Photoelectric load single-pole tracking system and control method

Abstract

The invention relates to the field of photoelectric load imaging control, in particular to a photoelectric load single-pole tracking system and a control method, and the system comprises a single-pole device, a ground station display instrument, a main control unit, and a frame servo control unit. The single-rod device converts the angle offsets in the two directions into a single-rod speed instruction and a single-rod azimuth speed instruction and sends the instructions to the frame servo control unit, and meanwhile the frame servo control unit returns the working state and working parameters to the ground station displayer to be displayed in real time. According to the single-pole tracking control method, a pitching frame and an azimuth frame of a photoelectric load are controlled to perform target tracking according to respective corresponding speed instructions; when the speed of the single rod is zero, the position drift of the frame can be inhibited; when the frame exceeds the limit, the device has the functions of amplitude limiting protection and alarm. The single-pole tracking system and the control method are suitable for air-based, land-based and sea-based photoelectric load imaging control, and are especially suitable for photoelectric load single-pole tracking and observation.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical detection, and in particular relates to a photoelectric load single-rod tracking system and a control method. Background Art

[0002] The optoelectronic payload is an optoelectronic payload imaging support device that integrates optical-mechanical structure, electronic imaging, servo control, image processing, etc. It occupies a pivotal position in the entire unmanned system and is known as the "eyes" of the unmanned system. The optoelectronic payload can effectively isolate the uncertain disturbances of the carrier aircraft and keep the line of sight relatively stable in the inertial space. It has the advantages of strong timeliness, high accuracy, wide reconnaissance range, and flexible use. It is widely used in military and civilian occasions such as electronic reconnaissance, information confrontation, target positioning, geographic surveying and mapping, disaster monitoring, and traffic surveillance.

[0003] Among the various functions of the optoelectronic payload, single-pole tracking is an important operation mode, which mainly refers to the operator adjusting the joystick in real time to control the direction of the optoelectronic payload optical axis to complete the manual search and tracking of the target. Usually, single-pole tracking is a pre-task instruction for automatic tracking, which requires the operator to be very proficient in the operation of the optoelectronic payload. Although single-pole tracking is simple and intuitive, poor single-pole tracking control methods can easily cause fatigue to the operator during long-term stable reconnaissance, reducing reconnaissance efficiency.

[0004] Therefore, it is very necessary to improve the stability and accuracy of single-pole tracking, provide operators with a more convenient and efficient user experience, and further improve the efficiency of optoelectronic payload reconnaissance. Summary of the invention

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: A photoelectric load single-pole tracking system includes a single-pole device, a ground station display, a main control unit and a frame servo control unit. The single-pole device communicates with the ground station display according to a communication protocol. The single-pole device converts the offset angles in two directions into a single-pole pitch speed instruction and a single-pole azimuth speed instruction, and sends them to the ground station display. The ground station display displays the single-pole pitch speed instruction and the single-pole azimuth speed instruction in real time. The ground station display communicates with the main control unit according to the communication protocol. The ground station display sends the work task instruction, the single-pole pitch speed instruction and the single-pole azimuth speed instruction to the main control unit, and receives the instructions. And display the working status and working parameters of the frame servo control unit returned by the main control unit; the main control unit and the frame servo control unit communicate according to the communication protocol, the main control unit sends the work task instruction, single-rod pitch speed instruction and single-rod azimuth speed instruction to the frame servo control unit, and the frame servo control unit reports its own working status and working parameters to the main control unit. The working status includes the servo working mode of the pitch frame and azimuth frame of the optoelectronic load, the position drift suppression flag, and the over-limit alarm flag. The working parameters include the position instruction, speed instruction, position and speed data information of the pitch frame and azimuth frame.

