CN105676209A - Helicopter-borne laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device - Google Patents
Helicopter-borne laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device Download PDFInfo
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- CN105676209A CN105676209A CN201610198862.9A CN201610198862A CN105676209A CN 105676209 A CN105676209 A CN 105676209A CN 201610198862 A CN201610198862 A CN 201610198862A CN 105676209 A CN105676209 A CN 105676209A
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Abstract
The invention relates to a helicopter-borne laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device. In a helicopter-borne laser radar system, the three-dimensional attitude angle vibration compensation device is additionally adopted, and the three-dimensional attitude angle vibration compensation is provided with a large-sized reflector. A magnetic universal bearing is adopted to support the large-sized reflector, so that the large-sized reflector can rotate around an x axis and a y axis simultaneously; rotation angle closed-loop control on the rotation of the large-sized reflector around the x axis and the y axis can be realized through adopting a direct-acting motor and a grating ruler displacement sensor, so that the coupling of the rotation of the large-sized reflector around the x axis and the y axis can be realized; and a direct-current torque motor and gear transmission mode is adopted to realize the rotation of the large-sized reflector around a z axis. With the three-dimensional attitude angle vibration compensation device adopted, a laser pulse beam which is deflected because of the influence of airborne platform three-dimensional attitude angle vibration can be corrected to an ideal scanning direction which is realized when airborne platform attitude angle vibration does not exist, and therefore, real-time complete compensation for the airborne platform three-dimensional attitude angle vibration can be realized, and adverse influence of the helicopter-borne platform three-dimensional attitude angle vibration on the measurement point cloud of a laser radar can be eliminated.
Description
Technical field
The present invention relates to the complex vibration of the Review for Helicopter platform real-time high-precision compensation problem to airborne laser radar three-dimensional imaging adverse effect.
Background technology
Laser radar has the advantages such as imaging precision height, working performance is high, detection range is remote, and helicopter has flight maneuver advantage flexibly, takeoff and landing place is required low, flying height is not high yet simultaneously, being suitable for the measurement of various complicated landform, therefore, both combine, Review for Helicopter laser radar, in many fields such as mapping, City Modeling, electric lines of force explorations, is widely used.
In airborne laser radar work process, require that the motion of airborne platform is regular, usually require that helicopter is unaccelerated flight, thus the sensing point cloud covered areas territory rule of laser radar can be made, distribution density is uniform, and the sampling point distributions of tested landform meets two dimension sampling thheorem requirement, then when follow-up some cloud interpolation and surface fitting process, three-dimensional terrain model error is less, can the resolution requirement of planar survey contentedly, three-dimensional imaging precision is high.
Though but helicopter has flight maneuver advantage flexibly, but also having obvious shortcoming, namely helicopter flight process has extremely complex vibration. Helicopter is in practical flight process, aircraft cognition is subject to many-sided interference effect, such as fitful wind, turbulent flow, engine luggine and the performance deficiency etc. controlling system, make airborne platform cannot keep desirable linear uniform motion state, produce strong and complicated vibration, have a strong impact on distribution and the sampling resolution of Laser Radar Scanning point cloud, and then reduce the precision of tested landform three-dimensional imaging model. Therefore, adopting an effective measure, the flying platform complex vibration for Review for Helicopter laser radar carries out real-time high-precision compensation, has important practical significance.
Existing realize in airborne laser radar payload platform real-time compensation method, as in patent ZL201010183492.4, which propose a kind of angle of pitch change real-time compensation method realizing airborne laser radar payload platform, additionally in patent ZL201010180527.9, which propose a kind of roll angle change real-time compensation method realizing airborne laser radar payload platform, that is the attitude angle that can only realize on single shaft direction in the compensation method that existing airborne laser radar radar vibrates about payload platform attitude angle compensates, and compensate while three-axis attitude angular oscillation cannot be realized.Real-time high-precision in order to realize the vibration of Review for Helicopter platform three axle complexity attitude angle compensates, it is necessary to the frame for movement of compensation device, compensation principle and compensation performance are proposed new designing requirement. Namely this patent proposes real-time compensation method and the device of a kind of airborne platform complex three-dimensional attitude angle vibration being exclusively used in Review for Helicopter laser radar, and it has compensation principle, frame for movement, the working method different from conventional compensation method and compensates performance.
Summary of the invention
In order to realize the full remuneration to Review for Helicopter laser radar 3 d pose angular oscillation, the invention provides a kind of Review for Helicopter laser radar platform three-dimension altitude angle complex vibration real-time compensation method and device, mainly there is some following innovative point: one is adopt direct acting motor to control to replace traditional rotary electric machine to control, adopt the method that displacement measurement replaces outer corner measurement, its objective is to improve the frame for movement of compensation device, improve space availability ratio, the installation of large scale reflecting mirror can be realized, improve the compensation device adaptive capacity to laser radar telemeasurement, strengthen its practicality, two is adopt magnetic universal bearing frame for movement, replaces three-axle table structure, large scale reflecting mirror can be made around the rotation fast and flexible of x-axis and y-axis, and avoid the rotation coupling of two axles, three are the increase in the compensation in the z-axis direction of large scale reflecting mirror, it is achieved that the airborne laser radar full remuneration to three-axis attitude angular oscillation, but not only compensate an axle.
