Control simulation system and method suitable for image coarse and fine tracking

Abstract

The invention relates to a control simulation system and method suitable for coarse and fine image tracking, and belongs to the field of photoelectric tracking and pointing equipment, and the system comprises a parameter input module which is used for inputting test parameters of a photoelectric tracking and pointing system; the control model is used for receiving the test parameters of the photoelectric tracking and pointing system and carrying out interpretation, analysis, calculation and processing on the test parameters; and the data output module is used for displaying a processing result of the control model. Image and control composite modeling is carried out on coarse tracking and fine tracking, image and control parameters are analyzed, and the system stability of the photoelectric tracking and pointing system, the azimuth and pitching tracking precision in coarse tracking precision and the azimuth and pitching tracking precision in fine tracking precision are comprehensively calculated and analyzed according to design requirements. The tracking precision and the tracking capability of the photoelectric tracking and pointing equipment are effectively evaluated, the task cycle is not influenced, the working efficiency is improved, and the optimal effect of control processing algorithm verification in image coarse and fine tracking is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of optoelectronic tracking and aiming equipment, and in particular relates to a control simulation system and method suitable for coarse and fine image tracking. Background Art

[0002] In recent years, optoelectronic tracking and aiming equipment has achieved rapid development. At the same time, these optoelectronic tracking and aiming equipment must have the ability of rough image tracking and fine image tracking. As an important execution system for rough image tracking and fine image tracking, the control system plays an important role. The control processing algorithm in the control system has become the top priority. The processing power of the control processing algorithm directly determines the tracking ability of the optoelectronic tracking and aiming equipment to the target.

[0003] The existing control processing algorithm has the following defects:

[0004] 1. Currently, the verification of the control processing algorithm must be carried out after the entire optoelectronic tracking and aiming system is completed. Preliminary simulation verification cannot be carried out, and the tracking accuracy and tracking capability of the optoelectronic tracking and aiming equipment cannot be estimated, which affects the mission cycle.

[0005] Second, it is difficult to verify the existing control processing algorithms in different environments, different backgrounds and different conditions one by one. Among them, the environmental and background factors are not determined by humans; the conditional factors are not completely determined by humans either. Summary of the invention

[0006] In view of the problem in the prior art that the control processing algorithm needs to be verified after the entire optoelectronic tracking and aiming system is completed, which makes it impossible to effectively evaluate the tracking accuracy and tracking capability of the optoelectronic tracking and aiming equipment and affects the task cycle, the purpose of the present invention is to provide a control simulation system and method suitable for coarse and fine image tracking.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0008] The present invention provides a control simulation system suitable for image coarse and fine tracking, which mainly includes:

[0009] Parameter input module, used to input test parameters of the optoelectronic tracking and aiming system;

[0010] A control model is used to receive the test parameters of the electro-optical tracking and aiming system and interpret, analyze, calculate and process the test parameters;

[0011] Data output module, used to display the processing results of the control model.

[0012] Furthermore, the parameter input module converts the test parameters of the optoelectronic tracking and aiming system into a format that can be processed by the control model.

[0013] Furthermore, the test parameters of the optoelectronic tracking and aiming system include: pitch velocity, azimuth velocity, pitch acceleration, azimuth acceleration, coarse tracking lag time, fine tracking lag time and turntable mechanical resonance frequency.

[0014] Furthermore, the specific requirements for the test parameters of the electro-optical tracking and aiming system are:

[0015] 1) Pitch speed and azimuth speed are less than 100 rad / s;

[0016] 2) Pitch acceleration, azimuth acceleration 50rad / s 2 the following;

[0017] 3) The mechanical resonance frequency of the turntable is below 60Hz;

[0018] 4) Coarse tracking lag time and fine tracking lag time are 1-10ms.

