CN106777489A - UAV system opto-electric stabilization turntable tracks state modeling and simulating method - Google Patents
UAV system opto-electric stabilization turntable tracks state modeling and simulating method Download PDFInfo
- Publication number
- CN106777489A CN106777489A CN201611029070.5A CN201611029070A CN106777489A CN 106777489 A CN106777489 A CN 106777489A CN 201611029070 A CN201611029070 A CN 201611029070A CN 106777489 A CN106777489 A CN 106777489A
- Authority
- CN
- China
- Prior art keywords
- systems
- unmanned plane
- axle
- angle
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000006641 stabilisation Effects 0.000 title claims abstract description 17
- 238000011105 stabilization Methods 0.000 title claims abstract description 17
- 230000000007 visual effect Effects 0.000 claims abstract description 53
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 46
- 238000004088 simulation Methods 0.000 claims abstract description 17
- 238000010200 validation analysis Methods 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims description 20
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 9
- 230000009466 transformation Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 6
- 238000012360 testing method Methods 0.000 abstract description 5
- 238000007306 functionalization reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Geometry (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Computer Graphics (AREA)
- Software Systems (AREA)
- Image Analysis (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of UAV system opto-electric stabilization turntable tracking state modeling and simulating method, realize that photoelectric turntable tracks state function based on digital modeling algorithm simulating, three-dimensional vision virtual emulation training for carrying opto-electric stabilization turntable unmanned plane equipment, or the theoretical validation of novel photoelectric stable turntable is used, mainly include that photoelectric turntable functionalization structure mould, the non-linear direction line track algorithm of photoelectric turntable realize two parts.The present invention constructs photoelectric turntable two degrees of freedom functional mode, and design realizes non-linear direction line track algorithm, function modeling and track algorithm the modeling problem of three dimensional visual simulation testing photoelectronic turntable is solved well, with good engineering availability.
Description
Technical field
The present invention relates to unmanned aerial vehicle platform simulation algorithm field, specifically a kind of UAV system opto-electric stabilization turntable tracking state
Modeling and simulating method.
Background technology
Opto-electric stabilization turntable (abbreviation photoelectric turntable) is visible light camera, forward looking infrared, laser to UAV system round the clock
Range finding/indicator, optical stabilization aim at equipment load carrier, with isolation unmanned plane angular movement on load bearing equipment influence, from
The high-tech precision assembly of gesture stability function is realized in adaptation.The discovery during flight training is equipped of unmanned plane officers and men,
Photoelectric turntable is in tracking operating process when tracking state on a surface target, due to weather visibility, unmanned plane flying height higher etc.
The influence of factor, operating process is extremely complex, and degree of the being skilled in technique requirement of manipulator is high, to the dependency degree of actual load flight course compared with
It is high.Because unmanned plane during flying spatial domain is wider, airspace coordination is complex, and the condition that unmanned plane army carries out actual load flight is subject to all
Multifactor limitation, and, the service life of unmanned plane equipment is limited, does not allow continually to carry out actual load flight training, therefore,
The video spot tracking of unmanned plane army is solved in the urgent need to the replacement training equipment based on three dimensional visual simulation technology
Training problem.The full digital trigger technique not for UAV system photoelectric turntable hardware device three-dimensional vision application is modeled both at home and abroad
Research.
The content of the invention
It is existing to solve it is an object of the invention to provide a kind of UAV system opto-electric stabilization turntable tracking state modeling and simulating method
The problem that the high fidelity emulation for having the unmanned plane equipment training under technical software simulated conditions is difficult to.
In order to achieve the above object, the technical solution adopted in the present invention is：
UAV system opto-electric stabilization turntable tracks state modeling and simulating method, it is characterised in that：
UAV system opto-electric stabilization turntable is functionally reduced to first be made up of interior ring assemblies, outer ring assembly and bearing
The frame structure of two axle two, wherein interior ring assemblies install viewpoint, interior ring assemblies are arranged on outer ring assembly by rotary shaft, can be with
Outer ring assembly does orientation rotation around outer annulate shaft together, and interior ring assemblies are rotated around rotary shaft relative to outer shroud, and its angle of rotation is designated as model
The angle of site, the rotary shaft of outer ring assembly is fixed on bearing, can do orientation rotation relative to bearing around outer annulate shaft, its angle of rotation note
It is model azimuth, bearing is fixing device for installing, is securable in the motions such as unmanned plane or static platform；
Unmanned plane N systems coordinate is then set up, its origin of coordinates is set on the barycenter of unmanned plane, XnAxle points to geographic north, Zn
Axle is gravity direction, YnAxle is for eastwards；
Set up flight path and sit S systems coordinate, flight path sits S system's origins of coordinates at unmanned plane barycenter, XsAxle plans boat with unmanned plane
To in the same direction, ZsAxle is gravity direction, YsAxle and XsAxle and ZsAxle is right-hand rule relation；
Unmanned plane U systems coordinate is set up, unmanned plane U systems connect firmly with unmanned plane body, its origin of coordinates OuIt is the matter of unmanned plane
The heart, XuAxle is the heading of unmanned plane, ZuAxle is perpendicular to fuselage plane and downwardly directed, YuAxle and XuAxle and ZuAxle constitutes the right hand
