the preset time length within 1 second includes: Collecting the angular velocity value of the pitch gyro at intervals of the preset time length within 1 second to obtain n multi-point pitch angular velocity data; The pitch angular velocity given value of the pitch gyro is collected at intervals of the preset time length within 1 second to obtain n pieces of the pitch angular velocity given data.

6. The real-time estimation method of the stable accuracy of the aerial aiming line of sight of the optoelectronic pod according to claim 5 is characterized in that: The step of obtaining pitch angle stability accuracy data according to the multi-point pitch angle velocity data and the pitch angle velocity given data comprises: Obtaining a pitch angular velocity error value of the multi-point pitch angular velocity data and the pitch angular velocity given data according to the multi-point pitch angular velocity data and the pitch angular velocity given data; Obtaining an integral of the pitch angular velocity error value according to the pitch angular velocity error value; According to the integration of the pitch angle velocity error value, obtaining the pitch angle sighting line angular displacement excluding the given velocity; Obtaining a pitch angle gyro drift rate according to the pitch angle sighting line angular displacement data; Obtaining pitch angle sighting line angular displacement data according to the integral of the pitch angle velocity error value and the pitch angle gyro drift rate; The pitch angle stabilization accuracy data is obtained according to the pitch angle sighting line angular displacement data.

7. The real-time estimation method of the stable accuracy of the aerial aiming line of sight of the optoelectronic pod according to claim 6 is characterized in that: The expression of the pitch angular velocity error value is: in, is the multi-point pitch angular velocity data, The data for pitch angular velocity is given; The expression of the angular displacement of the pitch angle sighting line is: in, is the angular displacement of the sighting line at the n-1th elevation angle, and T is the sampling time; The expression of the pitch gyro drift rate is: The expression of the elevation angle sighting line angular displacement data is: The expression of the pitch angle stability accuracy data is: in, It is the pitch angle stability accuracy data.

8. The real-time estimation method of the stable accuracy of the aerial aiming line of sight of the optoelectronic pod according to claim 7 is characterized in that: The expression of the estimated value of the aiming line stabilization accuracy is: in, Estimated value for the line of sight stabilization accuracy.

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