[0006] A single-pole tracking control method for a photoelectric payload is implemented using the above-mentioned single-pole tracking system for a photoelectric payload, and includes the following control: Parameter initialization: The frame servo control unit determines whether the current work task instruction is a new instruction. If the current work task instruction is a new instruction, the new instruction flag is set to low, the pitch frame of the photoelectric load is set to the speed servo mode, the azimuth frame of the photoelectric load is set to the speed servo mode, the suppression position drift flag of the pitch frame is set to low, and the suppression position drift flag of the azimuth frame is set to low; Frame drift suppression: When the frame servo control unit determines that the single-rod pitch speed command is zero, the frame servo control unit suppresses the drift of the pitch frame position; when the frame servo control unit determines that the single-rod azimuth speed command is zero, the frame servo control unit suppresses the drift of the azimuth frame position; Frame target tracking: When the frame servo control unit determines that the single-rod pitch speed command is non-zero, the frame servo control unit controls the pitch frame to track the target according to the single-rod pitch speed command; when the frame servo control unit determines that the single-rod azimuth speed command is non-zero, the frame servo control unit controls the azimuth frame to track the target according to the single-rod azimuth speed command; Frame limit protection and alarm: When the frame servo control unit determines that the single-pole pitch speed command is non-zero and the position of the pitch frame reaches the limit of the pitch frame, the pitch frame is simultaneously subjected to limit protection and the alarm flag is set; when the frame servo control unit determines that the single-pole azimuth speed command is non-zero and the position of the azimuth frame reaches the limit of the azimuth frame, the azimuth frame is simultaneously subjected to limit protection and the alarm flag is set.

[0007] Furthermore, the frame servo control unit suppresses drift of the position of the pitch frame, including: When the single-rod pitch speed command is zero, the frame servo control unit further determines that the suppression position drift flag of the pitch frame is low, the frame servo control unit sets the pitch frame to the position servo mode, uses the current angular position of the pitch frame as the position command input of the pitch frame, and sets the suppression position drift flag of the pitch frame to high, thereby latching the position command of the pitch frame; The frame servo control unit performs drift suppression on the position of the orientation frame, including: When the single-pole azimuth speed instruction is zero, the frame servo control unit further determines that the position drift suppression flag of the azimuth frame is low, the frame servo control unit sets the azimuth frame to the position servo mode, uses the angular position of the current azimuth frame as the position instruction input of the azimuth frame, and sets the position drift suppression flag of the azimuth frame to high, thereby latching the position instruction of the azimuth frame.

[0008] Furthermore, the frame servo control unit controls the pitch frame to track the target according to the single-rod pitch speed instruction, including: When the single-rod pitch speed command is non-zero, the frame servo control unit sets the inhibited position drift flag of the pitch frame to high; when the single-rod pitch speed command is positive and the position of the pitch frame does not reach the upper limit of the pitch frame or when the single-rod pitch speed command is negative and the position of the pitch frame does not reach the lower limit of the pitch frame, the frame servo control unit sets the pitch frame to the speed servo mode, uses the single-rod pitch speed command as the speed command input of the pitch frame, and clears the over-limit warning flag of the pitch frame; The frame servo control unit controls the azimuth frame to track the target according to the single-rod azimuth speed command, including: When the single-rod azimuth speed command is non-zero, the frame servo control unit sets the position drift suppression flag of the azimuth frame to high; when the single-rod pitch speed command is positive and the position of the azimuth frame does not reach the upper limit of the azimuth frame or when the single-rod azimuth speed command is negative and the position of the azimuth frame does not reach the lower limit of the azimuth frame, the frame servo control unit sets the azimuth frame to the speed servo mode, inputs the single-rod azimuth speed command as the speed command of the azimuth frame, and clears the over-limit alarm flag of the azimuth frame.

[0009] Furthermore, the pitch frame is simultaneously subjected to limit protection and alarm sign setting, including: When the single-rod pitch speed command is positive and the position of the pitch frame reaches the upper limit of the pitch frame, the frame servo control unit sets the pitch frame to the position servo mode, uses the upper limit angular position of the pitch frame as the position command input of the pitch frame, and sets an over-limit alarm flag for the pitch frame; when the single-rod pitch speed command is negative and the position of the pitch frame reaches the lower limit of the pitch frame, the pitch frame is set to the position servo mode, uses the lower limit angular position of the pitch frame as the position command input of the pitch frame, and sets an over-limit alarm flag for the pitch frame; The limiting protection and warning flag setting are performed on the azimuth frame at the same time, including: When the single-pole azimuth speed instruction is positive and the position of the azimuth frame reaches the upper limit of the azimuth frame, the frame servo control unit sets the azimuth frame to the position servo mode, inputs the upper limit angular position of the azimuth frame as the position instruction of the azimuth frame, and sets an over-limit alarm flag for the azimuth frame; when the single-pole azimuth speed instruction is negative and the position of the azimuth frame reaches the lower limit of the azimuth frame, the azimuth frame is set to the position servo mode, inputs the lower limit angular position of the azimuth frame as the position instruction of the azimuth frame, and sets an over-limit alarm flag for the azimuth frame.

