Visual axis stability precision detection method, device and equipment and storage medium

Abstract

The invention discloses a visual axis stability precision detection method, device and equipment and a storage medium, and relates to the field of automation control, and the method comprises the steps: obtaining the rotation angles of an orientation axis and a pitch axis in a photoelectric platform in a free deceleration motion process of a frame in a two-axis two-frame airborne photoelectric platform, and obtaining angle data; performing differential operation on the angle data to obtain a rotation angular velocity at a corresponding rotation angular velocity to obtain angular velocity data; differential operation is carried out on the rotation angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotation angular velocity, and the friction inertia ratio at different positions of the frame is obtained; drawing a friction inertia ratio curve based on the angle data and the friction inertia ratio, and determining the influence of friction torques at different positions of the frame on the stability precision of the visual axis based on the curve; the friction inertia ratio is in direct proportion to the influence of the friction torque on the optical axis stability precision. The optical axis stability precision detection process can be simplified, and the optical axis stability precision detection efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control, and particularly relates to a method, device, equipment and storage medium for detecting the accuracy of visual axis stability. Background Art

[0002] Currently, when conducting reconnaissance on an airborne optoelectronic platform, the angular motion of the aircraft directly affects the visual axis stability accuracy of the airborne optoelectronic platform through frictional torque. Frictional torque is the main part of the disturbance of the airborne optoelectronic platform. In order to further improve the visual axis stability accuracy of the airborne optoelectronic platform, the frictional torque needs to be as uniform as possible and as small as possible. Therefore, during the factory assembly and adjustment process, it is necessary to control the test of the shaft system frictional torque during the assembly and adjustment process.

[0003] However, traditional frictional torque testing methods need to combine the moment of inertia to indirectly obtain the influence of the frictional torque on the visual axis stability accuracy of the airborne optoelectronic platform. However, the process of obtaining the moment of inertia is complex, so the test results of the frictional torque are inaccurate. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a method, device, equipment and storage medium for detecting the accuracy of visual axis stability, which can simplify the process of detecting the accuracy of visual axis stability, improve the efficiency of detecting the accuracy of visual axis stability, and achieve a more comprehensive detection of the accuracy of visual axis stability. The specific solutions are as follows:

[0005] In a first aspect, the present application discloses a method for detecting the accuracy of visual axis stability, which is applied to a visual axis stability accuracy detection system and includes:

[0006] During the process of free deceleration of the frame in a two-axis two-frame airborne optoelectronic platform, obtain the rotation angles of the azimuth axis and the pitch axis in the two-axis two-frame airborne optoelectronic platform to obtain angle data;

[0007] Perform a difference operation on the angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity to obtain angular velocity data;

[0008] Perform a differential operation on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity to obtain the friction inertia ratio at different positions of the frame;

[0009] Draw a friction inertia ratio curve based on the angle data and the friction inertia ratio at different positions of the frame;

[0010] Determine the influence of the frictional torque at different positions of the frame on the visual axis stability accuracy based on the friction inertia ratio curve to obtain the visual axis stability accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the visual axis stability accuracy.

[0011] Optionally, obtaining the rotation angles of the azimuth axis and the elevation axis in the two-axis two-frame airborne optoelectronic platform to obtain angle data includes:

[0012] Collecting the rotation angles of the azimuth axis and the elevation axis in the two-axis two-frame airborne optoelectronic platform through shaft encoders to obtain angle data.

[0013] Optionally, the method for detecting the line-of-sight stabilization accuracy further includes:

[0014] Connecting the shaft encoder to a control board card, and connecting the control board card to the computing device where the line-of-sight stabilization accuracy detection system is located through a serial port;

[0015] After detecting that the control board card is powered on, opening the friction inertia ratio test software in the line-of-sight stabilization accuracy detection system and opening the serial port.

[0016] Optionally, plotting the friction inertia ratio curve based on the angle data and the friction inertia ratios at different positions of the frame includes:

[0017] Using the angle data as the horizontal axis and the friction inertia ratios at different positions of the frame as the vertical axis to plot a curve, obtaining the friction inertia ratio curve.

[0018] Optionally, before obtaining the rotation angles of the azimuth axis and the elevation axis in the two-axis two-frame airborne optoelectronic platform to obtain angle data, it further includes:

[0019] Rotating and releasing the frame in the two-axis two-frame airborne optoelectronic platform to make the frame perform free deceleration motion until it stops.

