A linear vibration disturbance compensation control method, device, equipment and ATP stable turntable

Abstract

This application discloses a linear vibration disturbance compensation control method, device, equipment, and ATP stabilizing turntable. The method converts the measured target distance with the vibration amplitude to obtain an indirect rotational disturbance amount based on the target point, including the linear vibration disturbance compensation angle and the linear vibration disturbance compensation angular velocity. Finally, the indirect angular disturbance amount is fed back to the velocity inner loop of the ATP stabilizing turntable to suppress linear vibration. This method has the beneficial effects of improving the suppression effect of the ATP stabilizing turntable on linear vibration, reducing the dependence of the ATP stabilizing turntable on mechanical damping, and reducing the overall cost of the ATP stabilizing turntable.

Description

Technical Field

[0001] This application relates to the field of ATP tracking control technology, and in particular to a linear vibration disturbance compensation control method, device, equipment, and ATP stabilizing turntable. Background Technology

[0002] With the development of technology, drones are being used more and more widely. However, the security and privacy issues brought about by drones are also gradually increasing. As a result, the demand for drone tracking and supervision is increasing year by year, which has led to the demand for highly mobile and high-performance servo tracking.

[0003] Traditional stationary ATP tracking platforms have drawbacks such as limited monitoring range and poor mobility. Therefore, a mobile ATP platform with high mobility and flexible monitoring is needed, which led to the development of vehicle-mounted ATP with stabilization capabilities.

[0004] A typical stable ATP platform uses a gyroscope to detect platform disturbances and a stabilizing inner loop to suppress these disturbances, thus achieving stable detection. However, this traditional approach has a drawback: the gyroscope only measures rotational disturbances and cannot detect linear vibrations. Furthermore, since the ATP platform consists of two rotational mechanisms (azimuth and pitch), it can only handle rotational disturbances and cannot directly respond to linear vibrations.

[0005] Therefore, a typical stabilization platform suppresses line vibration disturbances through an image tracking outer loop. However, due to the low frame rate of image detection, typically 50-100Hz, and the large latency, usually 3 frames (30ms-60ms), the tracking bandwidth of the image closed loop is very low. Consequently, the image tracking outer loop has a weak ability to suppress line vibrations. Ultimately, this results in the traditional stabilization ATP platform having weak vibration resistance and requiring the use of a vibration damping system. This not only leads to poor stability but also significantly increases the overall system production cost.

[0006] Therefore, how to effectively suppress the influence of linear vibration on the stable ATP platform in order to further improve the stability accuracy of the entire system remains to be studied.

[0007] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0008] This application provides a linear vibration disturbance compensation control method, device, equipment, and ATP stabilization turntable. The method is used to effectively suppress the influence of linear vibration on the stabilization of the ATP platform, so as to further improve the stability accuracy of the entire system and reduce the dependence of the ATP stabilization turntable on mechanical damping, thereby further reducing the cost of the entire ATP stabilization turntable.

[0009] The main objective of this application is to provide a linear vibration disturbance compensation control method for linear vibration disturbance compensation control of an ATP stable turntable, comprising the following steps:

[0010] Based on the line disturbance signal, obtain the vibration amplitude of the target ATP stable turntable;

[0011] Obtain the target distance between the target ATP stable turntable and the tracking target;

[0012] Based on the vibration amplitude, target distance, and preset compensation control cycle, calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable.

[0013] The line vibration disturbance compensation angle and line vibration disturbance compensation angular velocity are sent to the inner velocity loop of the target ATP stabilizing turntable to compensate for the target ATP stabilizing turntable.

[0014] In one embodiment, a method for calculating the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stabilizing turntable based on the vibration amplitude, target distance, and a preset compensation control period includes:

[0015] Determine whether there is a vertical line disturbance component perpendicular to the image acquisition direction of the target ATP stable turntable at the current moment;

[0016] If it exists, then based on the vibration amplitude and the compensation control period, calculate the first vertical displacement corresponding to the vertical line disturbance component within the compensation control period at the current moment, and obtain the first target distance at the current moment.

