A photoelectric load adaptive continuous variable gain target tracking control method and system

Abstract

The present application relates to photoelectric load imaging control technical field, specifically provide a kind of photoelectric load adaptive continuous variable gain target tracking control method and system, comprising: the image of tracking target is obtained, the miss distance of tracking target and image center in image is calculated;Miss distance is used to calculate error angle;Miss distance is used to construct nonlinear continuous variable gain function, nonlinear continuous variable gain function is globally continuous derivable unsegmented point odd function, odd function includes: gain constant coefficient and smooth constant coefficient;Nonlinear continuous variable gain function is used to generate control signal, control signal is used to drive motor and drive optical axis movement.The present application constructs the nonlinear continuous variable gain function with image miss distance as input variable, miss distance is dynamically mapped as real-time gain parameter, realizes the closed-loop gain adaptive adjustment of photoelectric load frame.

Description

Technical Field

[0001] This invention belongs to the field of optoelectronic payload imaging control technology, and particularly relates to an adaptive continuously variable gain target tracking control method and system for optoelectronic payloads. Background Technology

[0002] In the field of optoelectronic payload target tracking and control technology, the core is to drive the optical system through a servo control system to quickly acquire and continuously lock onto dynamic targets. Traditional servo control systems generally adopt a fixed-gain control strategy, with the control gain determined empirically or offline. While this can meet basic requirements when the target's motion is stable, it is difficult to balance the system's response speed and stability when faced with dynamic scenarios such as sudden acceleration, turning, or maneuvering of the target. If the gain is set too high, the system is prone to large overshoot and severe oscillations when the target changes abruptly; if the gain is set too low, it will lead to tracking lag and increased miss distance, failing to meet the requirements for high-precision tracking.

[0003] Existing variable gain control technologies mostly employ a segmented discrete gain scheduling scheme, which divides different gain intervals by preset miss thresholds, and performs a gain jump switch when the miss exceeds the threshold. However, this discrete switching method has obvious drawbacks: First, the switching process generates control quantity jumps, causing system shocks, which not only affect tracking accuracy but also shorten the service life of the actuator; second, threshold tuning relies on experience, has poor versatility, and is difficult to adapt to the motion characteristics of different targets; third, the gain is discontinuous at the segment points, and the system is prone to oscillations near the threshold.

[0004] As photoelectric loads place increasingly higher demands on tracking control accuracy and stability, there is an urgent need for a tracking control technology that can adaptively adjust gain online, is shock-free, and balances response speed and stability, in order to address the shortcomings of existing technologies. Summary of the Invention

[0005] In view of this, the present invention aims to provide an adaptive continuously variable gain target tracking control method and system for photoelectric loads. By constructing a nonlinear continuously variable gain function with the image miss amount as the input variable, the miss amount is dynamically mapped to a real-time gain parameter, thereby realizing the closed-loop gain adaptive adjustment of the photoelectric load frame.

[0006] To achieve the above objectives, the technical solution created by this invention is implemented as follows: This invention provides an adaptive continuously variable gain target tracking control method for photoelectric loads, comprising: S1: Acquire an image of the tracked target and calculate the off-target distance between the tracked target and the image center. ; S2: Utilizing off-target amount Calculate the error angle Error angle Satisfying the off-target amount Physical boundary constraints; S3: Utilizing off-target amount Constructing a nonlinear continuous variable gain function Nonlinear continuous variable gain function Represented as: ; in: For constant gain coefficients, For smoothing constant coefficients; Nonlinear continuous variable gain function It is a globally continuous, differentiable, and piecewise odd function; S4: Utilizing a nonlinear continuously variable gain function Generate control signals control signals Used to drive the motor and move the eye axis.

[0007] Preferably, the error angle The calculation formula is expressed as follows: ; in: For off-target amount, The size of the detector pixel for the photoelectric payload. For the detector focal length, Pi is the mathematical constant of a circle.

