Dual-servo tracking system and method

Abstract

A dual-servo tracking system disclosed by the present invention comprises an observing and aiming servo module and a load servo module, the observing and aiming servo module and the load servo module are independently arranged, the load servo module is provided with an execution device, the observing and aiming servo module is provided with an observing and aiming device in communication connection with the observing and aiming servo module, and the load servo module is provided with an execution device. The observing and aiming equipment is used for searching and identifying a target; the observation and aiming servo module is in communication connection with the load servo module, the observation and aiming servo module is used for tracking a target and transmitting a current position signal of the observation and aiming servo module to the load servo module, and the load servo module is used for performing follow-up according to the current position signal as a target position. The dual-servo tracking system has the advantages of being good in stability, fast in response, large in working range and good in synchronism. The invention further discloses a dual-servo tracking method.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to a dual servo tracking system and method. Background Art

[0002] In the fields of radar and satellite communications, fire control systems, and aerospace, the aiming and sighting servo needs to be synchronized and tracked with other payloads. Existing aiming and sighting servos are often designed with a non-independent integrated coaxial motion design. Although this solves the problem of synchronous tracking between the aiming and sighting servo and other payloads, it is unable to carry more payloads due to limitations in motors, volume, and precision. The payloads are prone to mutual disturbance, and the aiming and sighting servo is constrained by the payload, and cannot take advantage of its fast response and large working range. When the aiming and sighting servo and payload servo are designed as separate systems, most of them use the overall system host computer for data transfer, which often results in large delays and insufficient synchronization accuracy. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a dual servo tracking system with good stability, fast response, large working range and good synchronization. It also provides a servo tracking method with good stability, fast response, large working range, good synchronization, simple operation process and accurate decision-making.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A dual servo tracking system includes an observation and aiming servo module and a payload servo module, wherein the observation and aiming servo module and the payload servo module are independently arranged, an execution device is installed on the payload servo module, and an observation and aiming device connected to the observation and aiming servo module is installed on the observation and aiming servo module, wherein the observation and aiming device is used to search and identify a target;

[0006] The sighting servo module is communicatively connected with the payload servo module, and is used to track the target and transmit the current position signal of the sighting servo module to the payload servo module, and the payload servo module is used to follow the target position according to the current position signal.

[0007] As a further improvement of the above technical solution:

[0008] The observation and aiming equipment includes a photoelectric radar and an electromagnetic wave radar.

[0009] It also includes a log module, which is used to record log information. The log information includes position information of the sighting servo module and the payload servo module, target miss distance and tracking status.

[0010] A dual servo tracking method, using the dual servo tracking system described above, comprises the following steps:

[0011] Step S1: the sighting device searches for the target;

[0012] Step S2: If the sighting device recognizes the target, the sighting servo module performs rotation and pitch movements to track the target, otherwise returns to S1;

[0013] Step S3: After the sighting and servo module stably tracks the identified target, the sighting and servo module transmits a current position signal of the sighting and servo module to the payload servo module, and the payload servo module follows the sighting and servo module according to the current position signal as the target position;

[0014] Step S4: After the payload servo module stably follows the movement of the sighting servo module, the execution device is started according to the user's instruction.

[0015] As a further improvement of the above technical solution:

[0016] In step S3, it is determined whether the sighting servo module stably tracks the identified target according to the following steps:

[0017] Step A1: the sighting servo module tracks the target;

[0018] Step A2: Determine whether the target miss distance is within the set pixel value range. If so, execute step A3, otherwise return to step A1;

[0019] Step A3: Determine whether the time during which the target miss distance remains within the set pixel value range reaches a first set time. If the first set time is reached, it means that the sighting servo module has stably tracked the identified target, otherwise return to step A2.

[0020] In step S3, after the sighting servo module stably tracks the identified target, if the target miss distance exceeds the set pixel value range for a second set time, it means that the target may be lost, and the process returns to step S2, and the load servo module stops following.

[0021] In step S4, the following steps are used to determine whether the payload servo module stably follows the movement of the sighting servo module:

[0022] Step B1: The payload servo module moves along with the sighting servo module;

[0023] Step B2: Determine whether the angle deviation between the load servo module and the sighting servo module is within the set deviation range. If so, execute step B3; otherwise, return to step B1.

[0024] Step B3: Determine whether the time during which the angle deviation is maintained within the set deviation range reaches a third set time. If so, it indicates that the load servo module has stably followed the aiming servo module in movement. Otherwise, return to step B2.

[0025] Before step S1, it is also necessary to set a tracking compensation value of the payload servo module, wherein the tracking compensation value is obtained according to the installation errors of the sighting servo module and the payload servo module.

