A dynamic platform control method, device, storage medium and system

Abstract

The application discloses a kind of dynamic platform control method, device, storage medium and system, belong to the control technical field of servo, method includes obtaining the current coordinate of dynamic platform and fixed point coordinate, according to the data of acquisition, the control flow of servo in a period of time is calculated, control flow includes the control value of dynamic platform at each time;According to the control compensation predicted value calculated by preset time coefficient and control value, the control value of dynamic platform at next time is compensated according to control compensation predicted value and new control value is obtained;Based on new control value, control flow is used as a sliding window, and control flow is updated by head insertion method;According to the control instruction issued according to updated control flow, the corresponding control is carried out to dynamic platform;The application is accumulated in the form of dynamic platform control value queue, according to the control value that has been issued, the control compensation predicted value is predicted, and the compensation effect is optimized by adjusting the preset correlation coefficient according to the specific situation, the accuracy of dynamic platform control is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a dynamic platform control method, device, storage medium and system, belonging to the control technology field of servo. BACKGROUND

[0002] The dynamic platform is a large two-dimensional servo turntable installed on a movable carrier such as a vehicle, a ship or the like, which has a large fluctuation in itself. The dynamic platform generally works in a non-stationary environment where the azimuth, pitch and roll change dynamically with time, and the position coordinates also change. In order to ensure availability, the servo pointing accuracy of the dynamic platform is required when continuously performing servo point control in work.

[0003] The large servo has the following problems when maintaining accuracy during continuous control: 1. The self-body is relatively large, and due to the influence of inertia and other factors, the servo needs a relatively long control time for azimuth and pitch reach control (the maximum control speed of the azimuth and pitch two-dimensional directions is generally less than 35° / s); 2. The control frequency of the self-azimuth and pitch is limited (the control frequency is about 50Hz); 3. The position and attitude state of the self is obtained by relying on external devices such as inertial navigation, and the refresh time of the inertial navigation state is certain.

[0004] In continuous motion, the dynamic platform needs to obtain its current position and attitude information before controlling its pointing, then calculate the azimuth and pitch angles that the azimuth and pitch should control at the next moment according to the specific pointing requirements, then calculate the specific control value and control speed according to the current control angle, and finally issue a control instruction to the motor. In the control process, the platform will randomly shake with time. Due to the above problems, the control error will be generated due to the change of the state of the dynamic platform in the time interval of the process of obtaining the state of the dynamic platform, calculating the control parameters and issuing the control instruction. The error accumulates with time and produces a large control drift, which eventually leads to a large loss of accuracy and poor control accuracy. SUMMARY

[0005] The purpose of the present application is to provide a dynamic platform control method, device, storage medium and system, which solves the problem of poor control accuracy in the prior art.

[0006] To achieve the above purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a dynamic platform control method, comprising:

[0008] obtaining the position coordinates and motion attitude of the dynamic platform, obtaining the point coordinates that the dynamic platform needs to point to, and calculating the control flow of the servo in a period of time according to all the obtained data, wherein the control flow includes the control value of the dynamic platform at each moment;

[0009] Calculating a control compensation prediction value according to a preset time coefficient and the control value, and compensating the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value;

[0010] Based on the new control value, the control stream is used as a sliding window and the control stream is updated by a head interpolation method;

[0011] According to the updated control flow, control instructions are issued to control the dynamic platform accordingly.

[0012] Furthermore, the control compensation prediction value is calculated based on the preset time coefficient and the control value, and is calculated using the following formula:

[0013] Δ a m =( a 1- a m ) / ( t 1- t m );

[0014] Among them, Δ a m is the control compensation prediction value, m Indicates the preset time coefficient, a 1 is the control value of the dynamic platform at the current moment, a m yes t m The control value at the moment, t 1 is the current moment, t m yes m time, and m < n , n is the maximum moment in the control flow.

[0015] Furthermore, the control value of the dynamic platform at the next moment is compensated according to the control compensation prediction value to obtain a new control value, which is performed by the following formula:

[0016] a 0= a 1+ k Δ a m t ;

[0017] in, a 0 is the control value of the dynamic platform at the next moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

[0018] Furthermore, the control value includes an azimuth angle control value and a pitch angle control value.

[0019] Furthermore, based on the new control value, the control stream is used as a sliding window and the control stream is updated by a head interpolation method, including:

[0020] Control Flow A= { a 1, a 2,…, a n},in a n express t n The control value of the dynamic platform at all times, a 1 Yes t The control value of the dynamic platform at moment 1, t 1 is the current moment;

[0021] Assign the new control value to a 1. Change the original a The value of 1 is assigned to a 2,…, the original a n-1 Assign the value of a n , the original a n throw away.