[0019] Furthermore, the control model includes a coarse tracking processing module and a fine tracking processing module; the coarse tracking processing module performs image and control composite modeling on the coarse tracking process, analyzes the image parameters and control parameters thereof, and comprehensively calculates and analyzes the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and the pitch tracking accuracy in the coarse tracking accuracy, based on the tracking azimuth speed and acceleration, the pitch speed and acceleration, the mechanical resonance frequency of the turntable, and the coarse tracking lag time in the image tracking required by the design, so as to comprehensively reflect the coarse tracking accuracy and coarse tracking capability in the optoelectronic tracking and aiming system;

[0020] The fine tracking processing module performs image and control composite modeling on the fine tracking process, analyzes the image parameters and control parameters, and comprehensively calculates and analyzes the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and the pitch tracking accuracy in the fine tracking accuracy according to the tracking azimuth speed and acceleration, pitch speed and acceleration, the mechanical resonance frequency of the turntable, and the fine tracking lag time in the image tracking required by the design, so as to comprehensively reflect the fine tracking accuracy and fine tracking capability in the optoelectronic tracking and aiming system.

[0021] Furthermore, the processing results include: coarse tracking pitch accuracy, coarse tracking azimuth accuracy, fine tracking pitch accuracy, fine tracking azimuth accuracy and system stability.

[0022] Furthermore, the functions of the data output module include: display, movement, enlargement, size adjustment, curve call, save and recall.

[0023] The present invention provides a control simulation method suitable for image coarse and fine tracking, which is implemented by the control simulation system suitable for image coarse and fine tracking, and specifically includes the following steps:

[0024] Step S1: data input;

[0025] Input the test parameters of the optoelectronic tracking and aiming system through the parameter input module;

[0026] Step S2: data processing;

[0027] Interpret, analyze, calculate and process the test parameters of the electro-optical tracking and aiming system through the control model;

[0028] Step S3: data output;

[0029] The data processing results are output and displayed through the data output module.

[0030] Furthermore, in step S2, the coarse tracking process is first image and control composite modeled through the coarse tracking processing module, and its image parameters and control parameters are analyzed. Based on the tracking azimuth speed and acceleration, pitch speed and acceleration, turntable mechanical resonance frequency, and coarse tracking lag time in image tracking required by the design, the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the coarse tracking accuracy are comprehensively calculated and analyzed to comprehensively reflect the coarse tracking accuracy and coarse tracking capability in the optoelectronic tracking and aiming system.

[0031] Furthermore, in step S2, the fine tracking process is subjected to composite image and control modeling through the fine tracking processing module, and the image parameters and control parameters are analyzed. Based on the tracking azimuth speed and acceleration, pitch speed and acceleration, turntable mechanical resonance frequency, and fine tracking lag time in image tracking required by the design, the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the fine tracking accuracy are comprehensively calculated and analyzed to comprehensively reflect the fine tracking accuracy and fine tracking capability in the optoelectronic tracking and aiming system.

[0032] The beneficial effects of the present invention are:

[0033] In view of the problem in the prior art that the control processing algorithm needs to be verified after the entire optoelectronic tracking and aiming system is completed, which makes it impossible to effectively evaluate the tracking accuracy and tracking capability of the optoelectronic tracking and aiming equipment and affects the task cycle, the present invention provides a control simulation system and method suitable for coarse and fine image tracking.

[0034] The present invention performs image and control composite modeling on coarse tracking and fine tracking, analyzes the image parameters and control parameters thereof, and comprehensively calculates and analyzes the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and the pitch tracking accuracy in the coarse tracking accuracy, and the azimuth tracking accuracy and the pitch tracking accuracy in the fine tracking accuracy according to the tracking azimuth speed and acceleration, the pitch speed and acceleration, the mechanical resonance frequency of the turntable, and the coarse tracking lag time and the fine tracking lag time in the image tracking required by the design, so as to comprehensively reflect the tracking accuracy and tracking capability in the optoelectronic tracking and aiming system.

[0035] A control simulation system and method suitable for image coarse and fine tracking of the present invention can effectively evaluate the tracking accuracy and tracking capability of optoelectronic tracking and aiming equipment without affecting the task cycle, thereby improving work efficiency and achieving the best effect of control processing algorithm verification in image coarse and fine tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A structural block diagram of a control simulation system suitable for coarse and fine image tracking provided by the present invention.

[0037] Figure 2 A flow chart of a control simulation method suitable for coarse and fine image tracking provided by the present invention.

[0038] Figure 3 This is an example of a real-time data curve with coarse tracking accuracy.

[0039] Figure 4 This is an example of a real-time data curve with fine tracking accuracy.

[0040] In the figure: 1. parameter input module; 2. control model; 201. coarse tracking processing module; 202. fine tracking processing module; 3. data output module. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0042] In a first aspect, the present invention provides a control simulation system suitable for coarse and fine image tracking.