[0017] Obtain the second vertical displacement accumulated at the previous moment, and obtain the second target distance corresponding to the previous moment;

[0018] Calculate the sum of the first vertical displacement and the second vertical displacement to obtain the third vertical displacement; and calculate the sum of the first target distance and the second target distance to obtain the third target distance.

[0019] The first angle is obtained by performing arctangent calculation based on the ratio of the third vertical displacement to the distance to the third target; the second angle is obtained by performing arctangent calculation based on the ratio of the second vertical displacement to the distance to the second target.

[0020] The difference between the first angle and the second angle is used as the compensation angle for linear vibration disturbance.

[0021] The ratio of the linear vibration disturbance compensation angle to the compensation control period is used as the linear vibration disturbance compensation angular velocity.

[0022] In one embodiment, the method for calculating the first vertical displacement or the second vertical displacement includes:

[0023] Obtain the acceleration of the target ATP stable turntable within the compensation control period at the current moment;

[0024] Integrate the acceleration according to the corresponding interval to obtain the current linear velocity;

[0025] Based on the corresponding interval, the current linear velocity is integrated to obtain the first or second vertical displacement.

[0026] In one embodiment, if the initial state of the target ATP stabilizing turntable is time 0, the method for calculating the first vertical displacement or the second vertical displacement includes:

[0027] Obtain the acceleration a of the target ATP stable turntable within the compensation control period T corresponding to the current time t;

[0028] Integrating the acceleration *a* over the interval [0, t], we obtain the current linear velocity *vt*. The expression for the current linear velocity *vt* is: ;

[0029] Integrating the current linear velocity over the interval [0, t] yields either the first or second vertical displacement. The expression for the first or second vertical displacement is as follows: .

[0030] In one embodiment, if the initial state of the target ATP stabilizing turntable is time 0, the method of using the ratio of the linear vibration disturbance compensation angle to the compensation control period as the linear vibration disturbance compensation angular velocity includes:

[0031] Substitute the expression corresponding to the first or second vertical displacement into the expression for the linear vibration disturbance compensation angular velocity to obtain the compensation value of the linear vibration disturbance compensation angular velocity.

[0032] In one embodiment, the target distance is obtained via radar on the ATP-stabilized turntable. After obtaining the target distance between the target ATP-stabilized turntable and the tracked target, the method further includes:

[0033] Acquire the off-target amount of the image tracking outer loop from the ATP stable turntable;

[0034] Based on the miss distance in the image, the target distance is corrected by prediction filtering to obtain the predicted distance after correction prediction filtering.

[0035] Using the predicted distance instead of the target distance, calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable.

[0036] In one embodiment, a method for obtaining a corrected prediction distance by performing corrected prediction filtering on the target distance based on the image miss distance includes:

[0037] Obtain the miss distance of the first image at the current moment and the miss distance of the second image at the previous moment;

[0038] A miss factor is constructed using the sign function, the miss amount of the first image, and the miss amount of the second image.

[0039] The target distance is corrected and predicted by multiplying the miss distance factor and the adjustment coefficient to obtain the corrected and predicted distance at the next time step.

[0040] Off-target factor The expression is

[0041]

[0042] Where sgn(·) is the sign function, The miss distance of the first image at the current moment. The miss distance of the second image at the previous time step is given by the corresponding filtering expression.

[0043]

[0044] in, The predicted distance after correction and prediction filtering for the next time step. This represents the distance measured by the radar at the previous moment. Where is the radar's current measured distance, and T' is the radar's refresh rate. is the off-target factor, and k is the adjustment coefficient.

[0045] Furthermore, to achieve the above objectives, this application also proposes a linear vibration disturbance compensation control device, comprising:

[0046] The vibration amplitude acquisition module is used to acquire the vibration amplitude of the target ATP stable turntable based on the line disturbance signal.