[0026] In step S2, when the angle error between the sighting and servo module and the target is less than 0.8 degrees, it means that the sighting and servo module has aimed at the target, and the sighting and servo module then tracks the target.

[0027] In step S3, the motors of the load servo module and the sighting servo module are synchronously operated based on a deviation coupling synchronous control method.

[0028] Compared with the prior art, the advantages of the present invention are:

[0029] The dual servo tracking system of the present invention is independently arranged by the sighting servo module and the load servo module, so that more loads can be carried on the load servo module, and the loads are not easy to disturb each other, and the stability is good. In addition, the sighting device and the sighting servo module can independently search and track the target, and the response is fast and the working range is large. The sighting servo module is directly connected to the load servo module through communication and transmits the current position signal, and there is no need for a host computer to perform data transfer and position solution, so the delay is small, the synchronization accuracy is high, and the synchronization is good.

[0030] The dual servo tracking method of the present invention is that the observation and aiming servo module and the load servo module are independently set, so that more loads can be carried on the load servo module, and each load is not easy to disturb each other, and the stability is good. In addition, the observation and aiming device and the observation and aiming servo module can independently search and track the target, and the response is fast and the working range is large. The observation and aiming servo module is directly connected with the load servo module for communication and transmission of the current position signal, and there is no need for the host computer to perform data transfer and position solution, the delay is small, the synchronization accuracy is high, and the synchronization is good. The search and identification of the target by the observation and aiming device, the tracking of the target by the observation and aiming servo module, and the following of the load servo module are all automatically determined and completed by the system. The user only needs to make a decision whether to start the execution device to execute the corresponding task on the target in the last stage after the load servo module stably follows the movement of the observation and aiming servo module. The user operation process is simpler and the decision is more accurate.

[0031] The dual servo tracking method of the present invention can automatically determine whether the sighting and aiming servo module stably tracks the identified target. When judging, the target miss amount takes the image center as the origin. If the target miss amount for 30 cycles (1 cycle is 10 milliseconds) is kept within the set pixel value range, it is determined that the sighting and aiming servo module has stably tracked the identified target and can enter the next stage. If the target miss amount exceeds the range in the middle, the count is re-counted, and the judgment accuracy is high.

[0032] In the dual servo tracking method of the present invention, since the lower-layer load servo module is equipped with an execution device and has a heavy load, the movement amplitude is large when following the target. If the target is temporarily lost, the load servo module may be easily stalled due to repeated attempts by the sighting and aiming servo module to capture and track, which is not conducive to the safety of the execution device and the control stability of the sighting and aiming servo module. By setting that the load servo module stops following when the target is lost and recaptured, the system stability is better.

[0033] In the dual-servo tracking method of the present invention, the system can automatically determine whether the load servo module stably follows the movement of the sighting servo module. When judging, if the angular deviation between the load servo module and the sighting servo module does not exceed [-1, +1] degrees for 15 consecutive cycles, it means that the load servo module stably follows, and the user can be notified that the execution device can be started. The user then decides whether to start the execution device to execute the corresponding task on the target, and the judgment accuracy is high.

[0034] The dual servo tracking method of the present invention sets the tracking compensation value during the initialization stage, so that the observation and aiming servo module and the load servo module at different installation positions are placed in the same coordinate system, ensuring that the load servo module can synchronously point to the target when following, with better synchronization.

[0035] In the dual-servo tracking method of the present invention, the motors of the load servo module and the sighting servo module are synchronously operated based on the deviation coupling synchronous control method. The deviation coupling synchronous control mode is adopted, and the two motors are organically linked together. In this way, when the system load fluctuation causes the speed of one of the motors to change, the other motor can adjust the operating state in time to keep the two motors running synchronously with better synchronization. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of the dual servo tracking method of the present invention.

[0037] Figure 2 The present invention is a flow chart of the motor synchronous control of the load servo module and the sighting servo module in the dual servo tracking method. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations 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 should not be understood as a limitation on the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Embodiment 1:

[0043] The dual servo tracking system of this embodiment includes an observation and aiming servo module and a payload servo module. The observation and aiming servo module and the payload servo module are independently arranged. An execution device is installed on the payload servo module. An observation and aiming device connected to the observation and aiming servo module is installed on the observation and aiming servo module. The observation and aiming device is used to search and identify targets.

[0044] The sighting servo module is communicatively connected with the payload servo module. The sighting servo module is used to track the target and transmit the current position signal of the sighting servo module to the payload servo module. The payload servo module is used to follow the target position according to the current position signal.