A kind of Review for Helicopter laser radar platform three-dimension altitude angle complex vibration real-time compensation method provided by the invention and device, it is characterized in that increasing a laser beam three-dimensional pointing apparatus for correcting in conventional Review for Helicopter laser radar system, by this apparatus for correcting, the laser pulse bundle that will deflect due to airborne platform three-dimension altitude angle vibration effect, correct back on ideal scan direction when vibrating without airborne platform attitude angle, thus the real-Time Compensation to airborne platform 3 d pose angular oscillation can be realized, completely eliminate the Review for Helicopter platform 3 d pose angular oscillation adverse effect to lidar measurement point cloud, therefore namely this device is called three-dimension altitude angle vibration compensation device.
Wherein, the Review for Helicopter laser radar system composition characteristic adding three-dimension altitude angle vibration compensation device is in that to include Review for Helicopter platform (1), high-frequency laser pluses diastimeter (2), one-dimensional scanning swing galvanometer system (3), three-dimensional high-precision gyroscope (4), three-dimension altitude angle vibration compensation device (5), tested landform (6). On described three-dimension altitude angle vibration compensation device (5), it is mounted with one side large scale laser mirror (501). Its compensation principle is: described high-frequency laser pluses diastimeter (2), one-dimensional scanning swing galvanometer system (3), three-dimensional high-precision gyroscope (4) and three-dimension altitude angle vibration compensation device (5) and be all fixedly mounted on Review for Helicopter platform (1). The laser pulse sent by high-frequency laser pluses diastimeter (2), swing directive three-dimension altitude angle vibration compensation device (5) after galvanometer system (3) reflection through one-dimensional scanning, after the large scale laser mirror (501) in three dimensional angular vibration compensation device (5) reflects, be pointed into tested landform (6). The real-time three-dimensional attitude angle vibration information of Review for Helicopter platform (1) is obtained by three-dimensional high-precision gyroscope (4), it is supplied to the controller of three-dimension altitude angle vibration compensation device (5), makes the large scale laser mirror (501) on three-dimension altitude angle vibration compensation device (5) do rotate backward relevant to attitude angle vibration angle on three direction of principal axis of Review for Helicopter platform (1).
Wherein, in the roll angle and angle of pitch rotation direction of Review for Helicopter platform (1), the rotary state of the large scale laser mirror (501) on three-dimension altitude angle vibration compensation device (5) is the half of roll angle and the angle of pitch vibration values reversely rotating Review for Helicopter platform (1). And on the yaw angle direction of Review for Helicopter platform (1), the rotary state of the large scale laser mirror (501) on three-dimension altitude angle vibration compensation device (5) is the equal angular of the yaw angle vibration values reversely rotating real-time Review for Helicopter platform (1), thus the compensation of real-time high-precision Review for Helicopter platform (1) 3 d pose angular oscillation can be fallen, make what high-frequency laser pluses diastimeter (2) sent to swing the laser scanning distribution after galvanometer system (3) reflection completely from the adverse effect of the 3 d pose angular oscillation of Review for Helicopter platform (1) through one-dimensional scanning.
Wherein, the length and width of described large scale reflecting mirror (501) are 100mm × 100mm, adopt large scale laser-bounce minute surface can effectively obtain the return laser beam of ground return, are conducive to the long-range detection of Review for Helicopter laser radar. the mirror support bar (502) of described large scale reflecting mirror (501) is formed by four, adopts titanium alloy material manufacture, and light weight intensity is high, and Vertical Uniform runs on one plane between two, and with little hemisphere (530) incisal plane secure weld. described little hemisphere (530) is the height hemisphere slightly below the radius of a ball, it adopts rustless steel to make, supporting concave spherical surface column (522) adopts magnetic steel to make, the sphere of described little hemisphere (530) tightly can be held, therefore the ball surface of described little hemisphere (530) and the support concave spherical surface column of described support concave spherical surface column (522) cooperate, form slip sphere-contact, and under the effect of strong magnetic attraction, it is tightly combined and is not readily separated, between there is no gap, can be freely rotatable around x and y-axis flexibly, therefore its motion structure is equivalent to a magnetic sphere universal bearing. the central point (529) of described large scale reflecting mirror (501) overlaps all the time with the sphere center position of described little hemisphere (530), therefore, when the magnetic sphere universal bearing that described little hemisphere (530) and described support concave spherical surface column (522) form rotates around x and y-axis, the locus of the described central point (529) of described large scale reflecting mirror (501) remains constant relative to airborne platform.