Rule relation；Unmanned plane yaw angleIt is unmanned plane U system XuAxial projection is in unmanned plane N system XnOnYnAzimuth in plane；Nobody
The machine angle of pitchIt is the X of unmanned plane U systemsuOuYuPlane and the X of unmanned plane N systemsnOnYnThe angle of plane, upwards for just；Unmanned plane
Roll angleIt is the X of unmanned plane U systemsuOuZuPlane and the X of unmanned plane N systemsnOnZnThe angle of plane, turns right as just；
Set up photoelectric turntable coordinate system, photoelectric turntable coordinate system include base coordinate system, bearing circle A systems, height ring F systems and
Roll ring R systems, pedestal B systems, origin of coordinates ObIt is spindle central, ZbAxle points to target, X by camera lensbAxle, YbAxle is respectively parallel to
The X of unmanned plane U systemsuAxle, YuAxle；Bearing circle A systems connect firmly with the bearing circle of photoelectric turntable, opposite base B systems, can only be around ZbAxle revolves
Turn, produce photoelectric turntable azimuth angle thetaa；Height ring F systems connect firmly with height ring, YfAxle is along height annulate shaft and bearing circle A system YaAxle is same
To；Height ring F systems are bearing circle A systems around YaAxle rotation angle of site θfAnd obtain；Roll ring R systems connect firmly with roll ring, XrAxle edge
Roll annulate shaft and with height ring XfIn the same direction, roll ring R systems, are height F systems, around X to axlefAxle rotation roll angle θrObtain；
Set up image plane M systems coordinate, image plane M systems origins of coordinates OmIt is principal point, ZmAxle is parallel with optical axis and points to mesh
Mark, when three attitude angles of photoelectric turntable are zero, image plane M system YmAxle vertical flight direction to the right, XmAxle is perpendicular to YmAxially
On, the Z coordinate of image plane M systems is focal length f；
Set up video camera C systems coordinate, video camera C systems origins of coordinates OcIt is X at principal point positioned at video camera photocentrecAxle is parallel
In the X of image plane M systemsmAxle, YcY of the axle parallel to image plane M systemsmAxle, ZcX of the axle parallel to image plane M systemsmAxle；
Set up K systems of earth station, unmanned plane K systems coordinate, K systems of earth station, the unmanned plane K systems origin of coordinates are respectively earth station
With unmanned plane barycenter, XkIt is axially eastern, YkNorthwards, ZkWith gravity reversal；
It is T in K systems of earth station coordinate to make tracked target point:[xt yt zt]T, unmanned plane instantaneous position is in K systems of earth station
Coordinate is U:[xu yu zu]T, the order line of unmanned plane instantaneous position to tracked target extremely in K systems of earth stationIt is tracking
Direction line, functional mode is respectively model azimuth and model just to the real-time attitude angle (α, β) of target following, wherein α, β
Angle, the video camera C systems coordinates O of i.e. the principal point O of intersection point on model visual axis and groundc:[0 0 L]T, wherein L is that visual axis is oblique
Away from；
Finally carry out non-linear direction line tracking to resolve, including resolve tracking direction line direction cosines, resolve the model optical axis
Unmanned plane N system's direction cosines and DFP of line resolve three steps of model attitude angle, and detailed process is as follows：
(1) tracking direction line direction cosines, are resolved：
Resolved including tracking direction line unmanned plane K systems calculating coordinate, tracking direction line direction cosines and tracking direction line is sat
Three calculation procedures such as mark conversion；
Calculate tracking direction lineShown in coordinate components such as formula (1) in unmanned plane K systems：
Then tracking direction lineDirection cosines rk:[rkx rky rkz]TUnmanned plane K systems coordinate components expression formula such as formula (2)
It is shown：
By tracking direction lineDirection cosines rkUnmanned plane N systems, transform such as formula (3) institute are transformed to by unmanned plane K systems
Show：
It is the unmanned plane N systems direction cosines of tracking direction line, MenIt is unmanned plane K systems to unmanned plane N
The rotational transformation matrix of system, shown in its expression formula such as formula (4)：
(3), DFP resolves model attitude angle：
Make model visual axis be overlapped with tracking direction line all the time, realize functional mode visual angle to ground interesting target
Tracking, that is, ensure model visual axis direction cosinesWith tracking direction line direction cosinesUnder the conditions of equal in real time, it is known that model
Visual axis direction cosinesModel azimuth and the model angle of site are reversely resolved, here it is the base of non-linear direction line track algorithm
This thinking；
In three dimensional visual simulation or novel photoelectric turntable theoretical validation, the course angle of unmanned plane, attitude angle, unmanned seat in the plane
Put and be known quantity with ground target position, the direction cosines of tracking direction line can be calculated, and assigned model visual axis
Direction line, it is that model visual axis resolves reverse process to resolve model azimuth and the model angle of site, is typical non-linear resolving
Process, it is difficult to directly be calculated with analytical expression, it is necessary to be solved using Numerical Iteration Method, the cost function J that iterative numerical is resolved
Shown in () expression formula such as formula (7)：
The model attitude angle in formula (7) is solved using newton number Iteration algorithm is intended, specifically used DFP algorithms come real
Existing, in order to reach the efficiency purpose that Fast Convergent improves algorithm, model attitude angle DFP iterative algorithms need suitable initial value, because
This by the model attitude angle of previous moment as current time iterative initial value, this is that the influence based on disturbance makes the correct solution will not
Deviate the too remote reason of previous moment, then with the direction cosines [r of the tracking direction line at current timenx rny rnz]TAssign current
Model visual axis direction cosines, are iteration initial value with "current" model attitude angle, current unmanned plane attitude angle, unmanned plane course angle
It is known parameter, the use of DFP quasi-Newton method Iterative model attitude angles is model azimuth and the model angle of site.