[0045] The dual servo tracking system of this embodiment, when working, first, the sighting device searches for the target, if the sighting device recognizes the target, the sighting servo module rotates and pitches to track the target, if the sighting device does not recognize the target or the target is lost, it searches again; after the sighting servo module stably tracks the recognized target, the sighting servo module transmits the current position signal of the sighting servo module to the load servo module, and the load servo module follows the sighting servo module according to the current position signal as the target position; after the load servo module stably follows the sighting servo module, the execution device is started according to the user's instruction. The dual servo tracking system of this embodiment, through the independent setting of the sighting servo module and the load servo module, can carry more loads on the load servo module, each load is not easy to disturb each other, the stability is good, and the sighting device and the sighting servo module can independently search and track the target, the response is fast, and the working range is large; through the sighting servo module, it is directly connected to the load servo module for communication and transmits the current position signal, without the need for the host computer to transfer data and solve the position, the delay is small, the synchronization accuracy is high, and the synchronization is good. Among them, the execution device can be a strike device or a jammer device, etc. Different execution devices can be applied according to specific usage scenarios.

[0046] Furthermore, in this embodiment, the sighting equipment includes a photoelectric radar and an electromagnetic wave radar. By setting up the photoelectric radar and the electromagnetic wave radar, more application scenarios and requirements can be met, and the adaptability is strong. The photoelectric radar can be applied to scenarios that require high concealment, high-precision tracking and identification, and the electromagnetic wave radar can be applied to scenarios that require wide-area monitoring and long-distance detection.

[0047] Further, in the present embodiment, a log module is also included, and the log module is used to record log information, and the log information includes the position information, target miss amount and tracking state of the sighting servo module and the load servo module. Starting from the sighting servo module rotating and pitching to track the target, the log module saves the key information such as the position information, target miss amount and tracking state of the sighting servo module and the load servo module to the log file at a frequency of 100HZ, so as to facilitate subsequent target analysis and tracking analysis.

[0048] Furthermore, in this embodiment, the sighting servo module is arranged above the payload servo module to form a double-layer structure, which is compact and easy to align to reduce errors. The sighting servo module and the payload servo module as a whole can be networked with other devices as a subsystem, and have strong adaptability.

[0049] Embodiment 2:

[0050] like Figure 1 As shown, the dual servo tracking method of this embodiment is performed using the dual servo tracking system of embodiment 1, and includes the following steps:

[0051] Step S1: the sighting device searches for the target;

[0052] Step S2: If the sighting device recognizes the target, the sighting servo module performs rotation and pitch movements to track the target, otherwise returns to S1;

[0053] Step S3: After the sighting and servo module stably tracks the identified target, the sighting and servo module transmits a current position signal of the sighting and servo module to the payload servo module, and the payload servo module follows the sighting and servo module according to the current position signal as the target position;

[0054] Step S4: After the payload servo module stably follows the movement of the sighting servo module, the execution device is started according to the user's instruction.

[0055] The dual servo tracking method of this embodiment is that the sighting servo module and the load servo module are independently set, and more loads can be carried on the load servo module, and each load is not easy to disturb each other, and the stability is good. The sighting device and the sighting servo module can independently search and track the target, and the response is fast and the working range is large; the sighting servo module is directly connected to the load servo module for communication and transmission of the current position signal, and there is no need for the host computer to transfer data and solve the position, the delay is small, the synchronization accuracy is high, and the synchronization is good; the sighting device searches and identifies the target, the sighting servo module tracks the target, and the load servo module follows the movement, which are all automatically determined and completed by the system. The user only needs to make a decision whether to start the execution device to execute the corresponding task on the target in the last stage after the load servo module stably follows the sighting servo module movement. The user operation process is simpler and the decision is more accurate. Of course, in other embodiments, when the load servo module stably follows the sighting servo module movement, the load servo module can send a start signal to the execution device to automatically start the execution device, and the automation degree is high.

[0056] Further, in this embodiment, in step S3, it is determined whether the sighting servo module stably tracks the identified target according to the following steps:

[0057] Step A1: the sighting servo module tracks the target;

[0058] Step A2: Determine whether the target miss distance is within the set pixel value range. If so, execute step A3, otherwise return to step A1;

[0059] Step A3: Determine whether the time during which the target miss distance remains within the set pixel value range reaches a first set time. If the first set time is reached, it means that the sighting servo module has stably tracked the identified target, otherwise return to step A2.