[0020] Optionally, before obtaining the rotation angles of the azimuth axis and the elevation axis in the two-axis two-frame airborne optoelectronic platform to obtain angle data, it further includes:

[0021] Placing the azimuth axis in the two-axis two-frame airborne optoelectronic platform horizontally, and placing the inverted elevation axis in the two-axis two-frame airborne optoelectronic platform horizontally.

[0022] Optionally, the method for detecting the line-of-sight stabilization accuracy further includes:

[0023] Using the angle data as the horizontal axis and the angular velocity data as the vertical axis to plot a curve, obtaining the target curve;

[0024] Calculating the slope of the target curve to obtain the total friction inertia ratio of the frame.

[0025] In a second aspect, the present application discloses a line-of-sight stabilization accuracy detection device, which is applied to a line-of-sight stabilization accuracy detection system and includes:

[0026] A data acquisition module, configured to obtain the rotation angles of the azimuth axis and the elevation axis in the two-axis and two-frame airborne optoelectronic platform during the free deceleration movement of the frame in the two-axis and two-frame airborne optoelectronic platform, so as to obtain angle data;

[0027] A differential operation module, configured to perform a differential operation on the angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity, so as to obtain angular velocity data;

[0028] A differential operation module, configured to perform a differential operation on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, so as to obtain the friction inertia ratio at different positions of the frame;

[0029] A plotting module, configured to plot a friction inertia ratio curve based on the angle data and the friction inertia ratio at different positions of the frame;

[0030] A determination module, configured to determine the influence of the frictional torque at different positions of the frame on the line-of-sight stabilization accuracy based on the friction inertia ratio curve, so as to obtain a line-of-sight stabilization accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stabilization accuracy.

[0031] In a third aspect, the present application discloses an electronic device, including a processor and a memory; wherein, when the processor executes the computer program stored in the memory, the foregoing line-of-sight stabilization accuracy detection method is implemented.

[0032] In a fourth aspect, the present application discloses a computer-readable storage medium, configured to store a computer program; wherein, when the computer program is executed by a processor, the foregoing line-of-sight stabilization accuracy detection method is implemented.

[0033] It can be seen that during the free deceleration movement of the frame in the two-axis and two-frame airborne optoelectronic platform of the present application, first, the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform are obtained to get angle data, and then the differential operation is performed on the angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity to get angular velocity data. Next, the differential operation is performed on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, and the friction inertia ratio at different positions of the frame is obtained. Then, based on the angle data and the friction inertia ratio at different positions of the frame, a friction inertia ratio curve is drawn. Furthermore, based on the friction inertia ratio curve, the influence of the frictional torque at different positions of the frame on the line-of-sight stabilization accuracy is determined to obtain the line-of-sight stabilization accuracy detection result. Among them, the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stabilization accuracy. When analyzing the influence of the frictional torque on the line-of-sight stabilization accuracy in the present application, the frame in the two-axis and two-frame airborne optoelectronic platform is made to perform free deceleration movement. During the free deceleration movement, the rotation angles of the azimuth axis and the pitch axis in the optoelectronic platform are obtained, and the differential operation is performed on the rotation angles to obtain the angular acceleration. Then, the differential operation is performed on each angular velocity, and the obtained multiple angular accelerations are used as the friction inertia ratio at different positions of the frame. Finally, based on the friction inertia ratio at different positions and the corresponding rotation angles, a friction inertia ratio curve is drawn. Through each coordinate point in this curve, the influence of the frictional torque at different positions of the frame on the line-of-sight stabilization accuracy can be known. The specific determination basis is that the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stabilization accuracy. It can be seen that the present application directly analyzes the influence of the frictional torque on the line-of-sight stabilization accuracy based on the friction inertia ratio. Compared with the traditional indirect method of analyzing the influence of the frictional torque on the line-of-sight stabilization accuracy based on complex moment of inertia calculations, it not only simplifies the process of line-of-sight stabilization accuracy detection, but also obtains the influence of the frictional torque at each position of the axis system on the stabilization accuracy of the airborne optoelectronic platform, thereby improving the efficiency of line-of-sight stabilization accuracy detection and achieving a more comprehensive line-of-sight stabilization accuracy detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0035] Figure 1 It is a flowchart of a method for detecting line-of-sight stabilization accuracy disclosed in the present application;