[0043] The present invention provides a control simulation system suitable for image coarse and fine tracking, which utilizes the powerful software and hardware capabilities of computers and is based on the principle of automatic control to achieve the ability to calculate and analyze the coarse and fine tracking accuracy of images.

[0044] like Figure 1 As shown, the present invention provides a control simulation system suitable for image coarse and fine tracking, which specifically includes the following modules: a parameter input module 1, a control model 2 and a data output module 3.

[0045] In the present invention, the parameter input module 1 is mainly used to input information such as test parameters of the optoelectronic tracking and aiming system, and convert the information such as test parameters of the optoelectronic tracking and aiming system into a format that can be processed by the control model 2, and at the same time transmit the information such as test parameters of the optoelectronic tracking and aiming system to the control model 2.

[0046] Among them, the test parameters of the electro-optical tracking and aiming system mainly include: pitch speed, azimuth speed, pitch acceleration, azimuth acceleration, coarse tracking lag time, fine tracking lag time and turntable mechanical resonance frequency. These test parameters are transferred into the control model 2 through the parameter input module 1.

[0047] In the present invention, the control model 2 mainly includes a coarse tracking processing module 201 and a fine tracking processing module 202. The information such as the test parameters of the optoelectronic tracking and aiming system transmitted by the parameter input module 1 is sequentially input into the coarse tracking processing module 201 and the fine tracking processing module 202, and is interpreted, analyzed, calculated and processed respectively, and the processing results are transmitted to the data output module 3 for display.

[0048] Among them, the specific role of the coarse tracking processing module 201 is to perform image and control composite modeling on the coarse tracking process, analyze the image parameters and control parameters, and according to the tracking azimuth speed and acceleration, pitch speed and acceleration, turntable mechanical resonance frequency, and coarse tracking lag time in image tracking required by the design, comprehensively calculate and analyze the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the coarse tracking accuracy, and comprehensively reflect the coarse tracking accuracy and coarse tracking capability in the optoelectronic tracking and aiming system.

[0049] Among them, the specific function of the fine tracking processing module 202 is to perform image and control composite modeling on the fine tracking process, analyze the image parameters and control parameters, and according to the tracking azimuth speed and acceleration, pitch speed and acceleration, turntable mechanical resonance frequency, and fine tracking lag time in image tracking required by the design, comprehensively calculate and analyze the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the fine tracking accuracy, and comprehensively reflect the fine tracking accuracy and fine tracking capability in the optoelectronic tracking and aiming system.

[0050] In the present invention, the data output module 3 mainly outputs: coarse tracking pitch accuracy, coarse tracking azimuth accuracy, fine tracking pitch accuracy, fine tracking azimuth accuracy and system stability.

[0051] Among them, the data form of coarse tracking pitch accuracy includes: root mean square value and real-time data curve; the data form of coarse tracking azimuth accuracy includes: root mean square value and real-time data curve; the data form of fine tracking pitch accuracy includes: root mean square value and real-time data curve; the data form of fine tracking azimuth accuracy includes: root mean square value and real-time data curve.

[0052] In the present invention, the data output module 3 has not only the display function, but also the functions of moving, enlarging, resizing, curve calling, saving, and recalling.

[0053] The present invention provides a control simulation system suitable for image coarse and fine tracking, which involves multidisciplinary knowledge such as image processing, automatic control, optical physics, and mechanical structure, and has the advantages of being reliable and practical, small in size, light in weight, and simple in assembly and adjustment.

[0054] The present invention provides a control simulation system suitable for coarse and fine image tracking. In practical applications, it can be used as a top-level application to organically integrate various software functional modules, provide a friendly human-computer operation interface, flexible and simple operation mode, and realize various external data communications, information exchange functions, etc.

[0055] The present invention provides a control simulation system suitable for coarse and fine image tracking, which effectively isolates the external interface function module, namely the parameter input module 1 and the data output module 3, from the core function module, namely the control model 2. The core function can be basically kept solidified after development is completed, and the external interface function can be continuously optimized, improved and upgraded according to actual application conditions, thereby improving the efficiency of system development and maintenance.

[0056] In a second aspect, the present invention provides a control simulation method suitable for coarse and fine image tracking, which is mainly implemented by a control simulation system suitable for coarse and fine image tracking provided by the first aspect of the present invention.