[0047] The target distance acquisition module is used to acquire the target distance between the target ATP stable turntable and the tracking target;

[0048] The linear vibration disturbance compensation calculation module is used to calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable based on the vibration amplitude, target distance and preset compensation control cycle.

[0049] The linear vibration disturbance compensation transmitting module is used to transmit the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity to the inner velocity loop of the target ATP stabilizing turntable in order to compensate the target ATP stabilizing turntable.

[0050] In addition, to achieve the above objectives, this application also proposes a computer device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the method described above.

[0051] In addition, to achieve the above objectives, this application also proposes an ATP-stabilized turntable, including a camera module, an image processing module, a radar module, a position controller, a speed controller, an accelerometer, a correction and prediction filter module, an equivalent control inner loop module, and a gyroscope module, as well as a linear vibration disturbance compensation control device as described above or a computer device as described above.

[0052] This application provides a linear vibration disturbance compensation control method, device, equipment, and ATP stabilizing turntable. The method converts the measured target distance with the vibration amplitude to obtain an indirect rotational disturbance amount based on the target point, including the linear vibration disturbance compensation angle and the linear vibration disturbance compensation angular velocity. Finally, the indirect angular disturbance amount is fed back to the velocity inner loop of the ATP stabilizing turntable to suppress linear vibration. This method has the beneficial effects of improving the suppression effect of the ATP stabilizing turntable on linear vibration, reducing the dependence of the ATP stabilizing turntable on mechanical damping, and reducing the overall cost of the ATP stabilizing turntable. Attached Figure Description

[0053] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0054] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 A flowchart illustrating an embodiment of a linear vibration disturbance compensation and control method in this application;

[0056] Figure 2 This is a three-dimensional rectangular coordinate diagram of an embodiment of a linear vibration disturbance compensation control method in this application;

[0057] Figure 3 This is a schematic diagram of motion tracking of a target ATP stable turntable subjected to vibration along the x-axis, provided in an embodiment of a linear vibration disturbance compensation control method of this application.

[0058] Figure 4This is a schematic diagram of motion tracking of a target ATP-stabilized turntable subjected to vibration along the y-axis, provided in an embodiment of a linear vibration disturbance compensation control method of this application.

[0059] Figure 5 This is a schematic diagram of motion tracking of a target ATP stable turntable subjected to vibration along the z-axis, provided in an embodiment of a linear vibration disturbance compensation control method of this application.

[0060] Figure 6 This is a schematic diagram of the target ATP stable turntable linear motion and angular motion provided in an embodiment of a linear vibration disturbance compensation control method in this application;

[0061] Figure 7 A schematic diagram of the structure of an embodiment of a linear vibration disturbance compensation control device according to this application;

[0062] Figure 8 This is a flowchart illustrating another embodiment of a linear vibration disturbance compensation and control method in this application.

[0063] Figure 9 This is a schematic diagram of the structure of an embodiment of an ATP stable turntable provided in this application;

[0064] Figure 10 A comparative diagram of experimental results with only LRMC introduced in one embodiment of an ATP stable turntable in this application;

[0065] Figure 11 A comparison diagram of experimental results for simultaneously introducing LRMC and radar correction prediction filter modules in an embodiment of an ATP stabilizing turntable provided in this application;

[0066] Figure 12 This is a schematic diagram of the structure of a computer device according to this application.

[0067] Explanation of icon numbers:

[0068] 10. Memory; 20. Processor.

[0069] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0070] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0071] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0072] Example 1

[0073] This application provides a linear vibration disturbance compensation control method for linear vibration disturbance compensation control of an ATP stable turntable, referring to... Figure 1 This includes the following steps:

[0074] Step S1: Obtain the vibration amplitude of the target ATP stable turntable based on the line perturbation signal;

[0075] Step S2: Obtain the target distance between the target ATP stable turntable and the tracking target;

[0076] Step S3: Calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable based on the vibration amplitude, target distance and preset compensation control cycle.