[0036] Figure 2 It is a schematic diagram of a specific test software configuration interface disclosed in the present application;

[0037] Figure 3 Schematic diagram of a specific serial port operation interface of the test software disclosed in this application;

[0038] Figure 4 Schematic diagram of a specific data processing process of the friction inertia ratio disclosed in this application;

[0039] Figure 5 Schematic diagram of the structure of an opto - axis stabilization accuracy detection device disclosed in this application;

[0040] Figure 6 Schematic diagram of the structure of an electronic device disclosed in this application. Specific embodiments

[0041] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0042] The embodiments of the present application disclose an opto - axis stabilization accuracy detection method, which is applied to an opto - axis stabilization accuracy detection system. Refer to Figure 1 as shown, the method includes:

[0043] Step S11: During the process of the free deceleration movement of the frame in the two - axis and two - frame airborne optoelectronic platform, obtain the rotation angles of the azimuth axis and the pitch axis in the two - axis and two - frame airborne optoelectronic platform to obtain angle data.

[0044] In this embodiment, considering that the dimension of the opto - axis stabilization accuracy is an angle , the second - order differential of the angle is the angular acceleration , and the product of the angular acceleration and the moment of inertia is the torque. In this way, the frictional torque can be related to the opto - axis stabilization accuracy through the friction inertia ratio. The specific correlation formula is: , where is the angular acceleration (also known as the friction inertia ratio), F is the frictional torque, and J_ is the moment of inertia of the entire optoelectronic platform in the full state. As can be seen from the above, the friction inertia ratio The smaller it is, the smaller the influence of the frictional torque F on the line-of-sight stabilization accuracy. Therefore, the line-of-sight stabilization accuracy detection scheme proposed in this application is applied to a line-of-sight stabilization accuracy detection system. Specifically, it obtains the influence of the frictional torque on the stabilization accuracy of the airborne optoelectronic platform by testing the friction inertia ratio. That is, it realizes the detection of the line-of-sight stabilization accuracy by testing the friction inertia ratio, rather than the traditional method of realizing the line-of-sight stabilization accuracy detection by testing the frictional force. Since the traditional frictional force testing method needs to combine the moment of inertia to indirectly obtain the influence of the frictional force on the stabilization accuracy, and the acquisition of the moment of inertia is complex, the frictional force test result in the traditional method is inaccurate, which in turn leads to inaccurate line-of-sight stabilization accuracy detection results. Therefore, by testing the friction inertia ratio, it can more accurately represent the influence of the frictional torque on the line-of-sight stabilization accuracy.

[0045] It should be noted that before the line-of-sight stabilization accuracy detection of this application, corresponding preparatory work needs to be carried out on the frames and each line of sight in the two-axis and two-frame airborne optoelectronic platform, including: rotating and releasing the frames in the two-axis and two-frame airborne optoelectronic platform to make the frames perform free deceleration motion until they stop; placing the azimuth axis in the two-axis and two-frame airborne optoelectronic platform horizontally, and placing the inverted pitch axis in the two-axis and two-frame airborne optoelectronic platform horizontally. In this embodiment, the frames in the two-axis and two-frame airborne optoelectronic platform can be rotated by manual or automated equipment (such as a robotic arm) and the frames can be released after rotation, so that the frames perform free deceleration motion until the speed drops to 0; at the same time, the azimuth axis in the optoelectronic platform is placed horizontally, the pitch axis is inverted, and then the inverted pitch axis is placed horizontally. By placing the azimuth axis and the pitch axis horizontally, the influence of the unbalanced torque can be eliminated, that is, the influence of the untrimmed torque can be eliminated. Among them, the pitch axis is responsible for realizing the up-and-down rotation action, while the azimuth axis is responsible for realizing the horizontal rotation action.

[0046] In a specific implementation manner, obtaining the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform to obtain angle data may specifically include: collecting the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform through an axis encoder to obtain angle data. In this embodiment, the rotation angles of the azimuth axis and the pitch axis located in the two-axis and two-frame airborne optoelectronic platform can be collected through an axis encoder to obtain corresponding angle data.