Wherein, the end of four described support bars (502) is respectively mounted with Universal linking lever bearing (503). Described large scale reflecting mirror (501) is driven connecting rod 2(525 by x-axis direct acting motor (524) by x-axis around the rotation of x-axis) drive, measured the actual displacement of described x-axis direct acting motor (524) by x-axis grating scale displacement measurement sensor (523), the described large scale reflecting mirror (501) actual rotational angle around x-axis can be obtained by calculating. With install described x-axis direct acting motor (524) support bar relative direction support bar on, it is mounted with x-axis elastic return spring (505) and x-axis antivibrator (506), connecting rod 1(504 is driven with x-axis) it is connected, and be connected with described large scale reflecting mirror (501) by x-axis single shaft pitman shaft (507), its objective is that obtaining x-axis controls optimum natural frequency and the damping ratio of system, improves the described large scale reflecting mirror (501) the dynamic rotational characteristic around x-axis.
Wherein, described large scale reflecting mirror (501) is driven connecting rod 2(528 by y-axis direct acting motor (527) by y-axis around the rotation of y-axis) drive, measured the actual displacement of described y-axis direct acting motor (527) by y-axis grating scale displacement measurement sensor (526), the described large scale reflecting mirror (501) actual rotational angle around y-axis can be obtained by calculating.With install described y-axis direct acting motor (527) support bar relative direction support bar on, it is mounted with y-axis elastic return spring (509) and y-axis antivibrator (510), connecting rod 1(511 is driven with y-axis) it is connected, and be connected with described large scale reflecting mirror (501) by y-axis single shaft pitman shaft (512), its objective is that obtaining y-axis controls optimum natural frequency and the damping ratio of system, improves the described large scale reflecting mirror (501) the dynamic rotational characteristic around y-axis. The direct acting motor of x-axis and y-axis and spring-damper are that it between two vertically, is evenly distributed in a plane by driving support bar (508) to support, being formed by four altogether, and with described support concave spherical surface column (522) secure weld.
Wherein, described support concave spherical surface column (522) and column rotate axle (521) and are fastenedly connected, there is same rotation axle, rotate at described column and axle (521) is provided with gear wheel (514), the end of described column rotation axle (521) is mounted with vertical rolling bearing (516) simultaneously, and described vertical rolling bearing (516) is arranged in bearing block (517). Described three dimensional angular vibration compensation device (5) is realized controlling by described attitude angle vibration compensation apparatus control system (513).
Wherein, described large scale reflecting mirror (501) is driven by z-axis direct current torque motor (519) around the rotation of z-axis, described z-axis direct current torque motor (519) first drives little gear (520) to rotate, and then described little gear (520) drives gear wheel (514) to rotate, whole mirror system is made to rotate around z-axis, z-axis condenser type outer corner measurement sensor (518) is adopted to measure the real-time corner of described z-axis direct current torque motor (519), it is achieved the closed loop control that described large scale reflecting mirror (501) rotates around z-axis. Described attitude angle vibration compensation apparatus control system (513), z-axis condenser type outer corner measurement sensor (518) and bearing block (517) are all fixedly mounted on mounting base (515). Described mounting base (515) can realize extension in four vertical side, forms a casing, whole system is surrounded, thus playing protection, supporting and dustproof effect.
Wherein, the hardware components of described attitude angle vibration compensation apparatus control system (513) is based on ARM(LPC2138) controller be controlled realize. The helicopter three-dimension altitude angle vibration data that described three-dimensional high-precision gyroscope (4) gathers is obtained by serial ports 1, as the desirable input value that three attitude angle vibration compensations control, adopt complex controll mode and the fuzzy PID control strategy of feedforward+feedback, three Shaft angles of described large scale reflecting mirror (501) are controlled.
Wherein, the motion of described x-axis direct acting motor (524) is controlled by D/A delivery outlet 1, the real-time displacement of described x-axis direct acting motor (524) is obtained by described x-axis grating scale displacement measurement sensor (523), ARM(LPC2138 is returned by serial ports 2) controller, the described large scale reflecting mirror (501) the real-time corner around x-axis can be obtained by calculating, formation closed loop feedback controls, make described large scale reflecting mirror (501) around the half of the real-time vibration values of roll angle of x-axis backwards rotation helicopter payload platform, thus helicopter payload platform on roll angle direction adverse effect to lidar measurement point cloud is fully compensated.
Wherein, the motion of described y-axis direct acting motor (527) is controlled by D/A delivery outlet 2, the real-time displacement of described y-axis direct acting motor (527) is obtained by described y-axis grating scale displacement measurement sensor (526), ARM(LPC2138 is returned by serial ports 3) controller, by calculating the real-time corner obtaining described large scale reflecting mirror (501) around y-axis, formation closed loop feedback controls, make the half of the real-time vibration values of the angle of pitch of described large scale reflecting mirror (501) backwards rotation helicopter payload platform, thus helicopter payload platform adverse effect to lidar measurement point cloud on angle of pitch direction can be fully compensated.