[0057] like Figure 2 As shown, the present invention provides a control simulation method suitable for image coarse and fine tracking, which can achieve the best effect of verifying the control processing algorithm in image coarse and fine tracking. The specific implementation process is as follows:

[0058] Step S1: data input;

[0059] In the present invention, the test parameters and other information of the optoelectronic tracking and aiming system are input through the parameter input module 1, and the test parameters and other information of the optoelectronic tracking and aiming system are converted into a format that can be processed by the control model 2, and the test parameters and other information of the optoelectronic tracking and aiming system are transmitted to the control model 2 at the same time;

[0060] Among them, the test parameters of the optoelectronic tracking and aiming system involved mainly include: pitch speed, azimuth speed, pitch acceleration, azimuth acceleration, coarse tracking lag time, fine tracking lag time and turntable mechanical resonance frequency.

[0061] The range of each parameter is as follows:

[0062] 1) Pitch speed and azimuth speed are less than 100 rad / s;

[0063] 2) Pitch acceleration, azimuth acceleration 50rad / s 2 the following;

[0064] 3) The mechanical resonance frequency of the turntable is below 60Hz;

[0065] 4) Coarse tracking lag time and fine tracking lag time are 1-10ms.

[0066] Step S2: data processing;

[0067] In the present invention, the test parameters of the optoelectronic tracking and aiming system are interpreted, analyzed, calculated and processed by the control model 2, and the processing results are transmitted to the data output module 3 for display.

[0068] Specifically, the control model 2 mainly includes a coarse tracking processing module 201 and a fine tracking processing module 202. Therefore, the data processing process is also specifically subdivided into two steps, namely:

[0069] S2.1: coarse tracking processing;

[0070] In the present invention, the coarse tracking process is compositely modeled with images and controls through the coarse tracking processing module 201, and the image parameters and control parameters thereof are analyzed. Based on the tracking azimuth speed and acceleration, pitch speed and acceleration, mechanical resonance frequency of the turntable, and coarse tracking lag time in image tracking required by the design, the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the coarse tracking accuracy are comprehensively calculated and analyzed, and the coarse tracking accuracy and coarse tracking capability in the optoelectronic tracking and aiming system are comprehensively reflected.

[0071] S2.2: fine tracking processing;

[0072] In the present invention, the fine tracking process is modeled with images and controls through the fine tracking processing module 202, and the image parameters and control parameters are analyzed. According to the tracking azimuth speed and acceleration, pitch speed and acceleration, turntable mechanical resonance frequency, and fine tracking lag time in image tracking required by the design, the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the fine tracking accuracy are comprehensively calculated and analyzed, so as to comprehensively reflect the fine tracking accuracy and fine tracking capability in the optoelectronic tracking and aiming system.

[0073] Step S3: data output;

[0074] In the present invention, the data processing result is output and displayed through the data output module 3, and the data processing result can also be moved, enlarged, resized, curve called, saved and withdrawn through the data output module 3.

[0075] Among them, the data processing results mainly include: coarse tracking pitch accuracy, coarse tracking azimuth accuracy, fine tracking pitch accuracy, fine tracking azimuth accuracy and system stability.

[0076] Among them, the data form of coarse tracking pitch accuracy includes: root mean square value and real-time data curve; the data form of coarse tracking azimuth accuracy includes: root mean square value and real-time data curve; the data form of fine tracking pitch accuracy includes: root mean square value and real-time data curve; the data form of fine tracking azimuth accuracy includes: root mean square value and real-time data curve.

[0077] An example of a real-time data curve of rough tracking accuracy is as follows: Figure 3 As shown, the middle curve is the pitch coarse tracking accuracy curve, and the other is the azimuth coarse tracking accuracy curve.

[0078] An example of a real-time data curve of fine tracking accuracy is as follows: Figure 4 As shown, the middle curve is the pitch tracking accuracy curve, and the other is the azimuth tracking accuracy curve.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control simulation system suitable for image coarse and fine tracking, characterized in that: include: Parameter input module, used to input test parameters of the optoelectronic tracking and aiming system; A control model is used to receive the test parameters of the electro-optical tracking and aiming system and interpret, analyze, calculate and process the test parameters; Data output module, used to display the processing results of the control model.