[0047] In this embodiment, before performing the detection of the visual axis stability accuracy, the following steps may further be included: connecting the shaft encoder to the control board, and connecting the control board to the computing device where the visual axis stability accuracy detection system is located through a serial port; when it is monitored that the control board is powered on, opening the friction inertia ratio test software in the visual axis stability accuracy detection system, and opening the serial port. In this embodiment, the shaft encoder can be first connected to the control board, and then the control board can be connected to the computing device (such as a computer, a PC, etc.) where the visual axis stability accuracy detection system is located through a serial port; when it is monitored that the control board is powered on (such as when it is monitored that the power of the control board is 28V), opening the pre-installed friction inertia ratio test software in the visual axis stability accuracy detection system, and after configuration, opening the serial port. For specific configuration parameters, refer to Figure 2 as shown, including but not limited to the serial port name, baud rate, number of data bits, parity bit, etc. Further, when it is monitored that the frame performs free deceleration motion and the speed reduces to zero (i.e., after the frame stops stably), the serial port is closed. Additionally, if motors are already installed in the two-axis and two-frame airborne optoelectronic platform, the given value of the drive current loop needs to be set to zero to eliminate the influence of the back electromotive force.

[0048] It should be noted that during the entire process of detecting the visual axis stability accuracy, it is necessary to ensure that the serial port is opened first, then the frame is rotated, and the serial port is closed after the frame stops stably. Refer to Figure 3 as shown, it can be done by manually clicking.

[0049] Step S12: Performing a difference operation on the angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity, and obtaining angular velocity data.

[0050] In this embodiment, after obtaining the rotational angles of the azimuth axis and the elevation axis to obtain angle data, further, a difference operation is performed on the above angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity, thereby obtaining angular velocity data. Among them, the angle data and the angular velocity data can be automatically stored in a preset storage space, and can be automatically collected through the friction inertia ratio test software and output.

[0051] Step S13: Performing a differential operation on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, and obtaining the friction inertia ratio at different positions of the frame.

[0052] In this embodiment, after obtaining the rotational angular velocity at the corresponding rotational angular velocity, a differential operation can be performed on each rotational angular velocity in the above angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, and obtaining the friction inertia ratio at different positions in the frame.

[0053] Step S14: Draw a friction inertia ratio curve based on the angle data and the friction inertia ratios at different positions of the frame.

[0054] In this embodiment, after obtaining the friction inertia ratios at different positions of the frame, a friction inertia ratio curve can be drawn based on the above angle data and the friction inertia ratios at different positions of the frame.

[0055] Specifically, the drawing of the friction inertia ratio curve based on the angle data and the friction inertia ratios at different positions of the frame may include: using the angle data as the horizontal axis and the friction inertia ratios at different positions of the frame as the vertical axis to draw a curve, thereby obtaining the friction inertia ratio curve. In this embodiment, the angle data can be used as the horizontal axis (i.e., the x-axis), and the friction inertia ratios at different positions of the frame can be used as the vertical axis (i.e., the y-axis) to draw a curve, and the obtained curve can reflect the influence of the frictional torque at different positions on the line-of-sight stabilization accuracy.

[0056] In addition, before drawing the friction inertia ratio curve based on the angle data and the friction inertia ratios at different positions of the frame, it may further include: using the angle data as the horizontal axis and the angular velocity data as the vertical axis to draw a curve to obtain a target curve; calculating the slope of the target curve to obtain the total friction inertia ratio of the frame. That is, using the angle data as the x-axis and the angular velocity data as the y-axis to draw a curve and fit it, and then calculating the slope of the curve, thereby obtaining the total friction inertia ratio of the frame. As shown in Figure 4 shown, the calculated slope (i.e., the total friction inertia ratio) can reflect the overall characteristics of the frame frictional torque on the line-of-sight stabilization accuracy.

[0057] Step S15: Determine the influence of the frictional torques at different positions of the frame on the line-of-sight stabilization accuracy based on the friction inertia ratio curve, and obtain a line-of-sight stabilization accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stabilization accuracy.

[0058] In this embodiment, the influence of the frictional torques at different positions of the frame on the line-of-sight stabilization accuracy can be analyzed based on the numerical values of the vertical axis in the friction inertia ratio curve to obtain the corresponding line-of-sight stabilization accuracy detection result. The specific analysis basis is that the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stabilization accuracy. That is, the larger the numerical value of the friction inertia ratio, the greater the influence of the frictional torque on the line-of-sight stabilization accuracy.