[0008] Preferred, off-target amount maximum value Position of the positive edge pixel on the detector's imaging plane; miss distance minimum value This represents the position of the negative edge pixel on the detector's imaging plane.

[0009] Preferably, the error angle maximum value Represented as: ; in: Off-target amount The maximum value, The size of the detector pixel for the photoelectric payload. For the detector focal length, Pi; Error angle minimum value Represented as: ; in: Off-target amount The minimum value, The size of the detector pixel for the photoelectric payload. For the detector focal length, Pi; Error angle The maximum and minimum values ​​satisfy .

[0010] Preferred, Greater than the error angle The maximum value, that is, it should satisfy .

[0011] Preferably, a nonlinear continuously variable gain function exist It is a globally continuous, differentiable, and piecewise odd function.

[0012] Preferred, off-target amount Nonlinear continuously variable gain function The only independent variable.

[0013] Another aspect of this invention provides an adaptive continuously variable gain target tracking control system for photoelectric loads, comprising: an image processing module, an error angle calculation module, a gain generation module, a sensor module, and a servo control module; The image processing module uses a microprocessor to calculate the miss distance of the tracked target in real time. ; The error angle calculation module utilizes the miss distance. Calculate the error angle Error angle Satisfying the off-target amount Physical boundary constraints; The gain generation module utilizes the off-target amount Constructing a nonlinear continuous variable gain function Nonlinear continuous variable gain function Represented as: ; in: For constant gain coefficients, For smoothing constant coefficients; The sensor module is used to measure the angular position of the photoelectric load frame. and angular velocity ; The servo control module integrates a microprocessor-based digital position correction controller and a speed correction controller. The servo control module utilizes the angular position of the photoelectric load frame. and angular velocity Combining nonlinear continuous variable gain function Generate control signals .

[0014] Preferably, the input to the position correction controller includes: a nonlinear continuously variable gain function. and angular position The output of the position correction controller is a speed command. The input to the speed correction controller is a speed command. and angular velocity The output of the speed corrector is a control signal. .

[0015] Preferably, it also includes an actuator module, which utilizes control signals. It drives the photoelectric payload frame to track the target.

[0016] Compared with the prior art, the present invention can achieve the following beneficial effects: This invention constructs a nonlinear continuously variable gain function that outputs high gain when the miss distance is large and low gain when the miss distance is small. When the target suddenly appears or maneuvers rapidly, resulting in a large miss distance, the photoelectric payload can obtain high gain to achieve rapid target acquisition; when the target is close to the center of the field of view and the miss distance is small, the photoelectric payload obtains low gain for fine adjustment, achieving high-precision, overshoot-free stable tracking.

[0017] The invention employs a globally continuous, differentiable, and segmentless odd function, which makes the gain change smoothly and continuously with the off-target amount, achieving shock-free continuous control and thus effectively extending the service life of the optoelectronic load device.

[0018] The nonlinear continuous variable gain function constructed in this invention contains only two core parameters: a constant gain coefficient and a constant smoothing coefficient. This reduces the difficulty and complexity of debugging photoelectric loads and demonstrates good adaptability to targets with different speeds and motion patterns.

[0019] This invention eliminates the need for complex modeling of the target's motion state. It uses only the current miss distance output by the image processing module as the sole input to directly calculate the real-time gain through a nonlinear continuously variable gain function. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of an adaptive continuously variable gain target tracking control system for photoelectric loads provided in an embodiment of the present invention; Figure 2This is a schematic diagram of an adaptive continuously variable gain target tracking control method for photoelectric loads provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a nonlinear continuously variable gain function curve provided according to an embodiment of the present invention; Figure 4 This is a schematic diagram of an exponential function, an alternative to the nonlinear continuously variable gain function provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of a hyperbolic sine function, an alternative to the nonlinear continuously variable gain function provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of a hyperbolic cosine function, an alternative to the nonlinear continuously variable gain function provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of a power function, an alternative to the nonlinear continuously variable gain function provided in an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; the relevant operations can be fully understood based on the description in the specification and general technical knowledge in the art.