[0010] Compared with the prior art, the invention can achieve the following beneficial effects: 1. The single-pole tracking control method for the optoelectronic load can control the pitch frame and azimuth frame of the optoelectronic load to track the target according to the corresponding single-pole speed command according to the single-pole pitch speed command and the single-pole azimuth speed command; when the single-pole pitch speed command is zero, the position drift of the pitch frame can be suppressed; when the single-pole azimuth speed command is zero, the position drift of the azimuth frame can be suppressed; when the pitch frame and the azimuth frame reach the limit position, they have limit protection and alarm functions.

[0011] 2. The optoelectronic payload single-pole tracking control system can report the working status and working parameters of the frame servo control unit to the ground station display for real-time display, which improves the stability and accuracy of single-pole tracking to a certain extent, provides operators with a more convenient and efficient use experience, and can further improve the reconnaissance efficiency of optoelectronic payloads.

[0012] 3. The single-pole tracking control system and control method of the optoelectronic payload can be widely applied to air-based, land-based and sea-based optoelectronic payloads to assist in completing imaging control. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 It is a structural schematic diagram of a single-pole tracking system for an optoelectronic payload according to an embodiment of the present invention.

[0014] Figure 2 It is a flow chart of a single-pole tracking control method for an optoelectronic payload according to an embodiment of the present invention.

[0015] Figure 3 It is a flow chart of parameter initialization of the single-pole tracking control method for an optoelectronic payload according to an embodiment of the present invention.

[0016] Figure 4 It is a flow chart of suppressing the position drift of the pitch frame when the pitch single-pole speed instruction is zero in the optoelectronic load single-pole tracking control method described in an embodiment of the present invention.

[0017] Figure 5 It is a flow chart of suppressing the position drift of the azimuth frame when the azimuth single-pole speed instruction of the optoelectronic payload single-pole tracking control method described in the embodiment of the invention is zero.

[0018] Figure 6 It is a flow chart of pitch frame velocity tracking when the pitch single-pole velocity instruction is non-zero in the optoelectronic payload single-pole tracking control method described in an embodiment of the present invention.

[0019] Figure 7 It is a flow chart of azimuth frame velocity tracking when the azimuth single-pole velocity instruction of the optoelectronic payload single-pole tracking control method described in an embodiment of the present invention is non-zero.

[0020] Description of the reference numerals: single-pole device 1, ground station display 2, main control unit 3 and frame servo control unit 4. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0022] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0025] The following will refer to Figure 1-Figure 7 The invention is described in detail with reference to the embodiments.

[0026] like Figure 1As shown, the optoelectronic load single-pole tracking system provided by the embodiment of the invention comprises a single-pole device 1, a ground station display 2, a main control unit 3 and a frame servo control unit 4, wherein the single-pole device 1, the ground station display 2, the main control unit 3 and the frame servo control unit 4 communicate with each other according to the communication protocol, the single-pole device 1 converts the offset angles in two directions into a single-pole pitch speed instruction and a single-pole azimuth speed instruction, and sends them to the ground station display 2, and the ground station display 2 displays the single-pole pitch speed instruction and the single-pole azimuth speed instruction in real time; the ground station display 2 communicates with the main control unit 3 according to the communication protocol, and the ground station display 2 converts the work task instruction, the single-pole pitch speed instruction and the single-pole azimuth speed instruction into the single-pole pitch speed instruction and the single-pole azimuth speed instruction. The main control unit 3 sends the work task instruction, the single-rod pitch speed instruction and the single-rod azimuth speed instruction to the main control unit 3, and receives and displays the working status and working parameters of the frame servo control unit 4 returned by the main control unit 3; the main control unit 3 and the frame servo control unit 4 communicate with each other according to the communication protocol, the main control unit 3 sends the work task instruction, the single-rod pitch speed instruction and the single-rod azimuth speed instruction to the frame servo control unit 4, and the frame servo control unit 4 reports its own working status and working parameters to the main control unit 3. The working status includes the servo working mode of the pitch frame and azimuth frame of the optoelectronic load, the position drift suppression flag, and the over-limit alarm flag. The working parameters include the position instruction, speed instruction, position and speed data information of the pitch frame and azimuth frame.