[0059] It should be noted that this solution can directly obtain the influence of the frictional torques at each position of the axis system on the platform stabilization accuracy, while the traditional friction test method can only obtain the influence of the frictional torque at a single position on the platform stabilization accuracy in one test.

[0060] It can be seen that during the free deceleration movement of the frame in the two-axis and two-frame airborne optoelectronic platform in the embodiment of the present application, the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform are first obtained to get angle data, and then the differential operation is performed on the angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity to get angular velocity data. Then, the differential operation is performed on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, so as to obtain the friction inertia ratio at different positions of the frame, and based on the angle data and the friction inertia ratio at different positions of the frame, a friction inertia ratio curve is drawn. Furthermore, based on the friction inertia ratio curve, the influence of the frictional torque at different positions of the frame on the boresight stabilization accuracy is determined to obtain the boresight stabilization accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the boresight stabilization accuracy. In the embodiment of the present application, when analyzing the influence of the frictional torque on the boresight stabilization accuracy, the frame in the two-axis and two-frame airborne optoelectronic platform is made to perform free deceleration movement, and during the free deceleration movement, the rotation angles of the azimuth axis and the pitch axis in the optoelectronic platform are obtained, and the differential operation is performed on the rotation angles to obtain the angular acceleration. Then, the differential operation is performed on each angular velocity, and the obtained multiple angular accelerations are used as the friction inertia ratios at different positions of the frame. Finally, based on the friction inertia ratios at different positions and the corresponding rotation angles, a friction inertia ratio curve is drawn. Through each coordinate point in this curve, the influence of the frictional torque at different positions of the frame on the boresight stabilization accuracy can be known. The specific determination basis is that the friction inertia ratio is proportional to the influence of the frictional torque on the boresight stabilization accuracy. It can be seen that the embodiment of the present application directly analyzes the influence of the frictional torque on the boresight stabilization accuracy based on the friction inertia ratio. Compared with the traditional indirect method of analyzing the influence of the frictional torque on the boresight stabilization accuracy based on complex moment of inertia calculations, it not only simplifies the process of boresight stabilization accuracy detection, but also obtains the influence of the frictional torque at each position of the axis system on the stabilization accuracy of the airborne optoelectronic platform, thereby improving the efficiency of boresight stabilization accuracy detection and realizing a more comprehensive boresight stabilization accuracy detection.

[0061] Correspondingly, the embodiment of the present application also discloses a boresight stabilization accuracy detection device, which is applied to a boresight stabilization accuracy detection system. Refer to Figure 5 as shown, the device includes:

[0062] A data acquisition module 11, configured to obtain the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform during the free deceleration movement of the frame in the two-axis and two-frame airborne optoelectronic platform, so as to obtain angle data;

[0063] A differential operation module 12, configured to perform a differential operation on the angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity, so as to obtain angular velocity data;

[0064] The differential operation module 13 is configured to perform differential operations on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, and obtain the friction inertia ratio at different positions of the frame;

[0065] The plotting module 14 is configured to plot a friction inertia ratio curve based on the angular data and the friction inertia ratio at different positions of the frame;

[0066] The determination module 15 is configured to determine the influence of the frictional torque at different positions of the frame on the line-of-sight stabilization accuracy based on the friction inertia ratio curve, and obtain a line-of-sight stabilization accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stabilization accuracy.

[0067] Wherein, the specific working processes of the above-mentioned various modules can refer to the corresponding content disclosed in the foregoing embodiments, and will not be elaborated herein.