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Please see Figure 1 In one embodiment of the present invention, an adaptive continuous variable gain target tracking control system for photoelectric load is provided, comprising: an image processing module, an error angle calculation module, a gain generation module, a sensor module, and a servo control module; The image processing module uses a microprocessor to calculate the miss distance of the tracked target in real time. ; The error angle calculation module utilizes the miss distance. Calculate the error angle Error angle Satisfying the off-target amount Physical boundary constraints; The gain generation module utilizes the off-target amount Constructing a nonlinear continuous variable gain function Nonlinear continuous variable gain function Represented as: ; in: For constant gain coefficients, For smoothing constant coefficients; The sensor module is used to measure the angular position of the photoelectric load frame. and angular velocity ; The servo control module integrates a microprocessor-based digital position correction controller and a speed correction controller. The servo control module utilizes the angular position of the photoelectric load frame. and angular velocity Combining nonlinear continuous variable gain function Generate control signals .

[0027] Specifically, the image processing module acquires the target's miss distance on the imaging plane in real time via an optoelectronic payload. The target miss distance is calculated in real time using a microprocessor (FPGA or DSP). The pixel deviation value between the actual imaging point and the theoretical imaging point at the center of the optical axis.

[0028] The image processing module and the error angle calculation module are connected. The error angle calculation module calculates the miss distance. Convert to error angle .

[0029] The error angle calculation module and the gain generation module are connected. The gain generation module stores and executes a nonlinear continuously variable gain function. The gain generation module uses off-target amount As the sole independent variable, the adaptive gain value is calculated in real time.

[0030] The sensor module includes an angular position sensor and an angular velocity sensor, which are used to measure the angular position of the photoelectric load frame, respectively. and angular velocity .

[0031] The servo control module is connected to both the sensor module and the gain generation module. It integrates a digital position correction controller and a speed correction controller using a microprocessor (FPGA or DSP), forming a two-stage cascaded control structure. The input to the position correction controller is a nonlinear, continuously variable gain function. The actual angular position measured by the angular position sensor The output is a speed command. The input to the speed correction controller is a speed command. The actual angular velocity measured by the angular velocity sensor The output is the control signal for the motor. The position correction controller and speed correction controller can employ the classic PID control algorithm, or modern control algorithms such as sliding mode control, fuzzy control, and neural networks.

[0032] The servo control module and the actuator module are connected. The actuator module includes a power amplifier and a motor. The power amplifier transmits the control signals to the motor. After magnification, the servo motor driving the photoelectric payload rotates, causing the photoelectric payload to change the direction of the line of sight, thereby achieving target acquisition and tracking.

[0033] Please see Figure 2 An adaptive continuously variable gain target tracking control method for photoelectric load is provided, comprising: S1: Acquire an image of the tracked target and calculate the off-target distance between the tracked target and the image center. ; S2: Utilizing off-target amount Calculate the error angle Error angle Satisfying the off-target amount Physical boundary constraints; S3: Utilizing off-target amount Constructing a nonlinear continuous variable gain function Nonlinear continuous variable gain function Represented as: ; in: For constant gain coefficients, For smoothing constant coefficients; Nonlinear continuous variable gain function It is a globally continuous, differentiable, and piecewise odd function; S4: Utilizing a nonlinear continuously variable gain function Generate control signals control signals Used to drive the motor and move the eye axis.

[0034] S1: The photoelectric payload obtains the target's miss distance in the imaging plane in real time through the image processing module. Off-target amount To track the pixel deviation between the actual imaging point of the target and the theoretical projection point of the optical axis center.

[0035] S2: The error angle calculation module will calculate the miss distance. Convert to error angle Represented as: ; in: This refers to the off-target amount; The pixel size of the photoelectric load; The focal length of the photoelectric load; Pi is the mathematical constant of a circle.