[0022] Furthermore, whenever a new control value appears, the following operations are performed again: based on the new control value, the control flow is used as a sliding window and the control flow is updated by the head interpolation method.

[0023] In a second aspect, the present invention provides a dynamic platform control device, comprising:

[0024] a control flow calculation module configured to: obtain the position coordinates and motion posture of the dynamic platform, obtain the coordinates of the fixed point to which the dynamic platform needs to point, and calculate the control flow of the dynamic platform over a period of time based on all the obtained data, wherein the control flow includes the control value of the dynamic platform at each moment;

[0025] a control value compensation module configured to: calculate a control compensation prediction value based on a preset time coefficient and the control value, and compensate the control value of the dynamic platform at a next moment according to the control compensation prediction value to obtain a new control value;

[0026] A control flow updating module is configured to: based on the new control value, use the control flow as a sliding window and update the control flow by a head interpolation method;

[0027] The dynamic platform control module is configured to send a control instruction to the dynamic platform according to the updated control flow.

[0028] In a third aspect, the present application provides a computer readable storage medium, which stores a computer program / instruction, and the computer program / instruction is executed by a processor to implement the steps of the dynamic platform control method according to any one of the first aspect.

[0029] In a fourth aspect, the present application provides a dynamic platform control system, which comprises an inertial navigation system, a dynamic platform and an embedded host board.

[0030] The inertial navigation system is configured to collect position coordinates and motion postures of the servo and send them to the embedded host board.

[0031] The embedded host board is configured to execute the steps of the dynamic platform control method according to any one of the first aspect, so as to send a control instruction to the dynamic platform.

[0032] After receiving the control instruction, the dynamic platform performs closed-loop control on the azimuth and the pitch of the dynamic platform, and sends the working state of the dynamic platform to the embedded host board.

[0033] Compared with the prior art, the present application has the following beneficial effects:

[0034] The dynamic platform control method, device, storage medium and system provided by the present application can improve the accuracy of dynamic platform control by accumulating the dynamic platform control value queue, predicting the control compensation prediction value on the basis of the calculated control value at the next time according to the issued control value, and optimizing the compensation effect by adjusting the preset correlation coefficient according to the specific situation.

[0035] For the two-dimensional servo (i.e. dynamic platform) with controllable azimuth and pitch, the inertial navigation system is used to obtain the position data stream, the inertial navigation system itself is used to obtain the real-time working state data stream, the embedded host board is used to calculate and send the real-time control data stream, and the two-dimensional servo is maintained in the pointing state. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a flowchart of a dynamic platform control method provided by the embodiment 1 of the present application;

[0037] Figure 2 is a schematic diagram of a dynamic platform control system provided by the embodiment 3 of the present application;

[0038] Figure 3 is a flowchart of a dynamic platform control method provided by the embodiment 4 of the present application. DETAILED DESCRIPTION

[0039] The application will be further described below with reference to the drawings, and the following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0040] Embodiment 1.

[0041] As shown in Figure 1 , the application provides a dynamic platform control method, comprising:

[0042] obtaining position coordinates and motion postures of the dynamic platform, obtaining a fixed-point coordinate to which the dynamic platform needs to point, calculating a control flow of the servo in a period of time according to all the obtained data, the control flow comprising control values of the dynamic platform at each time point;

[0043] calculating a control compensation prediction value according to a preset time coefficient and the control value, and compensating the control value of the dynamic platform at the next time point according to the control compensation prediction value to obtain a new control value;

[0044] based on the new control value, taking the control flow as a sliding window, and updating the control flow through a head insertion method;

[0045] issuing a control instruction according to the updated control flow to control the dynamic platform correspondingly.

[0046] The application calculates the control compensation prediction value on the basis of the calculated control value at the next time point according to the control value that has been issued, adjusts the preset related coefficient to optimize the compensation effect according to the specific situation, and improves the accuracy of the dynamic platform control.

[0047] Embodiment 2.

[0048] The dynamic platform (i.e., a two-dimensional servo installed on a moving platform) points to a fixed-point mode, which essentially controls the servo to continuously point to a fixed longitude and latitude coordinate point in a certain period of time, and in this process, the target point to which the servo points is not affected by the motion state of the moving platform.