[0077] Step S4: Send the line vibration disturbance compensation angle and line vibration disturbance compensation angular velocity to the inner velocity loop of the target ATP stabilizing turntable to compensate the target ATP stabilizing turntable.

[0078] It should be noted that the order of steps S1 and S2 is not actually limited, and they can be performed simultaneously.

[0079] In one alternative implementation, the ATP stabilizing turntable acquires acceleration characterization line perturbations via its own accelerometer and then generates a line perturbation signal.

[0080] Specifically, if the initial state of the target ATP stabilizing turntable is time 0, then at the current time t, the ATP stabilizing turntable will collect an acceleration of a through its own accelerometer. The preset compensation control period is T. The linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stabilizing turntable can be calculated by two integrations using the acceleration a, the current time t, and the compensation control period T.

[0081] First, define the image acquisition direction of the target ATP stabilizing turntable as the axis of the camera on the target ATP stabilizing turntable, such as... Figure 2 As shown, a three-dimensional rectangular coordinate system is established with the front of the camera as the positive x-axis, upward as the positive z-axis, and to the right as the positive y-axis. The positive x-axis is the direction of image acquisition for the target ATP stabilizing turntable.

[0082] The motion tracking of the target ATP stable turntable when subjected to vibrations along the x, y, and z axes is as follows: Figures 3 to 5 As shown, by Figure 3 It can be seen that when the target ATP stable turntable is subjected to vibration along the x-axis, it has no effect on target tracking, therefore no treatment is required. Figure 4 It can be seen that when the target ATP stable turntable is subjected to vibration along the y-axis, it is mapped to the azimuth effect during ATP target tracking. Figure 5 It can be seen that when the target ATP stable turntable is subjected to vibration along the z-axis, it is mapped to the pitch effect during ATP target tracking, and by Figure 4 and Figure 5 As can be seen, the two directions are completely symmetrical in terms of control principle (that is, the methods for calculating the first vertical displacement in the z direction or the second vertical displacement in the y direction are the same). Therefore, this embodiment selects one axis for detailed derivation, and the other axis will not be described in detail. This scheme selects the z axis for introduction.

[0083] If we want to determine the linear disturbance at the current time t, such as Figure 6 As shown, there is a vertical line disturbance component in the z-axis that is perpendicular to the image acquisition direction of the target ATP stabilization turntable. Based on the vibration amplitude and the compensation control period T, the first vertical displacement corresponding to the vertical line disturbance component in the z-axis direction within the compensation control period T at the current time t is calculated. And, obtain the distance l of the first target at the current moment. n， If the target center of the field of view needs to remain aligned with the target as in the previous cycle, then let the angle by which the elevation frame needs to rotate be and let the accumulated second vertical displacement in the previous moment be h. n-1 The distance to the second target at the previous moment was l. n-1 ,

[0084] Then, the sum of the first vertical displacement and the second vertical displacement is calculated to obtain the third vertical displacement; and the sum of the first target distance and the second target distance is calculated to obtain the third target distance.

[0085] The first angle is obtained by performing arctangent calculation based on the ratio of the third vertical displacement to the distance to the third target; the second angle is obtained by performing arctangent calculation based on the ratio of the second vertical displacement to the distance to the second target.

[0086] If the difference between the first angle and the second angle is taken as the compensation angle for linear vibration disturbance, then the value is... The expression is

[0087]

[0088] Angle compensation for linear vibration disturbance The ratio of the control period T to the linear vibration disturbance compensation angular velocity is used as the pitch-to-rotation angular velocity. The expression is

[0089]

[0090] As we know from the previous information, the initial state of the target ATP stable turntable is time 0. Therefore, the following steps are taken:

[0091] Obtain the acceleration a of the target ATP stable turntable within the compensation control period T corresponding to the current time t;

[0092] Integrating the acceleration *a* over the interval [0, t], we obtain the current linear velocity *vt*. The expression for the current linear velocity *vt* is: ;

[0093] Integrating the current linear velocity over the interval [0, t] yields either the first or second vertical displacement. The expression for the first or second vertical displacement is as follows: ;

[0094] Substituting the pitch-to-rotational angular velocity further... The expression yields

[0095]

[0096] In summary, by adopting this implementation method, linear vibration can be indirectly converted into angular disturbance, wherein the distance l is measured by radar.