Wherein, controlled described z-axis direct current torque motor (519) by D/A delivery outlet 3 to rotate, the real-time corner of described z-axis direct current torque motor (519) is obtained by described z-axis condenser type outer corner measurement sensor (518), ARM(LPC2138 is returned by serial ports 4) controller, by closed loop feedback control, helicopter payload platform adverse effect to lidar measurement point cloud on yaw angle direction makes the identical value of the real-time vibration values of yaw angle of described large scale reflecting mirror (501) backwards rotation helicopter payload platform, thus can be fully compensated.
Accompanying drawing explanation
Fig. 1 is pure helicopter load laser radar fundamental diagram.
The adverse effect analogous diagram that lidar measurement point cloud is distributed by Fig. 2 helicopter load platform stance angular oscillation.
Fig. 3 is the airborne laser radar System Working Principle figure that can realize helicopter payload platform 3 d pose angular oscillation real-Time Compensation.
Fig. 4 is the three-dimension altitude angle vibration compensation device for mechanical structural representation for Review for Helicopter laser radar.
Fig. 5 is the control system hardware structure schematic diagram of three-dimension altitude angle vibration compensation device.
Detailed description of the invention
Below in conjunction with accompanying drawing, patent Example of the present invention is described in further detail.
Fig. 1 is pure helicopter load laser radar fundamental diagram. The basic structure of conventional airborne laser radar system described in figure, wherein, (1) is Review for Helicopter platform, (2) are high-frequency laser pluses diastimeter, and (3) are that one-dimensional scanning swings galvanometer system, and (4) are three-dimensional high-precision gyroscope. It it is now the Review for Helicopter laser radar system compensated without attitude angle. When airborne platform is stablized, three direction of principal axis all do not have attitude angle vibrate, the laser pulse bundle that then laser instrument sends swings after galvanometer system reflection through one-dimensional scanning, can produce scanning line (assuming that tested ground is a horizontal plane), the O in figure being perpendicular on aircraft flight direction1O2Shown in line segment. When airborne platform has roll angle to vibrate, scanning line can offset along scan-line direction, and roll angle is more big, and offset distance is more big, the R in figure1R2Shown in line segment; When airborne platform has the angle of pitch to vibrate, scanning line can be advanced or delayed along heading, the P in figure1P2Shown in line segment; When airborne platform has yaw angle to vibrate, scanning line can occur the rotation around scanning line central point to tilt, the H in figure1H2Shown in line segment. In figure, the purpose of (4) three-dimensional high-precision gyroscope is the 3 d pose angular oscillation real time data obtaining airborne platform.
Fig. 2 is the adverse effect analogous diagram that lidar measurement point cloud is distributed by helicopter load platform stance angular oscillation. Figure simulates three attitude angle vibrations distribution influence to lidar measurement point cloud. If tested ground is horizontal plane, when the helicopter relative flying height apart from measured ground is 500 meters, if the attitude angle vibration of airborne platform is the sinusoidal variations of 0.5Hz for amplitude 3 degree, frequency, then simulate the measuring principle over the ground of airborne laser radar, the laser scanning point cloud characteristic distributions obtained when can obtain ideal laser scanning element cloud characteristic distributions when vibrating without attitude angle and have attitude angle to vibrate. As seen from the figure, the existence of airborne platform attitude angle vibration, causing the non-uniform change of lidar measurement point cloud, causing the measurement sample rate in territory, partial points cloud sector to reduce, thus causing the reduction of follow-up three-dimensional imaging precision. It addition, along with the increase of flying height and the amplitude of attitude angle vibration increase, the degree of irregularity of some cloud distribution can increase, and ultimately results in laser radar three-dimensional imaging deteriorated accuracy and increases the weight of further. Adopt an effective measure, the attitude angle vibration of the real-Time Compensation helicopter platform adverse effect to lidar measurement point cloud, it is critical that.
Fig. 3 is the airborne laser radar System Working Principle figure that can realize helicopter payload platform 3 d pose angular oscillation real-Time Compensation.Usual laser radar has significantly high pulse recurrence frequency, measuring speed is high, when the attitude angle of airborne platform vibrates real-time change, the real-time change of laser point cloud can be caused, therefore, realize the full remuneration to the vibration of airborne platform attitude angle, need to increase a laser beam three-dimensional pointing apparatus for correcting in conventional Review for Helicopter laser radar system, by this apparatus for correcting, the laser pulse bundle that will deflect due to airborne platform three-dimension altitude angle vibration effect, correct back on ideal scan direction when vibrating without airborne platform attitude angle, thus the real-Time Compensation to airborne platform 3 d pose angular oscillation can be realized, Review for Helicopter platform 3 d pose angular oscillation adverse effect to lidar measurement point cloud is completely eliminated, therefore namely this device is called three-dimension altitude angle compensation device.