[0049] When the servo points to the fixed point, the motion state of the moving platform changes all the time, and the azimuth, pitch and roll angles of the dynamic platform swing back and forth irregularly within a certain change range, and the change speed does not exceed the rotation speed of the servo itself. This is the main application scenario of the application (such as the overall vibration of the moving platform when the moving platform moves, the shaking of the moving platform when the motion state changes, the swinging of the moving platform with the sea waves when the moving platform is stationary, etc.).

[0050] As shown in Figure 1 , the application provides a dynamic platform control method, comprising:

[0051] S1, obtaining the position coordinates and motion posture of the dynamic platform, obtaining the fixed-point coordinates that the dynamic platform needs to point to, and calculating the control flow of the servo in a period of time according to all the obtained data, the control flow including the control value of the dynamic platform at each time point.

[0052] The control value includes an azimuth angle control value and a pitch angle control value, and the calculation process of the control value is prior art, and the control flow obtained A A= a 1, a 2, …, a n}, wherein a n represents t n the control value of the dynamic platform at the time point, a 1 is the control value of the dynamic platform at the time point, t 1 is the current time. t

[0053] a n ( h n , p n );

[0054] wherein, h n is t n the azimuth angle control value of the dynamic platform at the time point, p n is t n the pitch angle control value of the dynamic platform at the time point, h n the value range of is [0°, 360°], p n the value range of is determined by the actual servo design.

[0055] Corresponding to the control flow A , there is a time sequence T , T= { t 1, t 2, …, t n}, T is a time sequence corresponding to the control flow A , t n corresponds to a n .

[0056] ​​​The control flow will not be recorded infinitely, and a queue is used to record the latest group of control values.

[0057] S2, according to the preset time coefficient and control value, calculate the control compensation prediction value, according to the control compensation prediction value, compensate the control value of the next moment dynamic platform to get new control value.

[0058] Because the dynamic platform will have errors when it controls itself in a closed loop, the control value needs to be compensated.

[0059] The prediction and calculation of the control compensation prediction value (also known as extrapolation prediction value) are realized on the above-mentioned queue, and the specific calculation method is:

[0060] Δ a m =( a 1- a m ) / ( t 1- t m );

[0061] Among them, Δ a m is the control compensation prediction value, m represents the preset time coefficient, a 1 is the control value of the current moment dynamic platform, a m is t m control value at the moment, t 1 is the current moment, t m is m moment, and m < n , n is the maximum moment in the control flow.

[0062] Δ a m represents a 1 relative to a m moment, which can describe the change trend of the azimuth and pitch angle at the next moment to a certain extent, m When the increase of Δ

[0063] According to Δ a m as compensation for the next moment control value:

[0064] a 0= a 1+ k Δ a mt ;

[0065] in, a 0 is the control value of the dynamic platform at the next moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

[0066] S3. Based on the new control value, the control stream is used as a sliding window and updated through the head interpolation method.

[0067] Assign the new control value to a 1. Change the original a The value of 1 is assigned to a 2,…, the original a n-1 Assign the value of a n , the original a n throw away.

[0068] Whenever a new control value appears, the following operations are performed again: Based on the new control value, the control stream is treated as a sliding window and the control stream is updated by head interpolation.

[0069] S4. Issue control instructions according to the updated control flow to control the dynamic platform accordingly.

[0070] Through the above method, the present invention can adjust the precision of the two-dimensional servo fixed point of the dynamic platform according to the specific situation when actually debugging the precision of the two-dimensional servo fixed point of the dynamic platform. m and k value, thereby ensuring effectiveness and control accuracy.

[0071] Example 3.

[0072] like Figure 2 As shown, the present invention provides a dynamic platform control system, including an inertial navigation system, a dynamic platform, and an embedded host board;

[0073] The inertial navigation system is used to collect the position coordinates and motion posture of the servo and send them to the embedded host board;

[0074] The embedded mainboard is used to: execute the steps of the dynamic platform control method provided in Example 1, thereby issuing control instructions to the dynamic platform;

[0075] After receiving the control command, the dynamic platform performs closed-loop control of its own azimuth and pitch angles, and also sends its own working status to the embedded host board.

[0076] In this embodiment, the servo is a two-dimensional servo.

[0077] The dynamic platform (i.e. the servo installed on the moving platform) points to the fixed point mode essentially controls the servo to continuously point to a fixed geodetic coordinate point in a certain time, and in this process, the target point of the two-dimensional servo pointing is not affected by the motion state of the moving platform.