[0060] The system can automatically determine whether the sighting and aiming servo module has stably tracked the identified target. When judging, the target miss amount takes the center of the image as the origin. If the target miss amount for 30 cycles (1 cycle is 10 milliseconds) remains within the set pixel value range, it is determined that the sighting and aiming servo module has stably tracked the identified target and can enter the next stage; if the target miss amount exceeds the range in the middle, it will be counted again, and the judgment accuracy is high. Specifically, the field of view of the sighting and aiming device is 3.6*4.5 degrees, and the resolution is 512*640 pixels. It is set that when the target miss amount does not exceed the range of [-0.25, +0.25] degrees of the sighting and aiming servo module, it is stably tracked. If the X and Y coordinate values ​​of the target miss amount do not exceed [-35, +35] pixels and are maintained for 300 milliseconds, it is determined that the sighting and aiming servo module has stably tracked the identified target. Otherwise, when any value of the X or Y coordinate miss amount exceeds [-35, +35] pixels, it indicates that the tracking is unstable, the timing is restarted, and the follow-up payload servo module is commanded to exit the following mode and stand by.

[0061] Further, in this embodiment, in step S3, after the sighting and aiming servo module stably tracks the identified target, if the target miss amount exceeds the set pixel value range for a second set time, it indicates that the target may be lost, and the process returns to step S2, and the payload servo module stops following. After the sighting and aiming servo module stably tracks the identified target, if the target miss amount exceeds the set range for 15 consecutive cycles, it indicates that the sighting and aiming servo module is not stable in tracking, and the target may be blocked or lost. The payload servo module stops following, waits in place, and reports the tracking loss, notifying the user that the execution device cannot be started temporarily; if the sighting and aiming servo module can re-enter the stable tracking stage, the process continues; if the sighting and aiming servo module completely loses the target, the sighting and aiming servo module also exits tracking and restarts the search. Since the lower-layer payload servo module is equipped with an execution device and has a heavy load, the movement amplitude is large when following the target. If the target is temporarily lost, the payload servo module may easily become stagnant due to repeated attempts by the sighting and aiming servo module to capture and track it, which is detrimental to the safety of the execution device and the control stability of the sighting and aiming servo module. By setting the payload servo module to stop following when the target is lost and recaptured, the system stability is better.

[0062] Further, in this embodiment, in step S4, it is determined whether the load servo module stably follows the movement of the sighting servo module according to the following steps:

[0063] Step B1: The payload servo module moves along with the sighting servo module;

[0064] Step B2: Determine whether the angle deviation between the load servo module and the sighting servo module is within the set deviation range. If so, execute step B3; otherwise, return to step B1.

[0065] Step B3: Determine whether the time during which the angle deviation is maintained within the set deviation range reaches a third set time. If so, it indicates that the load servo module has stably followed the aiming servo module in movement. Otherwise, return to step B2.

[0066] The system can automatically determine whether the payload servo module stably follows the movement of the observation and aiming servo module. When judging, if the angular deviation between the payload servo module and the observation and aiming servo module does not exceed [-1, +1] degrees for 15 consecutive cycles, it means that the payload servo module is stably following, and the user can be notified to start the execution device. The user then decides whether to start the execution device to execute the corresponding task on the target, and the judgment accuracy is high.

[0067] Furthermore, in this embodiment, before step S1, it is also necessary to set the tracking compensation value of the payload servo module, and the tracking compensation value is obtained according to the installation error of the sighting servo module and the payload servo module. In the initialization stage, by setting the tracking compensation value, the sighting servo module and the payload servo module at different installation positions are placed in the same coordinate system, ensuring that the payload servo module can synchronously point to the target when following, and the synchronization is better.

[0068] Furthermore, in this embodiment, in step S2, when the angle error between the sighting servo module and the target is less than 0.8 degrees, it means that the sighting servo module has aimed at the target, and the sighting servo module will track the target again. After the sighting device finds a suspicious target, it reports the target angle and the target miss amount. After the sighting servo module determines the flag position, it immediately switches to the target angle within 1 second, reports the miss amount at a high frequency, and enables the sighting servo module to continuously track the moving target and automatically start ranging.

[0069] Furthermore, if Figure 2As shown, in this embodiment, in step S3, the motors of the load servo module and the sighting servo module are synchronously operated based on the deviation coupling synchronous control method. When the sighting servo module has been stably tracked, the load servo module enters the tracking mode, and the load servo module begins to receive the angular position of the sighting servo module through the serial port at a frequency of 1000HZ, and turns to the same angle of the sighting servo module at a maximum speed of 80 degrees per second, and finally the angular deviation with the sighting servo module does not exceed [-0.2, +0.2] degrees. Since the load weights of the sighting servo modules and the load servo modules of the upper and lower layers are different, the control parameters are also different. The lower load servo module adopts the position control mode to ensure the synchronization of the dual-axis position, and compares the encoder positions of the active motor and the slave motor in real time. The compensator adds the difference to the control input of the slave motor or the active motor. The deviation coupling synchronous control mode is adopted, and the two motors are organically linked together. In this way, when the system load fluctuation causes the speed of one motor to change, the other motor can adjust the operating state in time to keep the two motors running synchronously, and the synchronization is better.