[0036] Error angle The angle between the actual pointing direction of the photoelectric load and the target direction is the error angle. The calculation satisfies the miss distance. Actual physical boundary constraints, miss distance maximum value The error angle corresponds to the position of the positive edge pixel on the imaging plane of the photoelectric load. maximum value Represented as: ; in: This represents the maximum miss distance. The pixel size of the photoelectric load; The focal length of the photoelectric load; Pi is the mathematical constant of a circle.

[0037] Off-target amount minimum value The error angle corresponds to the negative edge pixel position of the photoelectric load imaging plane. minimum value Represented as: ; in: This represents the minimum miss distance. The pixel size of the photoelectric load; The focal length of the photoelectric load; Pi is the mathematical constant of a circle.

[0038] Error angle With off-target amount The change is symmetrical, and the error angle maximum value and minimum value satisfy: .

[0039] Please see Figure 3 S3: with off-target amount As the sole independent variable, a nonlinear continuously variable gain function is constructed. Nonlinear continuous variable gain function exist It is a globally continuous, differentiable, and piecewise odd function whose function value varies with... It increases with the increase of [something]. Nonlinear continuously variable gain function. Includes: a constant gain coefficient and a constant smoothing coefficient. Nonlinear continuously variable gain function. Represented as: ; in: This is a constant value for the gain; It is a smoothing constant value.

[0040] greater than the miss distance Error angle of actual physical boundary constraints The maximum value, that is, satisfying .

[0041] S4: Based on dynamically generated nonlinear continuous variable gain function The control signals for the motor are generated by the position correction controller and the speed correction controller. Motor control signals After being amplified by a power amplifier, the motor driving the photoelectric load moves the line of sight, achieving a large miss distance. High gain, fast acquisition, and small miss distance Low-gain stable tracking.

[0042] The input to the position correction controller is a nonlinear continuously variable gain function and the actual angular position measured by the angular position sensor. The output is a speed command. The input to the speed correction controller is a speed command. The actual angular velocity measured by the angular velocity sensor The output is the control signal for the motor. The power amplifier will output the motor control signal. The motor that drives the photoelectric payload rotates after magnification, causing the photoelectric payload to change the direction of the line of sight, thereby achieving target acquisition and tracking.

[0043] When there is a large miss rate At that time, the photoelectric load uses high gain. The controller monitors the miss distance. The amplification of the error causes the motor of the photoelectric load to receive a larger driving current, and the photoelectric load frame rotates at a faster angular velocity, causing the line of sight to swing rapidly toward the target direction.

[0044] When the miss amount is small At that time, the photoelectric load uses low gain. The controller controls the miss distance. The error amplification factor is very low, and the motor of the photoelectric load only receives a weak and fine drive signal. The photoelectric load frame is slowly and smoothly fine-tuned to avoid overshoot or oscillation due to overtuning.

[0045] An angular position sensor detects the actual angular position signal of the photoelectric load in real time and transmits it to a position correction controller. When there is an error between the actual angular position signal of the photoelectric load and the target angular position signal, the position correction controller adjusts the signal based on the error and a nonlinear continuously variable gain function. Regenerate speed command The angular velocity sensor measures the actual angular velocity of the photoelectric load in real time and transmits it to the speed correction controller. The speed correction controller then adjusts the speed according to the actual angular velocity and the speed command. Regenerate motor control signals The power amplifier will output the motor control signal. After magnification, the drive motor rotates, causing the photoelectric payload to change the direction of the line of sight, thereby achieving target acquisition and tracking.

[0046] Please see Figures 4 to 7 As an optional implementation: nonlinear continuously variable gain function Alternative forms include: exponential functions, hyperbolic sine functions, hyperbolic cosine functions, and power functions.

[0047] Exponential function Represented as: ; in: It is a symbolic function; This is the constant gain coefficient; These are smoothing constant coefficients.

[0048] hyperbolic sine function Represented as: ; in: It is a hyperbolic sine function; This is the constant gain coefficient; These are smoothing constant coefficients.

[0049] hyperbolic cosine function Represented as: ; in: It is a hyperbolic cosine function; This is the constant gain coefficient; These are smoothing constant coefficients.