[0068] It can be seen that in the embodiment of the present application, during the free deceleration movement of the frame in the two-axis and two-frame airborne optoelectronic platform, the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform are first obtained to obtain angle data, and then the differential operation is performed on the angle data to obtain the rotational angular velocity at the corresponding rotational angular velocity to obtain angular velocity data. Then, the differential operation is performed on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, and the friction inertia ratio at different positions of the frame is obtained. Based on the angle data and the friction inertia ratio at different positions of the frame, a friction inertia ratio curve is drawn. Then, based on the friction inertia ratio curve, the influence of the frictional torque at different positions of the frame on the boresight stability accuracy is determined to obtain the boresight stability accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the boresight stability accuracy. In the embodiment of the present application, when analyzing the influence of the frictional torque on the boresight stability accuracy, the frame in the two-axis and two-frame airborne optoelectronic platform is made to perform free deceleration movement. During the free deceleration movement, the rotation angles of the azimuth axis and the pitch axis in the optoelectronic platform are obtained, and the differential operation is performed on the rotation angles to obtain the angular acceleration. Then, the differential operation is performed on each angular velocity, and the obtained multiple angular accelerations are used as the friction inertia ratio at different positions of the frame. Finally, based on the friction inertia ratio at different positions and the corresponding rotation angles, a friction inertia ratio curve is drawn. Through each coordinate point in the curve, the influence of the frictional torque at different positions of the frame on the boresight stability accuracy can be known. The specific determination basis is that the friction inertia ratio is proportional to the influence of the frictional torque on the boresight stability accuracy. It can be seen that the embodiment of the present application directly analyzes the influence of the frictional torque on the boresight stability accuracy based on the friction inertia ratio. Compared with the traditional indirect method of analyzing the influence of the frictional torque on the boresight stability accuracy based on complex moment of inertia calculations, it not only simplifies the process of boresight stability accuracy detection, but also obtains the influence of the frictional torque at each position of the shafting on the stability accuracy of the airborne optoelectronic platform, thereby improving the efficiency of boresight stability accuracy detection and realizing a more comprehensive boresight stability accuracy detection.

[0069] In some specific embodiments, the data acquisition module 11 may specifically include:

[0070] A data acquisition unit, configured to collect the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform through a shafting encoder to obtain angle data.

[0071] In some specific embodiments, the boresight stability accuracy detection device may further include:

[0072] A connection unit, configured to connect the shafting encoder to a control board card and connect the control board card to the computing device where the boresight stability accuracy detection system is located through a serial port;

[0073] A first control unit, configured to, after detecting that the control board is powered on, open the friction inertia ratio test software in the line-of-sight stabilization accuracy detection system and open the serial port.

[0074] In some specific embodiments, the drawing module 14 may specifically include:

[0075] A first drawing unit, configured to draw a curve with the angle data as the horizontal axis and the friction inertia ratio at different positions of the frame as the vertical axis, to obtain a friction inertia ratio curve.

[0076] In some specific embodiments, before the data acquisition module 11, there may further be included:

[0077] A second control unit, configured to rotate and release the frame in the two-axis two-frame airborne optoelectronic platform, so that the frame performs a free deceleration motion until it stops.

[0078] In some specific embodiments, before the data acquisition module 11, there may further be included:

[0079] A placement unit, configured to place the azimuth axis in the two-axis two-frame airborne optoelectronic platform horizontally and place the inverted pitch axis in the two-axis two-frame airborne optoelectronic platform horizontally.

[0080] In some specific embodiments, the line-of-sight stabilization accuracy detection device may further include:

[0081] A second drawing unit, configured to draw a curve with the angle data as the horizontal axis and the angular velocity data as the vertical axis, to obtain a target curve;

[0082] A calculation unit, configured to calculate the slope of the target curve to obtain the total friction inertia ratio of the frame.

[0083] Furthermore, an embodiment of the present application also discloses an electronic device, Figure 6 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment. The content in the figure should not be considered as any limitation to the scope of use of the present application.

[0084] Figure 6 It is a schematic structural diagram of an electronic device 20 provided by an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the line-of-sight stabilization accuracy detection method disclosed in any of the foregoing embodiments. Additionally, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0085] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and specific limitations are not imposed here; the input / output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and no specific limitations are imposed here.

[0086] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, a random access memory, a magnetic disk, an optical disk, etc., and the resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be transient storage or permanent storage.

[0087] Among them, the operating system 221 is used to manage and control each hardware device and the computer program 222 on the electronic device 20, and it can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the visual axis stabilization accuracy detection method executed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0088] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the visual axis stabilization accuracy detection method disclosed above. For the specific steps of this method, reference can be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0089] Furthermore, the embodiments of this application also disclose a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, they implement the steps of the visual axis stabilization accuracy detection method disclosed above.