[0078] The application uses a system architecture composed of an inertial navigation system, a servo (i.e. the dynamic platform in Embodiment 1 and Embodiment 2), and an embedded host board. The inertial navigation system obtains the servo azimuth attitude (pose) data stream, the servo obtains the current working state data stream (the current controlled azimuth and pitch angle), the embedded host board receives the above two data streams and calculates the angle adjustment value in real time, and finally feeds back to the servo in the form of control instruction data stream to realize real-time angle adjustment.

[0079] In the above system, the servo itself only performs closed-loop control on the azimuth and pitch of itself and real-time feedback of the current actual azimuth and pitch angle value, and the embedded host board calculates the servo control parameters and the attitude in advance.

[0080] When the servo points to the fixed point, the motion state of the moving platform changes at any time, the azimuth, pitch and roll angles of the platform swing back and forth irregularly within a certain change range, and the change speed does not exceed the rotation speed of the servo itself. This is the main application scenario of the application (such as the overall vibration of the platform when the platform moves, the shaking of the platform when the motion state changes, the swinging of the platform with the sea waves when the platform is stationary, etc.).

[0081] Due to the existence of system errors such as servo control interval, inertial navigation refresh interval and servo motion speed, when the motion state of the moving platform changes, the servo needs to adjust the azimuth and pitch, and at t 0 moment, the azimuth and pitch state of the servo ( h 0, p 0) needs to be updated to the current required control angle at Δ t moment. During this process, the moving platform is still moving and changing, and at Δ t moment, the actual required control angle of the servo ( h 1, p 1) is not equal to the current control angle, i.e.

[0082] ( h 0+Δ t v h , p 0 + Δ t v p )≠( h 1, p 1);

[0083] Among them, h 1 is the azimuth control of the servo at the current moment,p 1 is the current time of the servo pitch angle control value, h 0+Δ t v h , p 0 + Δ t v p ) is t 0 time servo pointing to the control angle value required for the point, h 1, p 1) is t 0+Δ t time servo pointing to the actual control angle required for the point, Δ t is the control time of the servo reach, v h is the servo azimuth angle control speed, v p is the servo pitch angle control speed.

[0084] Since the azimuth and pitch control of the servo in the system is only closed loop for itself, this type of control method generally uses a PID-based control algorithm to optimize the rotation speed of the servo, so that the servo has a faster speed control when it is far from the target position, and the speed decreases when it is about to reach the predetermined control point. This may also cause errors in the control of the next moment due to the change of the servo control speed in the continuous control process.

[0085] According to the specific problems analyzed above, in the pointing control state, the embedded host board calculates the specific servo pointing according to the coordinates and azimuth, pitch, roll angle data given by the inertial navigation, and adds an extrapolation value to the control value to be sent to the servo. The extrapolation value is calculated according to the control values recorded at several moments before.

[0086] When the dynamic platform continuously points to the set point in the work, the continuous changing control flow of the servo can be calculated according to the set point coordinates and the longitude, latitude, height, azimuth, roll, pitch values obtained by the inertial navigation A , i.e. A= { a 1, a 2,…, a n}, wherein a n represents t n the control value of the dynamic platform at time a 1 is the control value of the dynamic platform at time t 1, t 1 is the current time.

[0087] a n =h n , p n );

[0088] in, h n yes t n The azimuth control value of the dynamic platform at all times, p n yes t n The pitch angle control value of the dynamic platform at all times, h n The range of the value is [0°,360°], p n The value range of is determined by the actual servo design.

[0089] and control flow A Correspondingly, there is a time series T , T= { t 1, t 2,…, t n}, T For control flow A The corresponding time series, t n correspond a n .

[0090] The control flow will not be recorded infinitely. A queue is used to record the most recent set of control values. The queue is continuously updated by the head insertion method. This queue can be regarded as a sliding window of the control flow. n This is the queue length (i.e., the maximum moment in the control flow).

[0091] The specific steps of the head insertion method include:

[0092] Assign the new control value to a 1. Change the original a The value of 1 is assigned to a 2,…, the original a n-1 The value of a n , the original a n throw away.

[0093] Whenever a new control value appears, the following operations are performed again: Based on the new control value, the control stream is treated as a sliding window and the control stream is updated by head interpolation.

[0094] The sliding window-based angle control extrapolation value prediction and calculation can be realized on this queue, and a time coefficient is set m , m < n ,

[0095] Δ a m = a 1- a m ) / ( t 1- t m );

[0096] wherein, Δ a m is the control compensation prediction value, m represents the preset time coefficient, a 1 is the control value of the current time dynamic platform, a m is t m the control value at the time, t 1 is the current time, t m is m the time, and m < n , n is the maximum time in the control flow.