2. A control simulation system suitable for image coarse and fine tracking according to claim 1, characterized in that: The parameter input module converts the test parameters of the optoelectronic tracking and aiming system into a format that can be processed by the control model.

3. The control simulation system suitable for image coarse and fine tracking according to claim 1, characterized in that: The test parameters of the optoelectronic tracking and aiming system include: pitch velocity, azimuth velocity, pitch acceleration, azimuth acceleration, coarse tracking lag time, fine tracking lag time and turntable mechanical resonance frequency.

4. A control simulation system suitable for image coarse and fine tracking according to claim 3, characterized in that: The specific requirements for the test parameters of the optoelectronic tracking and aiming system are: 1) Pitch speed and azimuth speed are less than 100 rad / s; 2) Pitch acceleration, azimuth acceleration 50rad / s 2 the following; 3) The mechanical resonance frequency of the turntable is below 60Hz; 4) Coarse tracking lag time and fine tracking lag time are 1-10ms.

5. The control simulation system suitable for image coarse and fine tracking according to claim 1, characterized in that: The control model includes a coarse tracking processing module and a fine tracking processing module; the coarse tracking processing module performs image and control composite modeling on the coarse tracking process, analyzes the image parameters and control parameters thereof, and comprehensively calculates and analyzes the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and the pitch tracking accuracy in the coarse tracking accuracy according to the tracking azimuth speed and acceleration, the pitch speed and acceleration, the mechanical resonance frequency of the turntable, and the coarse tracking lag time in the image tracking required by the design, so as to comprehensively reflect the coarse tracking accuracy and coarse tracking capability in the optoelectronic tracking and aiming system; The fine tracking processing module performs image and control composite modeling on the fine tracking process, analyzes the image parameters and control parameters, and comprehensively calculates and analyzes the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and the pitch tracking accuracy in the fine tracking accuracy according to the tracking azimuth speed and acceleration, pitch speed and acceleration, the mechanical resonance frequency of the turntable, and the fine tracking lag time in the image tracking required by the design, so as to comprehensively reflect the fine tracking accuracy and fine tracking capability in the optoelectronic tracking and aiming system.

6. The control simulation system suitable for image coarse and fine tracking according to claim 1, characterized in that: The processing results include: coarse tracking pitch accuracy, coarse tracking azimuth accuracy, fine tracking pitch accuracy, fine tracking azimuth accuracy and system stability.

7. The control simulation system suitable for image coarse and fine tracking according to claim 1, characterized in that: The functions of the data output module include: display, movement, enlargement, size adjustment, curve call, save and recall.

8. A control simulation method suitable for image coarse and fine tracking, characterized in that: The method is implemented by a control simulation system suitable for image coarse and fine tracking as described in any one of claims 1 to 7, comprising the following steps: Step S1: data input; Input the test parameters of the optoelectronic tracking and aiming system through the parameter input module; Step S2: data processing; Interpret, analyze, calculate and process the test parameters of the electro-optical tracking and aiming system through the control model; Step S3: data output; The data processing results are output and displayed through the data output module.

9. The control simulation method suitable for image coarse and fine tracking according to claim 8, characterized in that: In step S2, the coarse tracking process is first modeled with image and control by the coarse tracking processing module, and the image parameters and control parameters are analyzed. Then, according to the tracking azimuth speed and acceleration, pitch speed and acceleration, turntable mechanical resonance frequency, and coarse tracking lag time in image tracking required by the design, the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the coarse tracking accuracy are comprehensively calculated and analyzed to comprehensively reflect the coarse tracking accuracy and coarse tracking capability in the optoelectronic tracking and aiming system.

10. The control simulation method suitable for image coarse and fine tracking according to claim 9, characterized in that: In step S2, the fine tracking process is modeled with images and controls through the fine tracking processing module, and the image parameters and control parameters are analyzed. Based on the tracking azimuth speed and acceleration, pitch speed and acceleration, turntable mechanical resonance frequency, and fine tracking lag time in image tracking required by the design, the system stability of the optoelectronic tracking and aiming system, the azimuth tracking accuracy and pitch tracking accuracy in the fine tracking accuracy are comprehensively calculated and analyzed to comprehensively reflect the fine tracking accuracy and fine tracking capability in the optoelectronic tracking and aiming system.

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