Add the Review for Helicopter laser radar system composition diagram of three-dimension altitude angle vibration compensation device as shown in Figure 3, wherein, Review for Helicopter platform (1), high-frequency laser pluses diastimeter (2), one-dimensional scanning swing galvanometer system (3), three-dimensional high-precision gyroscope (4), it it is the building block of pure helicopter load laser radar system, for the adverse effect of airborne platform 3 d pose angular oscillation is completely eliminated, on this basis, three-dimension altitude angle vibration compensation device (5) is added. On this three-dimension altitude angle vibration compensation device (5), being mounted with one side large scale laser mirror, additionally (6) are tested landform. Its compensation principle is: described high-frequency laser pluses diastimeter (2), one-dimensional scanning swing galvanometer system (3), three-dimensional high-precision gyroscope (4) and three-dimension altitude angle vibration compensation device (5) and be all fixedly mounted on Review for Helicopter platform (1). The laser pulse sent by high-frequency laser pluses diastimeter (2), swing directive three-dimension altitude angle vibration compensation device (5) after galvanometer system (3) reflection through one-dimensional scanning, after the large scale laser mirror (501) in three dimensional angular vibration compensation device (5) reflects, be pointed into tested landform (6). The real-time three-dimensional attitude angle vibration information of Review for Helicopter platform (1) is obtained by three-dimensional high-precision gyroscope (4), it is supplied to the controller of three-dimension altitude angle vibration compensation device (5), makes the large scale laser mirror (501) on three-dimension altitude angle vibration compensation device (5) do rotate backward relevant to attitude angle vibration angle on three direction of principal axis of Review for Helicopter platform (1). In the roll angle and angle of pitch rotation direction of Review for Helicopter platform (1), the rotary state of the large scale laser mirror (501) on three-dimension altitude angle vibration compensation device (5) is the half of roll angle and the angle of pitch vibration values reversely rotating Review for Helicopter platform (1); And on the yaw angle direction of Review for Helicopter platform (1), the rotary state of the large scale laser mirror (501) on three-dimension altitude angle vibration compensation device (5) is the equal angular of the yaw angle vibration values reversely rotating real-time Review for Helicopter platform (1), thus the compensation of real-time high-precision Review for Helicopter platform (1) 3 d pose angular oscillation can be fallen, make what high-frequency laser pluses diastimeter (2) sent to swing the laser scanning distribution after galvanometer system (3) reflection completely from the adverse effect of the 3 d pose angular oscillation of Review for Helicopter platform (1) through one-dimensional scanning.
Fig. 4 is the three-dimension altitude angle vibration compensation device for mechanical structural representation for Review for Helicopter laser radar.The length and width of described large scale reflecting mirror (501) are 100mm × 100mm, adopt large scale laser-bounce minute surface can effectively obtain the return laser beam of ground return, are conducive to the long-range detection of Review for Helicopter laser radar. the mirror support bar (502) of described large scale reflecting mirror (501) is formed by four, adopts titanium alloy material manufacture, and light weight intensity is high, and Vertical Uniform runs on one plane between two, and with little hemisphere (530) incisal plane secure weld. described little hemisphere (530) is the height hemisphere slightly below the radius of a ball, it adopts rustless steel to make, supporting concave spherical surface column (522) adopts magnetic steel to make, the sphere of described little hemisphere (530) tightly can be held, therefore the ball surface of described little hemisphere (530) and the support concave spherical surface column of described support concave spherical surface column (522) cooperate, form slip sphere-contact, and under the effect of strong magnetic attraction, it is tightly combined and is not readily separated, between there is no gap, can be freely rotatable around x and y-axis flexibly, therefore its motion structure is equivalent to a magnetic sphere universal bearing. the central point (529) of described large scale reflecting mirror (501) overlaps all the time with the sphere center position of described little hemisphere (530), therefore, when the magnetic sphere universal bearing that described little hemisphere (530) and described support concave spherical surface column (522) form rotates around x and y-axis, the locus of the described central point (529) of described large scale reflecting mirror (501) remains constant relative to airborne platform.