Compared with the prior art, beneficial effects of the present invention are embodied in：
Important process pattern when photoelectric turntable tracking state is unmanned plane execution combat duty, is mainly used in completing what is carried
Video camera/radar stealthy materials/laser designator/optical foresight visual axis vision tracing task on a surface target.The present invention focuses on
The digital function modeling problem of photoelectric turntable vision tracking on a surface target is solved, makes every effort to not purchase the dress in kind of photoelectric turntable
It is standby, realize photoelectric turntable hardware video/image/optical tracking task on a surface target using only emulation of the computer software.Hair
The bright plan technical problem to be solved includes that actual load photoelectric turntable operating level function modelingization is modeled and tracking state simulation algorithm sets
Meter, completes to track photoelectric turntable the high fidelity the Realization of Simulation of state function.Photoelectric turntable operating level function modelingization is modeled,
Abstract structure mould is carried out from photoelectric turntable tasks carrying functional plane emphatically, design is realized with the completely the same operation freedom of actual load
Degree, load bearing equipment installation site (view position of video camera/forward looking infrared/laser designator/optical aiming device), equipment
Response parameter, installation site etc..Photoelectric turntable tracking state software simulation algorithm modeling, is core content of the invention, is intended that
With intelligence computation method and digital modeling algorithm, solve to track photoelectric turntable hardware the functional simulation of state, strive imitative in three-dimensional
Under true training hardware environment, it is used to substitute photoelectric turntable hardware video/image/optical tracking problem on a surface target, solves
The certainly high fidelity the Realization of Simulation problem of the unmanned plane equipment training under the conditions of software emulation.
Operation principle of the present invention：By the complicated mechnical servo structure of actual load photoelectric turntable, Gyroscopic stabilization loop and image
Controller Self Adaptive Control loop, it is the two degrees of freedom function mould being made up of viewpoint (visual axis), inner ring, outer shroud that simplification is abstract
Type, tracking direction method is followed by by model visual axis in good time, and real-time resolving function is carried out using Newtonian data Iteration algorithm is intended
The azimuth of model and the angle of site, realize the design of non-linear direction line track algorithm, solve in three dimensional visual simulation simulation
Photoelectric turntable in training and novel photoelectric turntable theoretical validation tracks the digital modeling Key techniques in simulation problem of state.
The present invention constructs photoelectric turntable two degrees of freedom functional mode, and design realizes non-linear direction line track algorithm,
Function modeling and track algorithm the modeling problem of three dimensional visual simulation testing photoelectronic turntable are solved well, with good work
Journey availability.
The present invention is well understood that under certainly three-dimensional artificial ring the digital modeling simulation problems that state is tracked to photoelectric turntable.Software is imitated
True test shows that software emulation fast convergence rate, computational accuracy are high.Model and algorithm are loaded into three-dimensional artificial scene and are tested
Afterwards, model can well realize the control to viewpoint, and the effect fidelity with actual load photoelectric turntable is high, when control appearance over the ground
Target track when, no matter unmanned plane do which kind of mode it is motor-driven when, model carry field of view center be directed at tracked target all the time, count
Calculation machine resources occupation rate is not high, the smooth stabilization of three-dimensional picture.
Brief description of the drawings
Fig. 1 illustrates for abstract functional mode.
Fig. 2 is unmanned plane N systems coordinate diagram.
Fig. 3 is flight path S systems coordinate diagram.
Fig. 4 is unmanned plane U systems coordinate diagram.
Fig. 5 is photoelectric turntable coordinate system figure.
Fig. 6 is image plane M systems and video camera C systems coordinate diagram.
Fig. 7 is non-linear direction line track algorithm FB(flow block).
Fig. 8 is resolving tracking direction line direction cosines FB(flow block).
Fig. 9 is video camera C systems to unmanned plane N systems coordinate transformation process block diagram.
Figure 10 is that DFP resolves model attitude angle FB(flow block).
Figure 11 is model azimuthal variation curve map.
Figure 12 is model state angle of site change curve.
Figure 13 is certain target following sectional drawing one.
Figure 14 is certain target following sectional drawing two.
Figure 15 is certain target following sectional drawing three.
Figure 16 is certain target following sectional drawing four.
Figure 17 is certain target following sectional drawing five.
Specific embodiment
The invention mainly comprises two parts content, one is photoelectric turntable functionalization structure mould, the second is photoelectric turntable non-thread
Property direction line track algorithm realize.
First, photoelectric turntable abstract function structure mould：
Actual load photoelectric turntable is the framework hardware of two axle four by mechnical servo structure, Gyroscopic stabilization structure and image control instrument
Self Adaptive Control structure composition, the present invention is functionally reduced to the frame structure of two axle two (being abbreviated as functional mode), such as
Shown in Fig. 1, it is made up of interior ring assemblies, outer ring assembly and bearing.Interior ring assemblies install viewpoint (including video camera/forward looking infrared/
Laser designation/sight/optical aiming device, the virtual optical axis of viewpoint is abbreviated as model visual axis), inner ring member rotary axis
On outer ring assembly, orientation rotation can be done around outer annulate shaft with outer ring assembly, interior ring assemblies are around rotary shaft with respect to outer shroud
Rotate, its angle of rotation is the angle of site (being abbreviated as the model angle of site).The rotary shaft of outer ring assembly is fixed on bearing, can be around outer shroud
Axle does orientation rotation relative to bearing, and its angle of rotation is azimuth (being abbreviated as model azimuth).Bearing is fixing device for installing,
It is securable in the motions such as unmanned plane or static platform.
2nd, non-linear direction line track algorithm design
Algorithm principle
Photoelectric turntable tracks state, is mainly used in video camera/radar stealthy materials/laser designator/optical laying dress that control is carried
Put carries out video/image/optical tracking on a surface target, mainly using image matching algorithm, gyroscope measurement stable loop, figure
As controller Self Adaptive Control loop, control realization video camera/radar stealthy materials/laser designator/optical aiming device visual axis is held
Continuous alignment ground target.
Non-linear direction line track algorithm is core content of the invention, main to use intelligence computation method and digital modeling
Algorithm emulates video/image/optical tracking control process during photoelectric turntable hardware effort on a surface target, that is, keep photoelectricity
It is interested that the visual axis of video camera/forward looking infrared/laser designator/optical aiming device that turntable is carried persistently is directed at ground
The process of target, it is main include building actual load photoelectric turntable when state is tracked its Gyroscopic stabilization mechanism, mechanical servo and
The functional simulation and algorithm of the adaptive control process of image control instrument.