[0097] Example 2

[0098] like Figure 7 As shown, this embodiment discloses a linear vibration disturbance compensation control device, including:

[0099] The vibration amplitude acquisition module is used to acquire the vibration amplitude of the target ATP stable turntable based on the line disturbance signal.

[0100] The target distance acquisition module is used to acquire the target distance between the target ATP stable turntable and the tracking target;

[0101] The linear vibration disturbance compensation calculation module is used to calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable based on the vibration amplitude, target distance and preset compensation control cycle.

[0102] The linear vibration disturbance compensation transmitting module is used to transmit the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity to the inner velocity loop of the target ATP stabilizing turntable in order to compensate the target ATP stabilizing turntable.

[0103] Based on the method in Embodiment 1, this device is a Linear-to-Rotary Motion Converter (LRMC) that converts linear motion quantities into target reference point rotation quantities. It converts radar-measured target distances with accelerometer-measured linear accelerations to obtain indirect rotational disturbance quantities of linear disturbances based on the target point.

[0104] Example 3

[0105] This embodiment provides a linear vibration disturbance compensation control method, which is an improvement on Embodiment 1. To improve conversion accuracy, and because the radar frequency is low, predictive filtering of the radar measurement data is required. In this embodiment, the target distance is obtained through the radar of the ATP-stabilized turntable. After obtaining the target distance between the target ATP-stabilized turntable and the tracked target, the method further includes:

[0106] Acquire the off-target amount of the image tracking outer loop from the ATP stable turntable;

[0107] Based on the miss distance in the image, the target distance is corrected by prediction filtering to obtain the predicted distance after correction prediction filtering.

[0108] Using the predicted distance instead of the target distance, calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable.

[0109] Furthermore, based on the miss distance in the image, a method for performing corrective prediction filtering on the target distance to obtain the corrected prediction filtering predicted distance includes:

[0110] Obtain the miss distance of the first image at the current moment and the miss distance of the second image at the previous moment;

[0111] A miss factor is constructed using the sign function, the miss amount of the first image, and the miss amount of the second image.

[0112] The target distance is corrected and predicted by multiplying the miss distance factor and the adjustment coefficient to obtain the corrected and predicted distance at the next time step.

[0113] Off-target factor The expression is

[0114]

[0115] Where sgn(·) is the sign function, The miss distance of the first image at the current moment. The miss distance of the second image at the previous time step is given by the corresponding filtering expression.

[0116]

[0117] in, The predicted distance after correction and prediction filtering for the next time step. This represents the distance measured by the radar at the previous moment. Where is the radar's current measured distance, and T' is the radar's refresh rate. is the off-target factor, and k is the adjustment coefficient, which is usually greater than 1.

[0118] like Figure 8 As shown, this embodiment uses image correction filtering to correct the radar prediction filter in real time, so as to improve the radar ranging prediction accuracy, ensure the conversion accuracy of LRMC, and improve the stability of the entire system.

[0119] In practical engineering applications, to control costs, the radar refresh rate will not be high. This solution uses 10Hz as an example to explain the principle.

[0120] Let the radar distance measured at time n-1 be ln-1, the radar distance measured at time n be ln, and the radar distance measured at time n+1 be ln+1. If these distances are predicted at a refresh rate of 1 kHz, then the direct estimated value of the distance travel speed for each pass is:

[0121]

[0122] Although the data obtained by this formula can increase the rate to 1KHz, the accuracy is generally poor. Therefore, this embodiment introduces a method of off-target correction to further correct the estimated data and improve the measurement accuracy.