[0090] In this specification, the various embodiments are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0091] Those skilled in the art may further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0092] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0093] Finally, it should also be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0094] The above has introduced in detail a method, device, equipment and storage medium for detecting the visual axis stability accuracy provided by this application. Specific examples are used herein to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A method for detecting the accuracy of visual axis stabilization, characterized in that, Applied to the line-of-sight stability accuracy detection system, including: During the process of the free deceleration movement of the frame in the two-axis and two-frame airborne optoelectronic platform, obtain the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform to obtain angle data; Perform a difference operation on the angle data to obtain the rotation angular velocity at the corresponding rotation angular velocity to obtain angular velocity data; Perform a differential operation on each rotation angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotation angular velocity, and obtain the friction inertia ratio at different positions of the frame; Draw a friction inertia ratio curve based on the angle data and the friction inertia ratio at different positions of the frame; Based on the friction inertia ratio curve, determine the influence of the frictional torque at different positions of the frame on the line-of-sight stability accuracy, and obtain the line-of-sight stability accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stability accuracy.

2. The visual axis stability accuracy detection method according to claim 1, characterized in that, The obtaining the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform to obtain angle data includes: Collect the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform through an axis encoder to obtain angle data.

3. The method for detecting the visual axis stabilization accuracy according to claim 2, characterized in that It also includes: Connect the axis encoder to the control board, and connect the control board to the computing device where the line-of-sight stability accuracy detection system is located through a serial port; When it is monitored that the control board is powered on, open the friction inertia ratio test software in the line-of-sight stability accuracy detection system, and open the serial port.

4. The method for detecting the visual axis stability accuracy according to claim 1, characterized in that The drawing the friction inertia ratio curve based on the angle data and the friction inertia ratio at different positions of the frame includes: Use the angle data as the horizontal axis and the friction inertia ratio at different positions of the frame as the vertical axis to draw a curve to obtain the friction inertia ratio curve.

5. The method for detecting the visual axis stabilization accuracy according to claim 1, characterized in that, Before the obtaining the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform to obtain angle data, it also includes: Rotate and release the frame in the two-axis and two-frame airborne optoelectronic platform to make the frame perform free deceleration movement until it stops.

6. The method for detecting the visual axis stabilization accuracy according to claim 1, wherein Before the obtaining the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform to obtain angle data, it also includes: Place the azimuth axis in the two-axis and two-frame airborne optoelectronic platform horizontally, and place the inverted pitch axis in the two-axis and two-frame airborne optoelectronic platform horizontally.

7. The method for detecting the visual axis stabilization accuracy according to any one of claims 1 to 6, characterized in that, It also includes: Use the angle data as the horizontal axis and the angular velocity data as the vertical axis to draw a curve to obtain the target curve; Calculate the slope of the target curve to obtain the total friction inertia ratio of the frame.

8. An apparatus for detecting the accuracy of visual axis stabilization, characterized in that, Applied to the line-of-sight stability accuracy detection system, including: 1]]A data acquisition module, configured to obtain the rotation angles of the azimuth axis and the pitch axis in the two-axis and two-frame airborne optoelectronic platform during the process of the free deceleration movement of the frame in the two-axis and two-frame airborne optoelectronic platform to obtain angle data; A difference operation module, configured to perform a difference operation on the angle data to obtain the rotation angular velocity at the corresponding rotation angular velocity to obtain angular velocity data; A differential operation module, configured to perform differential operations on each rotational angular velocity in the angular velocity data to obtain the angular acceleration at the corresponding rotational angular velocity, and obtain the friction inertia ratio at different positions of the frame; A plotting module, configured to plot a friction inertia ratio curve based on the angular data and the friction inertia ratio at different positions of the frame; A determination module, configured to determine the influence of the frictional torque at different positions of the frame on the line-of-sight stabilization accuracy based on the friction inertia ratio curve, and obtain a line-of-sight stabilization accuracy detection result; wherein, the friction inertia ratio is proportional to the influence of the frictional torque on the line-of-sight stabilization accuracy.

9. An electronic device, characterized in that, It includes a processor and a memory; wherein, when the processor executes the computer program stored in the memory, the line-of-sight stabilization accuracy detection method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, It is used to store a computer program; wherein, when the computer program is executed by a processor, the line-of-sight stabilization accuracy detection method according to any one of claims 1 to 7 is implemented.

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