Specifically, the azimuth for being resolved using non-linear direction line track algorithm and the angle of site, control is the present invention propose
Functional mode, to realize the real-time control to model viewpoint visual axis.Non-linear direction line track algorithm general principle is logical
The Direction Line (abbreviation tracking direction line) of setting aircraft/target is crossed, model visual axis is consistent with tracking direction line all the time,
And by intending newton number Iteration algorithm come non-linear resolving model azimuth and the model angle of site, so as to realize to functional mode
The self application control at visual angle.
Algorithm flow
As shown in Fig. 2 unmanned plane N systems, its origin of coordinates is set on the barycenter of unmanned plane, XnAxle points to geographic north, ZnAxle
It is gravity direction, YnAxle is for eastwards.
As shown in figure 3, flight path seat S system's origins of coordinates are at unmanned plane barycenter, XsAxle is in the same direction with unmanned plane planning course, Zs
Axle is gravity direction, YsAxle and XsAxle and ZsAxle is right-hand rule relation.
As shown in figure 4, unmanned plane U systems connect firmly with unmanned plane body, its origin of coordinates OuIt is the barycenter of unmanned plane, XuAxle is
The heading of unmanned plane, ZuAxle is perpendicular to fuselage plane and downwardly directed, YuAxle and XuAxle and ZuAxle constitutes the right-hand rule and closes
System；Unmanned plane yaw angleIt is unmanned plane U system XuAxial projection is in unmanned plane N system XnOnYnAzimuth in plane；Unmanned plane pitching
AngleIt is the X of unmanned plane U systemsuOuYuPlane and the X of unmanned plane N systemsnOnYnThe angle of plane, upwards for just；Unmanned machine rolling angleIt is the X of unmanned plane U systemsuOuZuPlane and the X of unmanned plane N systemsnOnZnThe angle of plane, turns right as just；
Photoelectric turntable coordinate system includes base coordinate system, bearing circle A systems, height ring F systems and roll ring R systems.Such as Fig. 5 institutes
Show, pedestal B systems, origin of coordinates ObIt is spindle central, ZbAxle points to target, X by camera lensbAxle, YbAxle is respectively parallel to unmanned plane U
The X of systemuAxle, YuAxle.Bearing circle A systems connect firmly with the bearing circle of photoelectric turntable, opposite base B systems, can only be around ZbAxle rotates, and produces
Photoelectric turntable azimuth angle thetaa.Height ring F systems connect firmly with height ring, YfAxle is along height annulate shaft and bearing circle A system YaAxle is in the same direction.Just
Ring F systems are bearing circle A systems around YaAxle rotation angle of site θfAnd obtain.Roll ring R systems connect firmly with roll ring, XrAxle is along roll annulate shaft
And with height ring XfIn the same direction, roll ring R systems, are height F systems, around X to axlefAxle rotation roll angle θrObtain.
As shown in fig. 6, image plane M systems, origin of coordinates OmIt is principal point, ZmAxle is parallel with optical axis and points to target, works as photoelectricity
When three attitude angles of turntable are zero, image plane M system YmAxle vertical flight direction to the right, XmAxle is perpendicular to YmOn axial direction.Image plane
The Z coordinate of M systems is focal length f.
As shown in fig. 6, video camera C systems origins of coordinates OcPositioned at video camera photocentre (i.e. at principal point), XcAxle is parallel to as flat
The X of face M systemsmAxle, YcY of the axle parallel to image plane M systemsmAxle, ZcX of the axle parallel to image plane M systemsmAxle.
K systems of earth station, unmanned plane K systems, the origin of coordinates are respectively earth station and unmanned plane barycenter, XkIt is axially eastern, YkAxially
North, ZkWith gravity reversal.
It is T to make tracked target point coordinates:[xt yt zt]T(K systems of earth station), unmanned plane instantaneous position is U:[xu yu
zu]T(K systems of earth station), the order line of unmanned plane instantaneous position to tracked target extremely in K systems of earth stationIt is tracking direction
Line, functional mode is to the real-time attitude angle (α, β) (α, β are respectively model azimuth and the model angle of site) of target following, model
The video camera C systems coordinates O of the intersection point (principal point O) on visual axis and groundc:[0 0 L]T(L is visual axis oblique distance).
Non-linear direction line track algorithm proposed by the present invention, calculation process are as shown in fig. 7, main include resolving track side
Three steps of model attitude angle are resolved to line direction cosines, unmanned plane N system's direction cosines of resolving model visual axis and DFP.
(1) tracking direction line direction cosines are resolved
Resolve flow and see Fig. 8, mainly include tracking direction line unmanned plane K systems calculating coordinate, tracking direction line direction cosines
Three calculation procedures such as resolving and the conversion of tracking direction line coordinates.
Calculate tracking direction lineCoordinate components in unmanned plane K systems.
Then tracking direction lineDirection cosines rk:[rkx rky rkz]TUnmanned plane K systems coordinate components expression formula is as follows：
By tracking direction lineDirection cosines rkUnmanned plane N systems are transformed to by unmanned plane K systems, transform is as follows：
It is the unmanned plane N systems direction cosines of tracking direction line.MenIt is unmanned plane K systems to unmanned plane N
The rotational transformation matrix of system, its expression formula is as follows：
(2) the unmanned plane N systems direction cosines of model visual axis are resolved
Based on principle of coordinate transformation (conversion process is as shown in Figure 9), ground principal point O by video camera C systems to unmanned plane N systems seat
Mark conversion process is as follows.