[0097] Δ a m represents a 1 relative to a m the time increment, which can describe the change trend of the azimuth and pitch angle at the next time to a certain extent, m When the time coefficient increases, the change trend will first increase and then gradually tend to be flat.

[0098] Δ a m can be called the extrapolation prediction value, which can be calculated according to Δ a m as compensation to the control value at the next time:

[0099] a 0= a 1+ k Δ a m t ;

[0100] wherein, a 0 is the control value of the dynamic platform at the next time, a 1 is the control value of the dynamic platform at the current time, kis the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

[0101] Embedded host board sends control values a After 0, a The value 0 will be assigned to a 1.

[0102] Through the above method, the present invention can adjust the precision of the two-dimensional servo fixed point of the dynamic platform according to the specific situation when actually debugging the precision of the two-dimensional servo fixed point of the dynamic platform. m and k value, thereby ensuring effectiveness and control accuracy.

[0103] Example 4.

[0104] In this embodiment, the dynamic platform is a servo.

[0105] like Figure 3 As shown, the present invention provides a dynamic platform control method, comprising:

[0106] Step 1: Real-time calculation is completed by the embedded host board, which first receives the working status data sent by the servo and the position and attitude data sent by the inertial navigation.

[0107] Step 2: Based on these data, the azimuth and pitch control angles of the two-dimensional servo can be calculated using existing technology, so that the servo points to the pre-set fixed point longitude and latitude coordinates.

[0108] Step 3: The embedded host board sends the calculated azimuth and pitch theoretical control values ​​and stores them in the control queue.

[0109] Step 4: If the control queue is not full, no extrapolation calculation is performed and the control value is directly issued until the maximum queue length is reached.

[0110] Step 5: When the control queue is full, the new control value is stored at the head of the queue, and the following control values ​​are moved back in sequence, and the oldest control value is removed.

[0111] Step 6: Set the time factor m , according to the latest control value and m Control value ( t m The extrapolated prediction value (corresponding to the control compensation prediction value in Example 1 and Example 2) is calculated based on the control value corresponding to the moment.

[0112] Step 7: Set the compensation coefficient k , according to the servo control interval, extrapolated prediction value and compensation coefficient k , calculate the extrapolation compensation value of the servo control at the next moment.

[0113] Step 8: Calculate the actual control value of the servo (i.e. the control value of the servo at the next moment) according to the theoretical control value of the servo at the next moment (i.e. the control value of the servo at the current moment) and the extrapolation compensation value.

[0114] a 0= a 1+ k Δ a m t ;

[0115] wherein, a 0 is the control value of the dynamic platform at the next moment, a 1 is the control value of the dynamic platform at the current moment, k is a preset compensation coefficient, t is a fixed control interval of the dynamic platform.

[0116] Step 9: Issue the control parameter (the actual control value of the servo) and continuously observe the control effect, and adjust the time coefficient m and the compensation coefficient k until the control requirement is met.

[0117] Embodiment 5.

[0118] The application provides a dynamic platform control device, comprising:

[0119] a control flow calculation module configured to acquire position coordinates and motion postures of the dynamic platform, acquire a fixed-point coordinate to which the dynamic platform needs to point, and calculate a control flow of the dynamic platform in a period of time according to all the acquired data, wherein the control flow comprises control values of the dynamic platform at various moments;

[0120] a control value compensation module configured to calculate a control compensation prediction value according to a preset time coefficient and the control value, and compensate the control value of the dynamic platform at the next moment to obtain a new control value according to the control compensation prediction value;

[0121] a control flow updating module configured to take the control flow as a sliding window and update the control flow by a head insertion method based on the new control value;

[0122] a dynamic platform control module configured to issue a control instruction to control the dynamic platform according to the updated control flow.

[0123] Embodiment 6.

[0124] The application provides a computer readable storage medium, which stores a computer program / instruction, and the computer program / instruction is executed by a processor to implement the steps of the dynamic platform control method provided in Embodiment 1.

[0125] The position coordinates and motion posture of the dynamic platform are acquired, the fixed-point coordinates to which the dynamic platform needs to point are acquired, and the control flow of the servo in a period of time is calculated according to all the acquired data, the control flow including the control values of the dynamic platform at each time point;

[0126] The control compensation prediction value is calculated according to the preset time coefficient and the control value, and the control value of the dynamic platform at the next time point is compensated to obtain a new control value according to the control compensation prediction value;

[0127] Based on the new control value, the control flow is taken as a sliding window, and the control flow is updated by the head insertion method;

[0128] The control instruction is sent according to the updated control flow to control the dynamic platform correspondingly.