[0123] From the above formula and Figure 6 It can be seen that the radar data is smaller than the actual value. The larger the value, the more overshoot will be compensated, and the miss distance will be reversed; conversely, the smaller the value, the more lag will be compensated, and the miss distance will not reach zero.

[0124] Therefore, a miss factor is further introduced for correction. The miss factor is represented by a sign function, and its expression is as follows:

[0125]

[0126] Finally, the obtained filter formula is:

[0127]

[0128] Correspondingly, the filtering method in this embodiment will be set as a correction prediction filtering module in the ATP stabilization turntable.

[0129] Example 4

[0130] like Figure 9 As shown, this embodiment discloses an ATP stabilizing turntable, including a camera module, an image processing module, a radar module, a position controller, a speed controller, an accelerometer, a correction prediction filter module, an equivalent control inner loop module, and a gyroscope module, as well as a linear vibration disturbance compensation control device, namely LRMC, as described in Embodiment 2.

[0131] like Figures 10 to 11 As shown, this embodiment will use a given signal source with y=sint to introduce angular vibration with an amplitude of 1 and a frequency of 5Hz, and linear vibration with an amplitude of 0.1 and a frequency of 10Hz, and conduct experiments comparing the introduction of only LRMC. The experimental results are as follows. Figure 10 As shown, compared with the experiment that simultaneously introduces LRMC and radar correction predictive filtering, the experimental results are as follows: Figure 11 As shown;

[0132] Depend on Figure 10 It can be seen that the LRMC strategy designed in this paper can effectively suppress the influence of line vibration on tracking, but the accuracy still needs to be further improved. Figure 11 It can be seen that the accuracy is further improved after the introduction of radar correction prediction filtering.

[0133] In summary, the simultaneous use of the LRMC and radar correction prediction filter modules designed in this scheme can significantly improve the system's suppression of linear vibration, reduce the system's dependence on mechanical damping, and lower the overall system cost, thus verifying the feasibility of this control strategy.

[0134] Example 5

[0135] This application discloses a computer device, such as... Figure 12 As shown, it includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the method described in any of the above embodiments.

[0136] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A linear vibration disturbance compensation control method for compensating for linear vibration disturbances on an ATP-stabilized turntable, characterized in that, Includes the following steps: Based on the line disturbance signal, obtain the vibration amplitude of the target ATP stable turntable; Obtain the target distance between the target ATP stable turntable and the tracking target; Based on the vibration amplitude, target distance, and preset compensation control cycle, calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable. The line vibration disturbance compensation angle and line vibration disturbance compensation angular velocity are sent to the inner velocity loop of the target ATP stabilizing turntable to compensate for the target ATP stabilizing turntable.

2. The linear vibration disturbance compensation and control method as described in claim 1, characterized in that, A method for calculating the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP-stabilized turntable based on vibration amplitude, target distance, and preset compensation control cycle includes: Determine whether there is a vertical line disturbance component perpendicular to the image acquisition direction of the target ATP stable turntable at the current moment; If it exists, then based on the vibration amplitude and the compensation control period, calculate the first vertical displacement corresponding to the vertical line disturbance component within the compensation control period at the current moment, and obtain the first target distance at the current moment. Obtain the second vertical displacement accumulated at the previous moment, and obtain the second target distance corresponding to the previous moment; Calculate the sum of the first vertical displacement and the second vertical displacement to obtain the third vertical displacement; and calculate the sum of the first target distance and the second target distance to obtain the third target distance. The first angle is obtained by performing arctangent calculation based on the ratio of the third vertical displacement to the distance to the third target; the second angle is obtained by performing arctangent calculation based on the ratio of the second vertical displacement to the distance to the second target. The difference between the first angle and the second angle is used as the compensation angle for linear vibration disturbance. The ratio of the linear vibration disturbance compensation angle to the compensation control period is used as the linear vibration disturbance compensation angular velocity.