[0027] The single-pole device 1 is an external control device for the optoelectronic load and belongs to the prior art. The single-pole device 1 can be understood as a joystick device that can provide two-dimensional movement. It only needs to map the direction and size of the joystick deflection angle of the joystick device into the single-pole pitch speed command and the single-pole azimuth speed command of the optoelectronic load, and finally control the pitch frame and azimuth frame of the optoelectronic load to perform the optical axis line-of-sight pointing movement according to this speed signal.

[0028] The ground station display 2 is used as a human-computer interaction interface, which mainly includes the photoelectric load work task instructions and work parameter instruction settings, as well as the photoelectric load work status and work parameter display.

[0029] The main control unit 3 is the main controller of the optoelectronic load, which is composed of a microprocessor chip (the microprocessor can be DSP, ARM, FPGA, etc.) and a peripheral communication chip. It is mainly responsible for the entire load task planning, work timing, and issuing work task instructions and work parameter instructions to each subsystem and peripheral.

[0030] The frame servo control unit 4 is an optoelectronic load servo controller, which is composed of a microprocessor, position and speed sensor peripherals, and mainly controls the pitch frame and azimuth frame of the optoelectronic load to move according to work task instructions and work parameter instructions.

[0031] The communication protocol can be RS422 protocol, RS232 protocol, RS485 protocol or CAN protocol. As long as the signal can be transmitted and received in one direction or two directions, it can meet the requirements. The specific choice of communication protocol needs to be flexibly selected according to actual cost, transmission rate, transmission distance and other requirements.

[0032] The above content describes in detail the optoelectronic payload single-pole tracking system provided by the embodiment of the invention. Corresponding to the optoelectronic payload single-pole tracking system, the embodiment of the invention also provides an optoelectronic payload single-pole tracking control method implemented by the optoelectronic payload single-pole tracking system, which specifically includes four aspects of control: parameter initialization, frame drift suppression, frame target tracking, and frame limit protection and alarm, all of which are completed by the frame servo control unit 4. The four aspects of control are described in detail below. Figure 1-Figure 7 shown.

[0033] 1. Parameter initialization The frame servo control unit 4 determines whether the current work task instruction is a new instruction. If the current work task instruction is a new instruction, the new instruction flag is set to low, the pitch frame of the photoelectric load is set to the speed servo mode, the azimuth frame of the photoelectric load is set to the speed servo mode, the pitch frame's position drift suppression flag is set to low, and the azimuth frame's position drift suppression flag is set to low.

[0034] If the current work task instruction is not a new instruction, skip the parameter initialization part and execute the subsequent programs in sequence.

[0035] The high and low of the flag bit can be understood as logical variables, representing logical true and false. Setting the flag bit high means setting it to "1", and setting it low means setting it to "0". As long as the different changes of the flag bit can be distinguished or judged, other values ​​can be used instead.

[0036] 2. Frame Drift Suppression Frame drift suppression is divided into position drift suppression of the pitch frame and position drift suppression of the azimuth frame.

[0037] 1. Suppression of position drift of the pitch frame The frame servo control unit 4 determines whether the single-rod pitch speed command is zero. When it is determined that the single-rod pitch speed command is zero, the position of the pitch frame is drift-suppressed.

[0038] The frame servo control unit 4 suppresses the position drift of the pitch frame, including: the frame servo control unit 4 determines whether the position drift suppression flag of the pitch frame is low; when it is determined that the position drift suppression flag of the pitch frame is low, the frame servo control unit 4 sets the pitch frame to the position servo mode, uses the current angular position of the pitch frame as the position instruction input of the pitch frame, and sets the position drift suppression flag of the pitch frame to high, thereby latching the position instruction of the pitch frame.

[0039] If the single-rod pitch speed command sent by the single-rod device 1 to the frame servo control unit 4 is not zero, the frame servo control unit 4 sets the pitch frame to the speed servo mode. When the single-rod pitch speed command is zero, if the pitch frame still executes the speed servo mode, the position of the pitch frame will drift under the influence of the carrier vibration or the unbalanced torque of the photoelectric load. Therefore, when the single-rod pitch speed command is zero, it is necessary to switch the pitch frame from the speed servo mode to the position servo mode, and lock the position of the pitch frame at this time and use it as the position command of the pitch frame by setting the position suppression drift flag of the pitch frame high, so as to keep the position of the pitch frame unchanged.

[0040] 2. Position drift suppression of azimuth frame When the frame servo control unit 4 determines whether the single-rod azimuth speed command is zero, when it is determined that the single-rod azimuth speed command is zero, drift suppression is performed on the position of the azimuth frame.