Wherein, the end of four described support bars (502) is respectively mounted with Universal linking lever bearing (503). Described large scale reflecting mirror (501) is driven connecting rod 2(525 by x-axis direct acting motor (524) by x-axis around the rotation of x-axis) drive, measured the actual displacement of described x-axis direct acting motor (524) by x-axis grating scale displacement measurement sensor (523), the described large scale reflecting mirror (501) actual rotational angle around x-axis can be obtained by calculating. With install described x-axis direct acting motor (524) support bar relative direction support bar on, it is mounted with x-axis elastic return spring (505) and x-axis antivibrator (506), connecting rod 1(504 is driven with x-axis) it is connected, and be connected with described large scale reflecting mirror (501) by x-axis single shaft pitman shaft (507), its objective is that obtaining x-axis controls optimum natural frequency and the damping ratio of system, improves the described large scale reflecting mirror (501) the dynamic rotational characteristic around x-axis. Described large scale reflecting mirror (501) is driven connecting rod 2(528 by y-axis direct acting motor (527) by y-axis around the rotation of y-axis) drive, measured the actual displacement of described y-axis direct acting motor (527) by y-axis grating scale displacement measurement sensor (526), the described large scale reflecting mirror (501) actual rotational angle around y-axis can be obtained by calculating. With install described y-axis direct acting motor (527) support bar relative direction support bar on, it is mounted with y-axis elastic return spring (509) and y-axis antivibrator (510), connecting rod 1(511 is driven with y-axis) it is connected, and be connected with described large scale reflecting mirror (501) by y-axis single shaft pitman shaft (512), its objective is that obtaining y-axis controls optimum natural frequency and the damping ratio of system, improves the described large scale reflecting mirror (501) the dynamic rotational characteristic around y-axis. The direct acting motor of x-axis and y-axis and spring-damper are that it between two vertically, is evenly distributed in a plane by driving support bar (508) to support, being formed by four altogether, and with described support concave spherical surface column (522) secure weld.Described support concave spherical surface column (522) and column rotate axle (521) and are fastenedly connected, there is same rotation axle, rotate at described column and axle (521) is provided with gear wheel (514), the end of described column rotation axle (521) is mounted with vertical rolling bearing (516) simultaneously, and described vertical rolling bearing (516) is arranged in bearing block (517). Described three dimensional angular vibration compensation device (5) is realized controlling by described attitude angle vibration compensation apparatus control system (513). Described large scale reflecting mirror (501) is driven by z-axis direct current torque motor (519) around the rotation of z-axis, described z-axis direct current torque motor (519) first drives little gear (520) to rotate, and then described little gear (520) drives gear wheel (514) to rotate, whole mirror system is made to rotate around z-axis, z-axis condenser type outer corner measurement sensor (518) is adopted to measure the real-time corner of described z-axis direct current torque motor (519), it is achieved the closed loop control that described large scale reflecting mirror (501) rotates around z-axis. Described attitude angle vibration compensation apparatus control system (513), z-axis condenser type outer corner measurement sensor (518) and bearing block (517) are all fixedly mounted on mounting base (515). Described mounting base (515) can realize extension in four vertical side, forms a casing, whole system is surrounded, thus playing protection, supporting and dustproof effect.
Fig. 5 is the control system hardware structure schematic diagram of three-dimension altitude angle vibration compensation device. the hardware components of described attitude angle vibration compensation apparatus control system (513) is based on ARM(LPC2138) controller be controlled realize, the helicopter three-dimension altitude angle vibration data that described three-dimensional high-precision gyroscope (4) gathers is obtained by serial ports 1, as the desirable input value that three attitude angle vibration compensations control, adopt complex controll mode and the fuzzy PID control strategy of feedforward+feedback, three Shaft angles of described large scale reflecting mirror (501) are controlled. the motion of described x-axis direct acting motor (524) is controlled by D/A delivery outlet 1, the real-time displacement of described x-axis direct acting motor (524) is obtained by described x-axis grating scale displacement measurement sensor (523), ARM(LPC2138 is returned by serial ports 2) controller, the described large scale reflecting mirror (501) the real-time corner around x-axis can be obtained by calculating, formation closed loop feedback controls, make described large scale reflecting mirror (501) around the half of the real-time vibration values of roll angle of x-axis backwards rotation helicopter payload platform, thus helicopter payload platform on roll angle direction adverse effect to lidar measurement point cloud is fully compensated. the motion of described y-axis direct acting motor (527) is controlled by D/A delivery outlet 2, the real-time displacement of described y-axis direct acting motor (527) is obtained by described y-axis grating scale displacement measurement sensor (526), ARM(LPC2138 is returned by serial ports 3) controller, by calculating the real-time corner obtaining described large scale reflecting mirror (501) around y-axis, formation closed loop feedback controls, make the half of the real-time vibration values of the angle of pitch of described large scale reflecting mirror (501) backwards rotation helicopter payload platform, thus helicopter payload platform adverse effect to lidar measurement point cloud on angle of pitch direction can be fully compensated. controlled described z-axis direct current torque motor (519) by D/A delivery outlet 3 to rotate, the real-time corner of described z-axis direct current torque motor (519) is obtained by described z-axis condenser type outer corner measurement sensor (518), ARM(LPC2138 is returned by serial ports 4) controller, by closed loop feedback control, helicopter payload platform adverse effect to lidar measurement point cloud on yaw angle direction makes the identical value of the real-time vibration values of yaw angle of described large scale reflecting mirror (501) backwards rotation helicopter payload platform, thus can be fully compensated.
Description to the present invention and embodiment thereof above, it is not limited to this, be only one of embodiments of the present invention shown in accompanying drawing. When without departing from the invention objective, without designing the structure similar with this technical scheme or embodiment with creating, all belong to scope.