3. The linear vibration disturbance compensation and control method as described in claim 2, characterized in that, Methods for calculating the first vertical displacement or the second vertical displacement include: Obtain the acceleration of the target ATP stable turntable within the compensation control period at the current moment; Integrate the acceleration according to the corresponding interval to obtain the current linear velocity; Based on the corresponding interval, the current linear velocity is integrated to obtain the first or second vertical displacement.

4. The linear vibration disturbance compensation and control method as described in claim 3, characterized in that, If the initial state of the target ATP stable turntable is time 0, the method for calculating the first or second vertical displacement includes: Obtain the acceleration a of the target ATP stable turntable within the compensation control period T corresponding to the current time t; Integrating the acceleration *a* over the interval [0, t], we obtain the current linear velocity *vt*. The expression for the current linear velocity *vt* is: ; Integrating the current linear velocity over the interval [0, t] yields either the first or second vertical displacement. The expression for the first or second vertical displacement is as follows: .

5. The linear vibration disturbance compensation and control method as described in claim 4, characterized in that, If the initial state of the target ATP stable turntable is time 0, then the method of using the ratio of the linear vibration disturbance compensation angle to the compensation control period as the linear vibration disturbance compensation angular velocity includes: Substitute the expression corresponding to the first or second vertical displacement into the expression for the linear vibration disturbance compensation angular velocity to obtain the compensation value of the linear vibration disturbance compensation angular velocity.

6. The linear vibration disturbance compensation and control method as described in claims 1 to 5, characterized in that, The target distance is obtained through the radar of the ATP-stabilized turntable. After obtaining the target distance between the target ATP-stabilized turntable and the tracked target, the following steps are also included: Acquire the off-target amount of the image tracking outer loop from the ATP stable turntable; Based on the miss distance in the image, the target distance is corrected by prediction filtering to obtain the predicted distance after correction prediction filtering. Using the predicted distance instead of the target distance, calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable.

7. The linear vibration disturbance compensation and control method as described in claim 6, characterized in that, A method for obtaining the predicted distance after corrected prediction filtering by performing corrected prediction filtering on the target distance based on the miss distance in the image includes: Obtain the miss distance of the first image at the current moment and the miss distance of the second image at the previous moment; A miss factor is constructed using the sign function, the miss amount of the first image, and the miss amount of the second image. The target distance is corrected and predicted by multiplying the miss distance factor and the adjustment coefficient to obtain the corrected and predicted distance at the next time step. Off-target factor The expression is Where sgn(·) is the sign function, The miss distance of the first image at the current moment. The miss distance of the second image at the previous time step is given by the corresponding filtering expression. in, The predicted distance after correction and prediction filtering for the next time step. This represents the distance measured by the radar at the previous moment. Where is the radar's current measured distance, and T' is the radar's refresh rate. is the off-target factor, and k is the adjustment coefficient.

8. A linear vibration disturbance compensation control device, characterized in that, include: The vibration amplitude acquisition module is used to acquire the vibration amplitude of the target ATP stable turntable based on the line disturbance signal. The target distance acquisition module is used to acquire the target distance between the target ATP stable turntable and the tracking target; The linear vibration disturbance compensation calculation module is used to calculate the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity of the target ATP stable turntable based on the vibration amplitude, target distance and preset compensation control cycle. The linear vibration disturbance compensation transmitting module is used to transmit the linear vibration disturbance compensation angle and linear vibration disturbance compensation angular velocity to the inner velocity loop of the target ATP stabilizing turntable in order to compensate the target ATP stabilizing turntable.

9. A computer device, characterized in that, include: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the method of any one of claims 1 to 7.

10. An ATP-stabilized turntable, characterized in that, It includes a camera module, an image processing module, a radar module, a position controller, a speed controller, an accelerometer, a correction and prediction filter module, an equivalent control inner loop module, and a gyroscope module, as well as a linear vibration disturbance compensation control device as described in claim 8 or a computer device as described in claim 9.

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