Wherein,WithRespectively unmanned plane N systems to flight path S systems, flight path S systems to unmanned plane U systems, base
Seat B systems to bearing circle A systems, bearing circle A systems correspond respectively to the course angle of unmanned plane to the rotational transformation matrix of height ring F systems
φhx, UAV Attitude angle (yaw angleThe angle of pitchAnd roll angle), photoelectric turntable attitude angle (azimuth angle thetafw, height
Angle θgd) etc. input angle parameter, shown in its expression formula such as formula (5.1)~(5.4).
Wherein, Mx、My、MzRotating around the basic spin matrix of X-axis, Y-axis and Z axis,
Then the orientation cosine expression formula of the unmanned plane N systems of model visual axis is as follows.
Wherein, the x in above formulan、ynAnd znExpression formula such as formula (6.1), (6.2), (6.3) are shown.
ThenIt is the unmanned plane N systems direction cosines of now model visual axis.
(3) DFP resolves model attitude angle
Making model visual axis be overlapped with tracking direction line all the time is achieved that functional mode visual angle to ground interesting target
Tracking, that is, ensure model visual axis direction cosinesWith tracking direction line direction cosinesUnder the conditions of equal in real time, it is known that mould
Type visual axis direction cosinesModel azimuth and the model angle of site are reversely resolved, here it is non-linear direction line track algorithm
Basic ideas.Resolve flow as shown in Figure 10.
In three dimensional visual simulation or novel photoelectric turntable theoretical validation, the course angle of unmanned plane, attitude angle, unmanned seat in the plane
Put and be known quantity with ground target position, the direction cosines of tracking direction line can be calculated, and assigned model visual axis
Direction line, it can be seen from 4.2 section model visual axis solution process, it is model visual axis to resolve model azimuth and the model angle of site
Reverse process is resolved, is typical non-linear solution process, it is difficult to directly be calculated, it is necessary to use iterative numerical with analytical expression
Method is solved, and cost function J () expression formula that iterative numerical is resolved is as follows：
The present invention solves the model attitude angle in formula (7), specifically used DFP algorithms using newton number Iteration algorithm is intended
To realize.In order to reach the efficiency purpose that Fast Convergent improves algorithm, model attitude angle DFP iterative algorithms need suitable first
Value, as the iterative initial value at current time, this is that the influence based on disturbance makes just to the model attitude angle by previous moment of the invention
True solution does not deviate by the too remote reason of previous moment, then with the direction cosines [r of the tracking direction line at current timenx rny rnz]T
Assign "current" model visual axis direction cosines, be iteration initial value with "current" model attitude angle, current unmanned plane attitude angle, nobody
Machine course angle is known parameter, is used DFP quasi-Newton method Iteratives model attitude angle (model azimuth and the model angle of site).
The correctness of state Simulation and Modeling Technology is tracked for the photoelectric turntable that checking this patent is proposed, aircraft is simulated around ground
Great circle flying (vector angle is widely varied) is done centered on certain point, model viewpoint tracks the central point of great circle, profit
The real-time change of model attitude angle, i.e. model azimuth are resolved with non-linear direction line track algorithm and the model angle of site is adjusted
Whole change procedure come verify model this patent propose functional mode and track algorithm correctness.
Test design parameter is as follows：Functional mode initial attitude angle [0 °, 0 °]T, simulate unmanned plane initial attitude angle
[0°,0°,0°]T, simulation unmanned plane initial heading is due north, and flying height is 1000 meters, and the speed of a ship or plane is 190 kilometers/hour, circumference
Flight great circle radius is 1.5 kilometers.The model azimuth and model angle of site change that non-linear direction line track algorithm is resolved are bent
Line is as is illustrated by figs. 11 and 12.
Simulation result shows, when aircraft does big circumference motion, and when setting the center of circumference as video tracking target, due to
Unmanned plane course angle is continuously and smoothly and leads (unmanned plane uniform speed turning motion) change, in order to realize the effective tracking to target,
The non-linear direction line track algorithm real-time adjustment attitude of functional mode, model azimuth linearly changes, and compensate for nobody
Machine course angle uniform speed changes, and the model angle of site is in nonlinear change；It is model orientation isogonism/model at breakpoint shown in figure
Numerical value saltus step of the angle of site at 0 degree or 360 degree, is not the breakpoint of real meaning.As can be seen that function proposed by the present invention
Model and non-linear direction line track algorithm, are right-on in theory.
Can model be loaded into three-dimensional artificial scene, and being used to control after non-linear direction line track algorithm soft project
Make the three-dimensional scenic visual angle, soft project test result sectional drawing as shown in Figure 13~Figure 17, fully achieve in scene to
The video tracking emulation of fixed certain target, no matter which kind of motion mode unmanned plane does, and any place also no matter is moved to, as long as visual field
Visual target, field of view center is directed at tracked target all the time, and computer resource occupancy is not high, the smooth stabilization of three-dimensional picture, no
Only illustrate that technical know-how is correct, and also demonstrate the technology that there is preferable engineering availability.