[0070] Furthermore, in this embodiment, in step S1, during the search phase, the photoelectric radar search mode and the electromagnetic wave radar search mode can be supported. When a target is found, the radar can calculate the target angle, establish a continuous target track, and continuously report the angle of the specified target. The target is evaluated and sorted according to the target brightness and target movement speed. For the target angle reported by the electromagnetic wave radar, an arithmetic mean filtering algorithm is used to filter out wild values ​​to prevent the guide servo from abnormally large jitters when jump values ​​appear. During the search phase, the sighting and aiming servo module can rotate and pitch to drive the sighting and aiming equipment to perform a 360-degree panoramic search, which has a faster response and a larger working range, and a panoramic situation map is established. The detected targets will be drawn at the corresponding spatial positions and their historical tracks will be displayed.

[0071] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as above in the preferred embodiment, it is not used to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention, still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A dual servo tracking system, characterized in that: It includes an observation and aiming servo module and a payload servo module, wherein the observation and aiming servo module and the payload servo module are independently arranged, an execution device is installed on the payload servo module, and an observation and aiming device which is communicatively connected with the observation and aiming servo module is installed on the observation and aiming servo module, and the observation and aiming device is used to search and identify targets; The sighting servo module is communicatively connected with the payload servo module, and is used to track the target and transmit the current position signal of the sighting servo module to the payload servo module, and the payload servo module is used to follow the target position according to the current position signal.

2. The dual servo tracking system according to claim 1, characterized in that: The observation and aiming equipment includes a photoelectric radar and an electromagnetic wave radar.

3. The dual servo tracking system according to claim 1, characterized in that: It also includes a log module, which is used to record log information. The log information includes position information of the sighting servo module and the payload servo module, target miss distance and tracking status.

4. A dual servo tracking method, characterized in that: The dual servo tracking system according to any one of claims 1 to 3 is used, comprising the following steps: Step S1: the sighting device searches for the target; Step S2: If the sighting device recognizes the target, the sighting servo module performs rotation and pitch movements to track the target, otherwise returns to S1; Step S3: After the sighting and servo module stably tracks the identified target, the sighting and servo module transmits a current position signal of the sighting and servo module to the payload servo module, and the payload servo module follows the sighting and servo module according to the current position signal as the target position; Step S4: After the load servo module stably follows the movement of the sighting servo module, the execution device is started according to the user's instruction.

5. The dual servo tracking method according to claim 4, characterized in that: In step S3, it is determined whether the sighting servo module stably tracks the identified target according to the following steps: Step A1: the sighting servo module tracks the target; Step A2: Determine whether the target miss distance is within the set pixel value range. If so, execute step A3, otherwise return to step A1; Step A3: Determine whether the time during which the target miss distance remains within the set pixel value range reaches a first set time. If the first set time is reached, it means that the sighting servo module has stably tracked the identified target, otherwise return to step A2.

6. The dual servo tracking method according to claim 4, characterized in that: In step S3, after the sighting servo module stably tracks the identified target, if the target miss distance exceeds the set pixel value range for a second set time, it means that the target may be lost, and the process returns to step S2, and the load servo module stops following.

7. The dual servo tracking method according to claim 4, characterized in that: In step S4, it is determined whether the payload servo module stably follows the movement of the sighting servo module according to the following steps: Step B1: The payload servo module moves along with the sighting servo module; Step B2: Determine whether the angle deviation between the load servo module and the sighting servo module is within the set deviation range. If so, execute step B3; otherwise, return to step B1. Step B3: Determine whether the time during which the angle deviation is maintained within the set deviation range reaches a third set time. If so, it indicates that the load servo module has stably followed the aiming servo module in movement. Otherwise, return to step B2.

8. The dual servo tracking method according to claim 4, characterized in that: Before step S1, it is also necessary to set a tracking compensation value of the payload servo module, wherein the tracking compensation value is obtained according to the installation errors of the sighting servo module and the payload servo module.

9. The dual servo tracking method according to claim 4, characterized in that: In step S2, when the angle error between the sighting and servo module and the target is less than 0.8 degrees, it means that the sighting and servo module has aimed at the target, and the sighting and servo module then tracks the target.

10. The dual servo tracking method according to claim 4, characterized in that: In step S3, the motors of the load servo module and the sighting servo module are synchronously operated based on a deviation coupling synchronous control method.

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