[0050] Power function Represented as: ; in: It is a symbolic function; This is the constant gain coefficient; For smoothing constant coefficients; ,and It is a positive integer.

[0051] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

[0052] The systems, apparatuses, modules, or units described in one or more of the above embodiments may be implemented by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer. Specifically, a computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0053] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A photoelectric load adaptive continuously variable gain target tracking control method, characterized in that, include: S1: Acquire an image of the tracked target and calculate the off-target distance between the tracked target and the center of the image. ; S2: Utilizing the off-target amount Calculate the error angle The error angle Satisfying the off-target amount Physical boundary constraints; S3: Utilizing the aforementioned off-target amount Constructing a nonlinear continuous variable gain function The nonlinear continuous variable gain function Represented as: ； in: For constant gain coefficients, For smoothing constant coefficients; The nonlinear continuous variable gain function It is a globally continuous, differentiable, and piecewise odd function; S4: Utilizing the aforementioned nonlinear continuously variable gain function Generate control signals The control signal Used to drive the motor and move the eye axis.

2. The photoelectric load adaptive continuous variable gain target tracking control method according to claim 1, characterized in that, The error angle The calculation formula is expressed as follows: ； in: For off-target amount, The size of the detector pixel for the photoelectric payload. For the detector focal length, Pi is the mathematical constant of a circle.

3. The photoelectric load adaptive continuous variable gain target tracking control method according to claim 1, characterized in that, The off-target amount maximum value The position of the positive edge pixel on the detector's imaging plane; the miss distance minimum value This represents the position of the negative edge pixel on the detector's imaging plane.

4. The photoelectric load adaptive continuous variable gain target tracking control method according to claim 3, characterized in that, The error angle maximum value Represented as: ； in: The off-target amount The maximum value, The size of the detector pixel for the photoelectric payload. For the detector focal length, Pi; The error angle minimum value Represented as: ； in: The off-target amount The minimum value, The size of the detector pixel for the photoelectric payload. For the detector focal length, Pi; The error angle The maximum and minimum values ​​satisfy .

5. The photoelectric load adaptive continuous variable gain target tracking control method according to claim 1, characterized in that, Greater than the error angle The maximum value, that is, it should satisfy .

6. The photoelectric load adaptive continuous variable gain target tracking control method according to claim 1, characterized in that, The nonlinear continuous variable gain function exist It is a globally continuous, differentiable, and piecewise odd function.

7. The photoelectric load adaptive continuous variable gain target tracking control method according to claim 1, characterized in that, The off-target amount The nonlinear continuously variable gain function The only independent variable.

8. A photoelectric load adaptive continuously variable gain target tracking control system, characterized in that, include: Image processing module, error angle calculation module, gain generation module, sensor module, servo control module; The image processing module uses a microprocessor to calculate the miss distance of the tracked target in real time. ; The error angle calculation module utilizes the miss distance. Calculate the error angle The error angle Satisfying the off-target amount Physical boundary constraints; The gain generation module utilizes the off-target amount Constructing a nonlinear continuous variable gain function The nonlinear continuous variable gain function Represented as: ； in: For constant gain coefficients, For smoothing constant coefficients; The sensor module is used to measure the angular position of the photoelectric load frame. and angular velocity ; The servo control module integrates a digital position correction controller and a speed correction controller using a microprocessor. The servo control module utilizes the angular position of the photoelectric load frame. and angular velocity Combined with the aforementioned nonlinear continuous variable gain function Generate control signals .

9. The photoelectric load adaptive continuously variable gain target tracking control system according to claim 8, characterized in that, The input to the position correction controller includes: the nonlinear continuously variable gain function. and the angular position The output of the position correction controller is a speed command. The input to the speed correction controller is the speed command. and the angular velocity The output of the speed corrector is the control signal. .

10. The photoelectric load adaptive continuously variable gain target tracking control system according to claim 8, characterized in that, It also includes an actuator module, which utilizes the control signal. The photoelectric payload frame is driven to track the target.

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