[0129] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0130] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device implemented in the flowcharts and / or block diagrams. Figure 1 The device that implements the functions specified in one or more flows and / or blocks Figure 1 The device that implements the functions specified in one or more flows and / or blocks

[0131] These computer program instructions can also be stored in a computer readable storage medium that can guide the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer readable storage medium produce a product including instruction devices, which implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The device that implements the functions specified in one or more flows and / or blocks Figure 1 The device that implements the functions specified in one or more flows and / or blocks

[0132] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable data processing devices to generate a computer-implemented process, so that the instructions executed on the computer or other programmable data processing devices provide a process for implementing the flowchart Figure 1 one flow or multiple flows and / or the functions specified in the flowchart Figure 1 one flow or multiple flows and / or the functions specified in the flowchart

[0133] The above description is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A dynamic platform control method, characterized in that: include: Obtain the position coordinates and motion posture of the dynamic platform, obtain the coordinates of the fixed point that the dynamic platform needs to point to, and calculate the control flow of the servo over a period of time based on all the acquired data. The control flow includes the control value of the dynamic platform at each moment; Calculating a control compensation prediction value according to a preset time coefficient and the control value, and compensating the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; Based on the new control value, the control stream is used as a sliding window and the control stream is updated by a head interpolation method; According to the updated control flow, control instructions are issued to control the dynamic platform accordingly.

2. The dynamic platform control method according to claim 1, characterized in that: The control compensation prediction value is calculated based on the preset time coefficient and the control value, and is calculated using the following formula: D a m =( a 1- a m ) / ( t 1- t m ); Among them, Δ a m is the control compensation prediction value, m Indicates the preset time coefficient, a 1 is the control value of the dynamic platform at the current moment, a m yes t m The control value at the moment, t 1 is the current moment, t m yes m time, and m < n , n is the maximum moment in the control flow.

3. The dynamic platform control method according to claim 2, characterized in that: The control value of the dynamic platform at the next moment is compensated according to the control compensation prediction value to obtain a new control value, which is performed by the following formula: a 0= a 1+ k D a m t ; in, a 0 is the control value of the dynamic platform at the next moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

4. The dynamic platform control method according to claim 1, characterized in that: The control value includes an azimuth angle control value and a pitch angle control value.

5. The dynamic platform control method according to claim 1, characterized in that: The method of updating the control flow by using a head interpolation method based on the new control value and taking the control flow as a sliding window includes: Control Flow A= { a 1, a 2,…, a n },in a n express t n The control value of the dynamic platform at all times, a 1 Yes t The control value of the dynamic platform at moment 1, t 1 is the current moment; Assign the new control value to a 1. Change the original a The value of 1 is assigned to a 2,…, the original a n-1 The value of a n , the original a n throw away.

6. The dynamic platform control method according to claim 1, characterized in that: Whenever a new control value appears, the following operations are performed again: based on the new control value, the control stream is used as a sliding window and the control stream is updated by the head interpolation method.

7. A dynamic platform control device, characterized in that: include: a control flow calculation module configured to: obtain the position coordinates and motion posture of the dynamic platform, obtain the coordinates of the fixed point to which the dynamic platform needs to point, and calculate the control flow of the dynamic platform over a period of time based on all the obtained data, wherein the control flow includes the control value of the dynamic platform at each moment; a control value compensation module configured to: calculate a control compensation prediction value based on a preset time coefficient and the control value, and compensate the control value of the dynamic platform at a next moment according to the control compensation prediction value to obtain a new control value; A control flow updating module is configured to: based on the new control value, use the control flow as a sliding window and update the control flow by a head interpolation method; The dynamic platform control module is configured to issue control instructions according to the updated control flow to control the dynamic platform accordingly.

8. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the dynamic platform control method according to any one of claims 1 to 6 are implemented.

9. A dynamic platform control system, characterized in that: Including inertial navigation, dynamic platform and embedded host board; The inertial navigation system is used to collect the position coordinates and motion posture of the servo and send them to the embedded host board; The embedded mainboard is used to: execute the steps of the dynamic platform control method according to any one of claims 1 to 6, thereby issuing control instructions to the dynamic platform; After receiving the control instruction, the dynamic platform performs closed-loop control on its own azimuth and pitch angles, and also sends its own working status to the embedded mainboard.

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