An automatic calibration drift method for optoelectronic platform based on closed-loop feedback

Abstract

The application provides an automatic calibration drift method of an optoelectronic platform based on closed-loop feedback, which eliminates the drift of the optoelectronic platform under static conditions through real-time feedback control, collects the angle deviation closed loop in real time by using an angle encoder, and dynamically generates a drift compensation amount by using a PID controller. Through the closed-loop feedback and the continuous convergence judgment mechanism, the accuracy and reliability of the output drift compensation amount are ensured, and the automatic and real-time drift calibration is realized. The whole correction process does not need manual intervention and external reference benchmark, and is realized only by relying on the built-in sensor of the platform, so that it can work independently in any static environment, can automatically determine and output stable and reliable compensation values, the whole calibration process is completed online and in real time, the efficiency is high, and re-aiming is not needed, the limitation that the traditional method depends on manual operation can be effectively overcome, and the method is particularly suitable for the combat environment lacking auxiliary calibration facilities such as the field and unmanned equipment, and can significantly improve the autonomous combat efficiency and environmental adaptability of unmanned equipment.

Claims

1. An automatic calibration drift method for a photoelectric platform based on closed-loop feedback, characterized in that, The automatic calibration drift method for the photoelectric platform includes the following steps: S1. Under static conditions, receive the automatic calibration drift command, record the angle value of the angle encoder under static conditions, and set it as the target angle. angle_expect ; S2. According to a fixed cycle Acquire current angle value from the angle encoder. angle_current ( n ), calculate the current angle value of the angle encoder. angle_current ( n ) and target angle angle_expect angular deviation angle_error ( n The calculation formula is as follows: (1) S3. Adjust the angle deviation angle_error ( n Input the PID controller and calculate the compensation amount. compensation ( n ), compensation amount compensation ( n Drive the photoelectric platform to the target angle in closed loop. angle_expect The calculation formula is as follows: (2) (3) (4) (5) in, Kp , Ki , Kd These are the proportional coefficient, integral coefficient, and derivative coefficient of the PID controller, respectively. sum_error ( n () represents the current cumulative integral value of the error. sub_error ( n ) represents the differential value between the current error and the error at the previous moment. u ( n The output is the PID calculation result. The proportional gain of the PID controller Kp Points of integration Ki Differential coefficients Kd All are greater than 0, and the PID controller uses an anti-integral saturation algorithm. When the compensation amount compensation ( n Exceeding the actuator's maximum amplitude , Please correct according to the following rules: (6) S4. Determine angle deviation angle_error ( n Is it within the preset threshold? angle _ threshold Within l, i.e., | angle_ error ( n )|< angle _ threshold If continuous N If all values ​​are within the preset threshold, then the corresponding N The amount of compensation for each time compensation ( n The smoothed value is then output as the final drift compensation amount. final _ compensation If an angle deviation exceeding a preset threshold occurs during the drift calibration process... angle_error ( n If the counter is cleared, then the counter will be reset. compensation _ cnt And the compensation data temporarily stored for smoothing, until the continuity is satisfied. N The automatic calibration drift process is completed when the conditions are within the preset threshold.

2. The automatic calibration drift method for a photoelectric platform based on closed-loop feedback as described in claim 1, characterized in that, In step S1, the triggering conditions for the automatic calibration drift command include at least one of the following: a) manual triggering by the operator; b) automatic triggering when the system is powered on and initialized; c) automatic triggering when the drift speed of the photoelectric platform exceeds a set threshold under static conditions; d) automatic triggering when the preset timed calibration cycle is reached.

3. The automatic calibration drift method for a photoelectric platform based on closed-loop feedback as described in claim 1, characterized in that, In step S1, the static conditions are: the photoelectric platform is on a static base without external disturbance, the photoelectric platform is in gyroscope closed-loop operation, and the aiming signal is 0.

4. The automatic calibration drift method for a photoelectric platform based on closed-loop feedback as described in claim 1, characterized in that, In step S1, the servo closed-loop control system sensors of the photoelectric platform include gyroscopes and angle encoders; wherein, the gyroscope is used for inertial stabilization closed loop, and the angle encoder is used for zero-position closed loop.

5. The automatic calibration drift method for a photoelectric platform based on closed-loop feedback as described in claim 1, characterized in that, In step S4, the smoothing process employs an infinite impulse response filtering algorithm, and is performed according to the following formula: (7) in, The smoothing coefficients of the filtering algorithm are... .

6. The automatic calibration drift method for a photoelectric platform based on closed-loop feedback as described in claim 5, characterized in that, In step S4, the smoothing coefficient of the filtering algorithm Calculate using the following formula: (8) in, f c Cutoff frequency, in Hz The sampling period is expressed in seconds (s).

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