Claims (1)
1. UAV system opto-electric stabilization turntable tracks state modeling and simulating method, it is characterised in that：
First UAV system opto-electric stabilization turntable is functionally reduced to be made up of interior ring assemblies, outer ring assembly and bearing two
The frame structure of axle two, wherein interior ring assemblies install viewpoint, interior ring assemblies are arranged on outer ring assembly by rotary shaft, can be with outer shroud
Component does orientation rotation around outer annulate shaft together, and interior ring assemblies are rotated around rotary shaft relative to outer shroud, and its angle of rotation is designated as model just
Angle, the rotary shaft of outer ring assembly is fixed on bearing, can do orientation rotation relative to bearing around outer annulate shaft, and its angle of rotation is designated as mould
Type azimuth, bearing is fixing device for installing, is securable in the motions such as unmanned plane or static platform；
Unmanned plane N systems coordinate is then set up, its origin of coordinates is set on the barycenter of unmanned plane, XnAxle points to geographic north, ZnAxle is
Gravity direction, YnAxle is for eastwards；
Set up flight path and sit S systems coordinate, flight path sits S system's origins of coordinates at unmanned plane barycenter, XsAxle is same with unmanned plane planning course
To ZsAxle is gravity direction, YsAxle and XsAxle and ZsAxle is right-hand rule relation；
Unmanned plane U systems coordinate is set up, unmanned plane U systems connect firmly with unmanned plane body, its origin of coordinates OuIt is the barycenter of unmanned plane, Xu
Axle is the heading of unmanned plane, ZuAxle is perpendicular to fuselage plane and downwardly directed, YuAxle and XuAxle and ZuAxle constitutes the right-hand rule
Relation；Unmanned plane yaw angleIt is unmanned plane U system XuAxial projection is in unmanned plane N system XnOnYnAzimuth in plane；Unmanned plane is bowed
The elevation angleIt is the X of unmanned plane U systemsuOuYuPlane and the X of unmanned plane N systemsnOnYnThe angle of plane, upwards for just；Unmanned machine rolling
AngleIt is the X of unmanned plane U systemsuOuZuPlane and the X of unmanned plane N systemsnOnZnThe angle of plane, turns right as just；
Photoelectric turntable coordinate system is set up, photoelectric turntable coordinate system includes base coordinate system, bearing circle A systems, height ring F systems and roll
Ring R systems, pedestal B systems, origin of coordinates ObIt is spindle central, ZbAxle points to target, X by camera lensbAxle, YbAxle is respectively parallel to nobody
The X of machine U systemsuAxle, YuAxle；Bearing circle A systems connect firmly with the bearing circle of photoelectric turntable, opposite base B systems, can only be around ZbAxle rotates, and produces
Raw photoelectric turntable azimuth angle thetaa；Height ring F systems connect firmly with height ring, YfAxle is along height annulate shaft and bearing circle A system YaAxle is in the same direction；It is high
Low ring F systems are bearing circle A systems around YaAxle rotation angle of site θfAnd obtain；Roll ring R systems connect firmly with roll ring, XrAxle is along roll ring
Axle and with height ring XfIn the same direction, roll ring R systems, are height F systems, around X to axlefAxle rotation roll angle θrObtain；
Set up image plane M systems coordinate, image plane M systems origins of coordinates OmIt is principal point, ZmAxle is parallel with optical axis and points to target, when
When three attitude angles of photoelectric turntable are zero, image plane M system YmAxle vertical flight direction to the right, XmAxle is perpendicular to YmOn axial direction, as
The Z coordinate of plane M systems is focal length f；
Set up video camera C systems coordinate, video camera C systems origins of coordinates OcIt is X at principal point positioned at video camera photocentrecAxle is parallel to picture
The X of plane M systemsmAxle, YcY of the axle parallel to image plane M systemsmAxle, ZcX of the axle parallel to image plane M systemsmAxle；
Set up K systems of earth station, unmanned plane K systems coordinate, K systems of earth station, the unmanned plane K systems origin of coordinates are respectively earth station and nothing
Man-machine barycenter, XkIt is axially eastern, YkNorthwards, ZkWith gravity reversal；
It is T in K systems of earth station coordinate to make tracked target point:|xt yt zt|T, unmanned plane instantaneous position is in K systems of earth station coordinate
It is U:[xu yu zu]T, the order line of unmanned plane instantaneous position to tracked target extremely in K systems of earth stationIt is tracking direction
Line, functional mode is respectively model azimuth and the model angle of site, mould to the real-time attitude angle (α, β) of target following, wherein α, β
The video camera C systems coordinates O of i.e. the principal point O of intersection point on type visual axis and groundc:[0 0 L]T, wherein L is visual axis oblique distance；
Finally carry out non-linear direction line tracking to resolve, including resolve tracking direction line direction cosines, resolve model visual axis
Unmanned plane N system's direction cosines and DFP resolve three steps of model attitude angle, and detailed process is as follows：
(1) tracking direction line direction cosines, are resolved：
Resolved including tracking direction line unmanned plane K systems calculating coordinate, tracking direction line direction cosines and tracking direction line coordinates becomes
Three calculation procedures such as change；
Calculate tracking direction lineShown in coordinate components such as formula (1) in unmanned plane K systems：
Then tracking direction lineDirection cosines rk:[rkx rky rkz]TCoordinate components expression formula such as formula (2) institute of unmanned plane K systems
Show：
By tracking direction lineDirection cosines rkUnmanned plane N systems are transformed to by unmanned plane K systems, shown in transform such as formula (3)：
It is the unmanned plane N systems direction cosines of tracking direction line, MenIt is unmanned plane K systems to unmanned plane N systems
Rotational transformation matrix, shown in its expression formula such as formula (4)：
(2) the unmanned plane N systems direction cosines of model visual axis, are resolved：