Claims (5)
1. a Review for Helicopter laser radar platform three-dimension altitude angle complex vibration real-time compensation method and device, it is characterised in that include Review for Helicopter platform (1), high-frequency laser pluses diastimeter (2), one-dimensional scanning swing galvanometer system (3), three-dimensional high-precision gyroscope (4), three-dimension altitude angle vibration compensation device (5), tested landform (6), on described three-dimension altitude angle vibration compensation device (5), it is mounted with one side large scale reflecting mirror (501), described high-frequency laser pluses diastimeter (2), one-dimensional scanning swing galvanometer system (3), three-dimensional high-precision gyroscope (4) and three-dimension altitude angle vibration compensation device (5) and are all fixedly mounted on described Review for Helicopter platform (1), the laser pulse sent by described high-frequency laser pluses diastimeter (2), swing three-dimension altitude angle vibration compensation device (5) described in directive after galvanometer system (3) reflection through described one-dimensional scanning, after the described large scale reflecting mirror (501) on described three dimensional angular vibration compensation device (5) is reflected, be pointed into described tested landform (6), the real-time three-dimensional attitude angle vibration information of described Review for Helicopter platform (1) is obtained by described three-dimensional high-precision gyroscope (4), it is supplied to the controller of described three-dimension altitude angle vibration compensation device (5), makes the described large scale reflecting mirror (501) on described three-dimension altitude angle vibration compensation device (5) do rotate backward relevant to attitude angle vibration angle on three direction of principal axis of described Review for Helicopter platform (1), in the roll angle and angle of pitch rotation direction of described Review for Helicopter platform (1), the rotary state of the described large scale reflecting mirror (501) on described three-dimension altitude angle vibration compensation device (5) is the half of roll angle and the angle of pitch vibration values reversely rotating described Review for Helicopter platform (1), and on the yaw angle direction of described Review for Helicopter platform (1), the rotary state of the described large scale reflecting mirror (501) on described three-dimension altitude angle vibration compensation device (5) is the yaw angle vibration values equal angular reversely rotating described Review for Helicopter platform (1) in real time, thus the compensation of real-time high-precision described Review for Helicopter platform (1) 3 d pose angular oscillation can be fallen, make the adverse effect swinging the complete 3 d pose angular oscillation from described Review for Helicopter platform (1) of laser scanning distribution after galvanometer system (3) reflection through described one-dimensional scanning that described high-frequency laser pluses diastimeter (2) sends.
2. a kind of Review for Helicopter laser radar platform three-dimension altitude angle complex vibration real-time compensation method described in claim 1 and device, it is characterized in that the length and width of described large scale reflecting mirror (501) are 100mm × 100mm, adopt large scale laser-bounce minute surface can effectively obtain the return laser beam of ground return, be conducive to the long-range detection of Review for Helicopter laser radar, the mirror support bar (502) of described large scale reflecting mirror (501) is formed by four, adopts titanium alloy material manufacture, and light weight intensity is high, and Vertical Uniform runs on one plane between two, and with little hemisphere (530) incisal plane secure weld, described little hemisphere (530) is the height hemisphere slightly below the radius of a ball, it adopts rustless steel to make, supporting concave spherical surface column (522) adopts magnetic steel to make, the sphere of described little hemisphere (530) tightly can be held, therefore the ball surface of described little hemisphere (530) and the support concave spherical surface column of described support concave spherical surface column (522) cooperate, form slip sphere-contact, and under the effect of strong magnetic attraction, it is tightly combined and is not readily separated, between there is no gap, can be freely rotatable around x and y-axis flexibly, therefore its motion structure is equivalent to a magnetic sphere universal bearing,The central point (529) of described large scale reflecting mirror (501) overlaps all the time with the sphere center position of described little hemisphere (530), therefore, when the magnetic sphere universal bearing that described little hemisphere (530) and described support concave spherical surface column (522) form rotates around x and y-axis, the locus of the described central point (529) of described large scale reflecting mirror (501) remains constant relative to airborne platform.