[0041] The frame servo control unit 4 suppresses the drift of the position of the orientation frame, including: the frame servo control unit 4 determines whether the position drift suppression flag of the orientation frame is low; when it is determined that the position drift suppression flag of the orientation frame is low, the frame servo control unit 4 sets the orientation frame to a position servo mode, uses the angular position of the current orientation frame as the position instruction input of the orientation frame, and sets the position drift suppression flag of the orientation frame to high, thereby latching the position instruction of the orientation frame.

[0042] If the single-pole azimuth speed instruction sent by the single-pole device 1 to the frame servo control unit 4 is not zero, the frame servo control unit 4 sets the azimuth frame to the speed servo mode. When the single-pole azimuth speed instruction is zero, if the azimuth frame still executes the speed servo mode, the position of the azimuth frame will drift under the influence of the carrier vibration or the unbalanced torque of the photoelectric load. Therefore, when the single-pole azimuth speed instruction is zero, it is necessary to switch the azimuth frame from the speed servo mode to the position servo mode, and lock the position of the azimuth frame at this time and use it as the position instruction of the azimuth frame by setting the position suppression drift flag of the azimuth frame high, so as to keep the position of the azimuth frame unchanged.

[0043] 3. Framework Target Tracking Frame target tracking is divided into pitch frame target tracking and azimuth frame target tracking.

[0044] 1. Pitch frame target tracking When the frame servo control unit 4 determines that the single-rod pitch speed instruction is non-zero, the frame servo control unit 4 controls the pitch frame to track the target according to the single-rod pitch speed instruction.

[0045] The frame servo control unit 4 controls the pitch frame to track the target according to the single-rod pitch speed instruction, including: the frame servo control unit 4 sets the pitch frame's position drift suppression flag to low; when the single-rod pitch speed instruction is positive and the position of the pitch frame does not reach the upper limit of the pitch frame or when the single-rod pitch speed instruction is negative and the position of the pitch frame does not reach the lower limit of the pitch frame, the frame servo control unit 4 sets the pitch frame to the speed servo mode, uses the single-rod pitch speed instruction as the speed instruction input of the pitch frame, and clears the over-limit alarm flag of the pitch frame.

[0046] The single-rod device 1 is equivalent to a joystick device. The direction of the joystick device in one dimension, such as the up and down direction, determines the positive and negative of the single-rod pitch speed command. The deflection angle of the joystick device determines the size of the single-rod pitch speed command. The positive and negative and size of the single-rod pitch speed command are encoded through an agreed communication protocol and transmitted unidirectionally from the single-rod device 1, the ground display 2, and the main control unit 3 to the frame servo control unit 4 in sequence. The frame servo control unit 4 can decode the positive and negative and size of the single-rod pitch speed command through the agreed communication protocol.

[0047] 2. Azimuth frame target tracking When the frame servo control unit 4 determines that the single-rod azimuth speed instruction is non-zero, the frame servo control unit 4 controls the azimuth frame to track the target according to the single-rod azimuth speed instruction.

[0048] The frame servo control unit 4 controls the azimuth frame to track the target according to the single-pole azimuth speed instruction, including: the frame servo control unit 4 sets the position drift suppression flag of the azimuth frame to low; when the single-pole azimuth speed instruction is positive and the position of the azimuth frame does not reach the upper limit of the azimuth frame or when the single-pole azimuth speed instruction is negative and the position of the azimuth frame does not reach the lower limit of the azimuth frame, the frame servo control unit 4 sets the azimuth frame to the speed servo mode, inputs the single-pole azimuth speed instruction as the speed instruction of the azimuth frame, and clears the over-limit alarm flag of the azimuth frame.

[0049] The single-pole device 1 is equivalent to a rocker device. The direction of the rocker device in one dimension, such as the left and right direction, determines the positive and negative direction of the single-pole azimuth speed command. The deflection angle of the rocker device determines the size of the single-pole azimuth speed command. The positive and negative direction and size of the single-pole azimuth speed command are encoded through an agreed communication protocol and transmitted unidirectionally from the single-pole device 1, the ground display 2, and the main control unit 3 to the frame servo control unit 4 in sequence. The frame servo control unit 4 can decode the positive and negative direction and size of the single-pole azimuth speed command through the agreed communication protocol.

[0050] 4. Frame Limit Protection and Alarm Frame limit protection and alarm are divided into elevation frame limit protection and alarm, and azimuth frame limit protection and alarm.