Based on principle of coordinate transformation, ground principal point O is shown in the coordinate transformation process such as formula (5) of video camera C systems to unmanned plane N systems：
Wherein,WithRespectively unmanned plane N systems to flight path S systems, flight path S systems to unmanned plane U systems, pedestal B systems
To bearing circle A systems, the rotational transformation matrix of bearing circle A systems to height ring F systems, the course angle φ of unmanned plane is corresponded respectively tohx, bag
Include yaw angleThe angle of pitchAnd roll angleUAV Attitude angle, including azimuth angle thetafw, angle of site θgdPhotoelectric turntable
Attitude angle, shown in its expression formula such as formula (5.1)~(5.4)：
Wherein, Mx、My、MzRotating around the basic spin matrix of X-axis, Y-axis and Z axis,
Then shown in the orientation cosine expression formula such as formula (6) of the unmanned plane N systems of model visual axis：
Wherein, the x in above formulan、ynAnd znExpression formula such as formula (6.1), (6.2), (6.3) are shown：
ThenIt is the unmanned plane N systems direction cosines of now model visual axis；
(3), DFP resolves model attitude angle：
Make model visual axis be overlapped with tracking direction line all the time, realize functional mode visual angle to ground interesting target with
Track, that is, ensure model visual axis direction cosinesWith tracking direction line direction cosinesUnder the conditions of equal in real time, it is known that model is regarded
Axis direction cosineModel azimuth and the model angle of site are reversely resolved, here it is non-linear direction line track algorithm is basic
Thinking；
In three dimensional visual simulation or novel photoelectric turntable theoretical validation, the course angle of unmanned plane, attitude angle, unmanned plane position and
Ground target position is known quantity, can calculate the direction cosines of tracking direction line, and is assigned model visual axis direction
Line, it is that model visual axis resolves reverse process to resolve model azimuth and the model angle of site, is typical non-linear solution process,
It is difficult to directly be calculated with analytical expression, it is necessary to be solved using Numerical Iteration Method, cost function J () table that iterative numerical is resolved
Up to formula such as formula (7) Suo Shi：
Using newton number Iteration algorithm is intended solve the model attitude angle in formula (7), specifically used DFP algorithms are realized, are
The efficiency purpose that Fast Convergent improves algorithm is reached, model attitude angle DFP iterative algorithms need suitable initial value, therefore will be preceding
As the iterative initial value at current time, this is before the influence based on disturbance does not deviate by correct solution to the model attitude angle at one moment
One moment too remote reason, then with the direction cosines [r of the tracking direction line at current timenx rny rnz]T"current" model is assigned to regard
Axis direction cosine, is iteration initial value with "current" model attitude angle, and current unmanned plane attitude angle, unmanned plane course angle are known
Parameter, is model azimuth and the model angle of site using DFP quasi-Newton method Iterative model attitude angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611029070.5A CN106777489B (en) | 2016-11-22 | 2016-11-22 | Tracking state modeling simulation method for unmanned aerial vehicle-mounted photoelectric stable turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611029070.5A CN106777489B (en) | 2016-11-22 | 2016-11-22 | Tracking state modeling simulation method for unmanned aerial vehicle-mounted photoelectric stable turntable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106777489A true CN106777489A (en) | 2017-05-31 |
| CN106777489B CN106777489B (en) | 2021-04-06 |
Family
ID=58970651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611029070.5A Expired - Fee Related CN106777489B (en) | 2016-11-22 | 2016-11-22 | Tracking state modeling simulation method for unmanned aerial vehicle-mounted photoelectric stable turntable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106777489B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536171A (en) * | 2018-03-21 | 2018-09-14 | 电子科技大学 | The paths planning method of multiple no-manned plane collaboration tracking under a kind of multiple constraint |
| CN108733066A (en) * | 2018-05-07 | 2018-11-02 | 中国人民解放军国防科技大学 | Target tracking control method based on pod attitude feedback |
| CN110470304A (en) * | 2019-08-19 | 2019-11-19 | 西安因诺航空科技有限公司 | A kind of high-precision target positioning-speed-measuring method based on UAV electro-optical's platform |
| CN110672116A (en) * | 2019-11-04 | 2020-01-10 | 中国人民解放军空军工程大学 | Moving target consistency judgment method based on multi-observation whistle digital telescope |
| CN110856134A (en) * | 2019-10-16 | 2020-02-28 | 东南大学 | Large-scale wireless sensor network data collection method based on unmanned aerial vehicle |
| CN111142566A (en) * | 2019-11-05 | 2020-05-12 | 西安羚控电子科技有限公司 | Target tracking method for ship-based unmanned aerial vehicle in take-off and landing stages |
| CN112882498A (en) * | 2021-01-12 | 2021-06-01 | 湖南宇正智能科技有限公司 | Three-axis photoelectric search tracking device and method with image rotation inhibiting function |
| CN112884798A (en) * | 2021-01-27 | 2021-06-01 | 湖北三江航天红峰控制有限公司 | Verification method of moving target tracking and aiming system |
| CN113189890A (en) * | 2020-01-14 | 2021-07-30 | 北京京邦达贸易有限公司 | Simulation method and device for unmanned aerial vehicle target positioning |
| CN115134448A (en) * | 2022-06-07 | 2022-09-30 | 江西盈盛实业有限公司 | Backlight illuminating system for network telephone |
| CN115840288A (en) * | 2023-02-20 | 2023-03-24 | 长春理工大学 | Intelligent photoelectric turntable full-link image quality analysis method |
| CN116630374A (en) * | 2023-07-24 | 2023-08-22 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2954778B2 (en) * | 1992-04-13 | 1999-09-27 | 日立ビアメカニクス株式会社 | Method for connecting line figure branch point of image input device |
| CN102520430A (en) * | 2011-12-29 | 2012-06-27 | 中国科学院长春光学精密机械与物理研究所 | Object locating system of small size airborne photoelectric tracking equipment |
| CN103604427A (en) * | 2013-12-10 | 2014-02-26 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle system and method for dynamically positioning ground moving target |
| CN105354861A (en) * | 2015-09-28 | 2016-02-24 | 凯迈（洛阳）测控有限公司 | Target trajectory prediction based tracking method for airborne photo-electronic device |