3. a kind of Review for Helicopter laser radar platform three-dimension altitude angle complex vibration real-time compensation method described in claim 1 and device, it is characterised in that the end of four described support bars (502) is respectively mounted with Universal linking lever bearing (503); Described large scale reflecting mirror (501) is driven connecting rod 2(525 by x-axis direct acting motor (524) by x-axis around the rotation of x-axis) drive, measured the actual displacement of described x-axis direct acting motor (524) by x-axis grating scale displacement measurement sensor (523), the described large scale reflecting mirror (501) actual rotational angle around x-axis can be obtained by calculating; With install described x-axis direct acting motor (524) support bar relative direction support bar on, it is mounted with x-axis elastic return spring (505) and x-axis antivibrator (506), connecting rod 1(504 is driven with x-axis) it is connected, and be connected with described large scale reflecting mirror (501) by x-axis single shaft pitman shaft (507), its objective is that obtaining x-axis controls optimum natural frequency and the damping ratio of system, improves the described large scale reflecting mirror (501) the dynamic rotational characteristic around x-axis; Equally, described large scale reflecting mirror (501) is driven connecting rod 2(528 by y-axis direct acting motor (527) by y-axis around the rotation of y-axis) drive, measured the actual displacement of described y-axis direct acting motor (527) by y-axis grating scale displacement measurement sensor (526), the described large scale reflecting mirror (501) actual rotational angle around y-axis can be obtained by calculating; With install described y-axis direct acting motor (527) support bar relative direction support bar on, it is mounted with y-axis elastic return spring (509) and y-axis antivibrator (510), connecting rod 1(511 is driven with y-axis) it is connected, and be connected with described large scale reflecting mirror (501) by y-axis single shaft pitman shaft (512), its objective is that obtaining y-axis controls optimum natural frequency and the damping ratio of system, improves the described large scale reflecting mirror (501) the dynamic rotational characteristic around y-axis; The direct acting motor of x-axis and y-axis and spring-damper are that it between two vertically, is evenly distributed in a plane by driving support bar (508) to support, being formed by four altogether, and with described support concave spherical surface column (522) secure weld.
4. a kind of Review for Helicopter laser radar platform three-dimension altitude angle complex vibration real-time compensation method described in claim 1 and device, it is characterized in that described support concave spherical surface column (522) and column rotate axle (521) and be fastenedly connected, there is same rotation axle, rotate at described column and axle (521) is provided with gear wheel (514), the end of described column rotation axle (521) is mounted with vertical rolling bearing (516) simultaneously, and described vertical rolling bearing (516) is arranged in bearing block (517); Described three dimensional angular vibration compensation device (5) is realized controlling by described attitude angle vibration compensation apparatus control system (513); Described large scale reflecting mirror (501) is driven by z-axis direct current torque motor (519) around the rotation of z-axis, described z-axis direct current torque motor (519) first drives little gear (520) to rotate, and then described little gear (520) drives gear wheel (514) to rotate, whole mirror system is made to rotate around z-axis, z-axis condenser type outer corner measurement sensor (518) is adopted to measure the real-time corner of described z-axis direct current torque motor (519), it is achieved the closed loop control that described large scale reflecting mirror (501) rotates around z-axis;Described attitude angle vibration compensation apparatus control system (513), z-axis condenser type outer corner measurement sensor (518) and bearing block (517) are all fixedly mounted on mounting base (515); Described mounting base (515) can realize extension in four vertical side, forms a casing, whole system is surrounded, thus playing protection, supporting and dustproof effect.
5. a kind of Review for Helicopter laser radar platform three-dimension altitude angle complex vibration real-time compensation method described in claim 1 and device, it is characterised in that the hardware components of described attitude angle vibration compensation apparatus control system (513) is based on ARM(LPC2138) controller is controlled realizing, the helicopter three-dimension altitude angle vibration data that described three-dimensional high-precision gyroscope (4) gathers is obtained by serial ports 1, as the desirable input value that three attitude angle vibration compensations control, adopt complex controll mode and the fuzzy PID control strategy of feedforward+feedback, three Shaft angles of described large scale reflecting mirror (501) are controlled, the motion of described x-axis direct acting motor (524) is controlled by D/A delivery outlet 1, the real-time displacement of described x-axis direct acting motor (524) is obtained by described x-axis grating scale displacement measurement sensor (523), ARM(LPC2138 is returned by serial ports 2) controller, the described large scale reflecting mirror (501) the real-time corner around x-axis can be obtained by calculating, formation closed loop feedback controls, make described large scale reflecting mirror (501) around the half of the real-time vibration values of roll angle of x-axis backwards rotation helicopter payload platform, thus helicopter payload platform on roll angle direction adverse effect to lidar measurement point cloud is fully compensated, the motion of described y-axis direct acting motor (527) is controlled by D/A delivery outlet 2, the real-time displacement of described y-axis direct acting motor (527) is obtained by described y-axis grating scale displacement measurement sensor (526), ARM(LPC2138 is returned by serial ports 3) controller, by calculating the real-time corner obtaining described large scale reflecting mirror (501) around y-axis, formation closed loop feedback controls, make the half of the real-time vibration values of the angle of pitch of described large scale reflecting mirror (501) backwards rotation helicopter payload platform, thus helicopter payload platform adverse effect to lidar measurement point cloud on angle of pitch direction can be fully compensated, controlled described z-axis direct current torque motor (519) by D/A delivery outlet 3 to rotate, the real-time corner of described z-axis direct current torque motor (519) is obtained by described z-axis condenser type outer corner measurement sensor (518), ARM(LPC2138 is returned by serial ports 4) controller, by closed loop feedback control, helicopter payload platform adverse effect to lidar measurement point cloud on yaw angle direction makes the identical value of the real-time vibration values of yaw angle of described large scale reflecting mirror (501) backwards rotation helicopter payload platform, thus can be fully compensated.
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