[0051] 1. Pitch frame limit protection and alarm When the frame servo control unit 4 determines that the single-rod pitch speed instruction is non-zero and the position of the pitch frame reaches the limit of the pitch frame, limit protection and alarm flag setting are performed on the pitch frame at the same time.

[0052] The pitch frame is simultaneously subjected to limit protection and alarm flag setting, including: when the single-rod pitch speed instruction is positive and the position of the pitch frame reaches the upper limit of the pitch frame, the frame servo control unit 4 sets the pitch frame to the position servo mode, uses the upper limit angular position of the pitch frame as the position instruction input of the pitch frame, and sets an over-limit alarm flag for the pitch frame; when the single-rod pitch speed instruction is negative and the position of the pitch frame reaches the lower limit of the pitch frame, sets the pitch frame to the position servo mode, uses the lower limit angular position of the pitch frame as the position instruction input of the pitch frame, and sets an over-limit alarm flag for the pitch frame.

[0053] 2. Azimuth frame limit protection and alarm When the frame servo control unit 4 determines that the single-rod azimuth speed instruction is non-zero and the position of the azimuth frame reaches the limit of the azimuth frame, limit protection and alarm flag setting are performed on the azimuth frame at the same time.

[0054] The azimuth frame is simultaneously subjected to limit protection and alarm flag setting, including: when the single-pole azimuth speed instruction is positive and the position of the azimuth frame reaches the upper limit of the limit of the azimuth frame, the frame servo control unit 4 sets the azimuth frame to the position servo mode, inputs the upper limit angular position of the azimuth frame as the position instruction of the azimuth frame, and sets an over-limit alarm flag for the azimuth frame; when the single-pole azimuth speed instruction is negative and the position of the azimuth frame reaches the lower limit of the limit of the azimuth frame, the azimuth frame is set to the position servo mode, inputs the lower limit angular position of the azimuth frame as the position instruction of the azimuth frame, and sets an over-limit alarm flag for the azimuth frame.

[0055] The alarm flag has only two states, namely, a warning state and a non-warning state. The alarm flag can be set to "1" to indicate a warning state, and set to "0" to indicate a non-warning state.

[0056] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0057] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A single-pole tracking system for photoelectric payloads, characterized in that: It includes a single-pole device, a ground station display, a main control unit and a frame servo control unit. The single-pole device and the ground station display communicate with each other according to a communication protocol. The single-pole device converts the offset angles in two directions into a single-pole pitch speed command and a single-pole azimuth speed command, and sends them to the ground station display. The ground station display displays the single-pole pitch speed command and the single-pole azimuth speed command in real time. The ground station display and the main control unit communicate with each other according to the communication protocol. The ground station display sends the work task instructions, single-rod pitch speed instructions and single-rod azimuth speed instructions to the main control unit, and receives and displays the working status and working parameters of the frame servo control unit returned by the main control unit; the main control unit and the frame servo control unit communicate with each other according to the communication protocol. The main control unit sends the work task instructions, single-rod pitch speed instructions and single-rod azimuth speed instructions to the frame servo control unit, and the frame servo control unit reports its own working status and working parameters to the main control unit; the working status includes the servo working mode of the pitch frame and azimuth frame of the optoelectronic load, the position drift suppression flag, and the over-limit alarm flag, and the working parameters include the position instructions, speed instructions, position and speed data information of the pitch frame and azimuth frame.

2. A single-pole tracking control method for an optoelectronic payload, implemented using the single-pole tracking system for an optoelectronic payload according to claim 1, characterized in that: Includes the following controls: Parameter initialization: The frame servo control unit determines whether the current work task instruction is a new instruction. If the current work task instruction is a new instruction, the new instruction flag is set to low, the pitch frame of the photoelectric load is set to the speed servo mode, the azimuth frame of the photoelectric load is set to the speed servo mode, the suppression position drift flag of the pitch frame is set to low, and the suppression position drift flag of the azimuth frame is set to low; Frame drift suppression: When the frame servo control unit determines that the single-rod pitch speed command is zero, the frame servo control unit suppresses the drift of the pitch frame position; when the frame servo control unit determines that the single-rod azimuth speed command is zero, the frame servo control unit suppresses the drift of the azimuth frame position; Frame target tracking: When the frame servo control unit determines that the single-rod pitch speed command is non-zero, the frame servo control unit controls the pitch frame to track the target according to the single-rod pitch speed command; when the frame servo control unit determines that the single-rod azimuth speed command is non-zero, the frame servo control unit controls the azimuth frame to track the target according to the single-rod azimuth speed command; Frame limit protection and alarm: When the frame servo control unit determines that the single-pole pitch speed command is non-zero and the position of the pitch frame reaches the limit of the pitch frame, the pitch frame is simultaneously subjected to limit protection and the alarm flag is set; when the frame servo control unit determines that the single-pole azimuth speed command is non-zero and the position of the azimuth frame reaches the limit of the azimuth frame, the azimuth frame is simultaneously subjected to limit protection and the alarm flag is set.

3. The single-pole tracking control method for an optoelectronic payload according to claim 2, characterized in that: The frame servo control unit performs drift suppression on the position of the pitch frame, including: When the single-rod pitch speed command is zero, the frame servo control unit further determines that the suppression position drift flag of the pitch frame is low, the frame servo control unit sets the pitch frame to the position servo mode, uses the current angular position of the pitch frame as the position command input of the pitch frame, and sets the suppression position drift flag of the pitch frame to high, thereby latching the position command of the pitch frame; The frame servo control unit performs drift suppression on the position of the orientation frame, including: When the single-pole azimuth speed instruction is zero, the frame servo control unit further determines that the azimuth frame position drift suppression flag is low, the frame servo control unit sets the azimuth frame to the position servo mode, uses the angular position of the current azimuth frame as the position instruction input of the azimuth frame, and sets the position drift suppression flag of the azimuth frame to high, thereby latching the position instruction of the azimuth frame.

4. The single-pole tracking control method for an optoelectronic payload according to claim 2, characterized in that: The frame servo control unit controls the pitch frame to track the target according to the single-rod pitch speed command, including: When the single-rod pitch speed command is non-zero, the frame servo control unit sets the inhibited position drift flag of the pitch frame to low; when the single-rod pitch speed command is positive and the position of the pitch frame does not reach the upper limit of the pitch frame or when the single-rod pitch speed command is negative and the position of the pitch frame does not reach the lower limit of the pitch frame, the frame servo control unit sets the pitch frame to the speed servo mode, uses the single-rod pitch speed command as the speed command input of the pitch frame, and clears the over-limit warning flag of the pitch frame; The frame servo control unit controls the azimuth frame to track the target according to the single-rod azimuth speed command, including: When the single-rod azimuth speed command is non-zero, the frame servo control unit sets the position drift suppression flag of the azimuth frame to low; when the single-rod pitch speed command is positive and the position of the azimuth frame does not reach the upper limit of the azimuth frame or when the single-rod azimuth speed command is negative and the position of the azimuth frame does not reach the lower limit of the azimuth frame, the frame servo control unit sets the azimuth frame to the speed servo mode, inputs the single-rod azimuth speed command as the speed command of the azimuth frame, and clears the over-limit alarm flag of the azimuth frame.

5. The single-pole tracking control method for an optoelectronic payload according to claim 2, characterized in that: The pitch frame is provided with limit protection and warning sign setting at the same time, including: When the single-rod pitch speed command is positive and the position of the pitch frame reaches the upper limit of the pitch frame, the frame servo control unit sets the pitch frame to the position servo mode, uses the upper limit angular position of the pitch frame as the position command input of the pitch frame, and sets an over-limit alarm flag for the pitch frame; when the single-rod pitch speed command is negative and the position of the pitch frame reaches the lower limit of the pitch frame, the pitch frame is set to the position servo mode, uses the lower limit angular position of the pitch frame as the position command input of the pitch frame, and sets an over-limit alarm flag for the pitch frame; The limiting protection and warning flag setting are performed on the azimuth frame at the same time, including: When the single-pole azimuth speed instruction is positive and the position of the azimuth frame reaches the upper limit of the azimuth frame, the frame servo control unit sets the azimuth frame to the position servo mode, inputs the upper limit angular position of the azimuth frame as the position instruction of the azimuth frame, and sets an over-limit alarm flag for the azimuth frame; when the single-pole azimuth speed instruction is negative and the position of the azimuth frame reaches the lower limit of the azimuth frame, the azimuth frame is set to the position servo mode, inputs the lower limit angular position of the azimuth frame as the position instruction of the azimuth frame, and sets an over-limit alarm flag for the azimuth frame.

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