-
2016
- 2016-11-22 CN CN201611029070.5A patent/CN106777489B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2954778B2 (en) * | 1992-04-13 | 1999-09-27 | 日立ビアメカニクス株式会社 | Method for connecting line figure branch point of image input device |
| CN102520430A (en) * | 2011-12-29 | 2012-06-27 | 中国科学院长春光学精密机械与物理研究所 | Object locating system of small size airborne photoelectric tracking equipment |
| CN103604427A (en) * | 2013-12-10 | 2014-02-26 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle system and method for dynamically positioning ground moving target |
| CN105354861A (en) * | 2015-09-28 | 2016-02-24 | 凯迈（洛阳）测控有限公司 | Target trajectory prediction based tracking method for airborne photo-electronic device |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536171A (en) * | 2018-03-21 | 2018-09-14 | 电子科技大学 | The paths planning method of multiple no-manned plane collaboration tracking under a kind of multiple constraint |
| CN108536171B (en) * | 2018-03-21 | 2020-12-29 | 电子科技大学 | Path planning method for collaborative tracking of multiple unmanned aerial vehicles under multiple constraints |
| CN108733066B (en) * | 2018-05-07 | 2021-05-07 | 中国人民解放军国防科技大学 | Target tracking control method based on pod attitude feedback |
| CN108733066A (en) * | 2018-05-07 | 2018-11-02 | 中国人民解放军国防科技大学 | Target tracking control method based on pod attitude feedback |
| CN110470304A (en) * | 2019-08-19 | 2019-11-19 | 西安因诺航空科技有限公司 | A kind of high-precision target positioning-speed-measuring method based on UAV electro-optical's platform |
| CN110856134A (en) * | 2019-10-16 | 2020-02-28 | 东南大学 | Large-scale wireless sensor network data collection method based on unmanned aerial vehicle |
| CN110856134B (en) * | 2019-10-16 | 2022-02-11 | 东南大学 | Large-scale wireless sensor network data collection method based on unmanned aerial vehicle |
| CN110672116B (en) * | 2019-11-04 | 2022-03-01 | 中国人民解放军空军工程大学 | Moving target consistency judgment method based on multi-observation whistle digital telescope |
| CN110672116A (en) * | 2019-11-04 | 2020-01-10 | 中国人民解放军空军工程大学 | Moving target consistency judgment method based on multi-observation whistle digital telescope |
| CN111142566A (en) * | 2019-11-05 | 2020-05-12 | 西安羚控电子科技有限公司 | Target tracking method for ship-based unmanned aerial vehicle in take-off and landing stages |
| CN113189890A (en) * | 2020-01-14 | 2021-07-30 | 北京京邦达贸易有限公司 | Simulation method and device for unmanned aerial vehicle target positioning |
| CN112882498A (en) * | 2021-01-12 | 2021-06-01 | 湖南宇正智能科技有限公司 | Three-axis photoelectric search tracking device and method with image rotation inhibiting function |
| CN112882498B (en) * | 2021-01-12 | 2024-04-16 | 湖南宇正智能科技有限公司 | Triaxial photoelectric searching and tracking device and method with image rotation inhibiting function |
| CN112884798A (en) * | 2021-01-27 | 2021-06-01 | 湖北三江航天红峰控制有限公司 | Verification method of moving target tracking and aiming system |
| CN115134448A (en) * | 2022-06-07 | 2022-09-30 | 江西盈盛实业有限公司 | Backlight illuminating system for network telephone |
| CN115840288A (en) * | 2023-02-20 | 2023-03-24 | 长春理工大学 | Intelligent photoelectric turntable full-link image quality analysis method |
| CN116630374A (en) * | 2023-07-24 | 2023-08-22 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
| CN116630374B (en) * | 2023-07-24 | 2023-09-19 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106777489B (en) | 2021-04-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106777489A (en) | UAV system opto-electric stabilization turntable tracks state modeling and simulating method | |
| CN104898642B (en) | A kind of integration testing analogue system for Spacecraft Attitude Control algorithm | |
| CN105184002B (en) | A kind of several simulating analysis for passing antenna pointing angle | |
| CN105786024B (en) | A kind of airborne photoelectric platform high precision tracking controller and its tracking and controlling method based on Compensation for Model Errors | |
| CN102252673B (en) | Correction method for on-track aberration of star sensor | |
| CN108820260A (en) | The mid-term orbit prediction method, apparatus of low orbit spacecraft, storage medium | |
| CN105043417B (en) | Multiple target continuous imaging drift angle compensation method | |
| CN105929836B (en) | Control method for quadrotor | |
| CN107390545A (en) | A kind of simulation training system of unmanned plane and its load | |
| CN105737858A (en) | Attitude parameter calibration method and attitude parameter calibration device of airborne inertial navigation system | |
| CN110333738A (en) | A kind of unmanned plane cluster verification method based on analogue simulation software | |
| CN104990533B (en) | Satellite ground physical simulation system superhigh precision attitude measurement method and device | |
| CN104932535B (en) | Utilize method of the analogue system to Air-borne Forward-looking Infra-Red Search Set closed loop test | |
| CN108845588A (en) | A kind of quadrotor Trajectory Tracking Control method based on Nonlinear Guidance | |
| CN104501835A (en) | Ground test system and method targeting to space application isomerism IMU initial alignment | |
| CN108896957A (en) | The positioning system and method in a kind of unmanned plane control signal source | |
| CN109752000A (en) | A kind of MEMS dual-axis rotation modulation type strapdown compass Initial Alignment Method | |
| CN107727101A (en) | 3 d pose information fast resolution algorithm based on double polarizing light vector | |
| CN106529105B (en) | UAV system opto-electric stabilization turntable inertia state modeling and simulating method | |
| CN110456663B (en) | Aircraft navigation control technology simulation device and method based on multi-source information fusion | |
| CN106200383B (en) | A kind of three axis Inertially-stabilizeplatform platform control methods based on model reference adaptive neural network | |
| CN105333873B (en) | The planet safe landing method of guidance that a kind of landing point is chosen online | |
| CN110162069A (en) | Desired posture Analytical Solution method is stared in a kind of reflection of LEO spacecraft sunlight | |
| CN107883925A (en) | Observed object satellite image analogy method between a kind of navigation constellation star | |
| Song et al. | A target tracking realization method of UAV simulation training system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210406 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |