CN110127079B - Target flight characteristic simulation system under remote sensing visual field based on six-degree-of-freedom platform - Google Patents
Target flight characteristic simulation system under remote sensing visual field based on six-degree-of-freedom platform Download PDFInfo
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Abstract
The invention relates to a system for simulating the flight characteristics of a target under a remote sensing visual field based on a six-degree-of-freedom platform, which belongs to the technical field of target flight characteristic detection, and comprises five modules: the system comprises a space coordinate calibration module, a flight track generation module, a pointing control module, a six-degree-of-freedom platform module and a sight vector indication module; the invention also relates to a simulation method of the simulation system. The method for simulating the flight characteristics of the space target under the remote sensing view field based on the six-degree-of-freedom platform can be used for overcoming the defect of small imaging view field of a conventional simulator and improving the tracking and receiving capacity of a remote sensing system. According to the simulation method, the six-degree-of-freedom platform is introduced, the simulation of the flight characteristics of the target under the platform view field is realized, the correctness of the simulation is verified through the sight line vector indicating module, and the simulation of the motion of the space target in a large view field range is realized.
Description
Technical Field
The invention relates to the technical field of target flight characteristic detection, in particular to a system for simulating target flight characteristics in a remote sensing visual field based on a six-degree-of-freedom platform.
Background
The flight characteristic simulation of the space target is a method for simulating the motion characteristic of the target on the ground and is used for detecting the identification and tracking capacity of a remote sensing system on the space target. The simulation of the large-range motion of the space target can more truly detect the performance of the dynamic tracking target of the remote sensing system and improve the tracking precision of the remote sensing system. At present, a collimating target generator projects a pixel on an image plane to a detection receiving system through a micromirror array as parallel light, and in order to improve the tracking receiving capability of the detection system, the micromirror array is required to be capable of simulating the motion characteristic of a space target in a large field of view. Considering that the conventional target simulator has limited optical field of view and is not suitable for large-range tracking detection of a detection system; therefore, how to simulate the motion of a space target in a larger field of view with high resolution becomes a difficult problem to be solved. The object has six degrees of freedom in space, namely, the degree of freedom of movement along the directions of three orthogonal coordinate axes of x, y and z and the degree of freedom of rotation around the three coordinate axes, and the six degrees of freedom are required to be clear when the position of the object is completely determined, and how to carry out a target flight characteristic simulation method under a six-degree-of-freedom platform view field needs to be considered in the simulation method.
Through the literature search of the prior art, the article entitled "the space target imaging model research of the space remote sensor" from the article filed of the university of harlbine university of industry "in 11 months 2008 discloses a new imaging model of the space target, which is used for simulating the analysis and experiment of the imaging characteristics of the space target observed by the space remote sensor. Assuming that the geometric shape of the space target is spherical, establishing a simulation calculation model of a target star and the like by using an existing space target illumination calculation formula; by using a calculation model of a space remote sensor CCD, optical system parameters, a target star and the like, the signal intensity and the image of the point source response of a space target on a focal plane of the space remote sensor under an ideal observation condition can be obtained; considering the relative motion relation between the space remote sensor and the space target, an energy distribution model of the space target on the line imaging of the space remote sensor focal plane under the actual observation condition and a fuzzy image caused by motion are established; by comprehensively using the models, the dynamic frame sequential images of the space target under different imaging observation conditions of the space remote sensor can be generated, so that the requirements of detection and identification simulation algorithm research of the space target are met. For the technical problems to be solved by the present invention, no relevant technical disclosure is found in the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a system for simulating the flight characteristics of a target in a remote sensing view field based on a six-degree-of-freedom platform. Aiming at the flight characteristics of a space target, the invention realizes the generation of a space target sight vector and the generation of a six-degree-of-freedom platform control instruction under a remote sensing platform visual field through five modules, the six-degree-of-freedom platform drives the pointing direction, the relative relation between the remote sensing platform and a dynamic target is solved in real time, and the simulation of the flight track and the motion characteristics of the target under the remote sensing visual field is realized through the six-degree-of-freedom platform. The system can solve the problem of simulation of the spatial target motion in a large view field range and realize a good technical simulation effect.
The invention is realized by the following technical scheme, and relates to a system for simulating the flight characteristics of a target under a remote sensing visual field based on a six-degree-of-freedom platform, which comprises five modules: the system comprises a space coordinate calibration module, a flight track generation module, a pointing control module, a six-degree-of-freedom platform module and a sight vector indication module;
the spatial coordinate calibration module is used for calibrating the position relation between the remote sensing platform and the six-degree-of-freedom platform;
the flight path generation module is used for generating a sight vector of a target relative to a remote sensing platform and comprises three sub-modules: the system comprises a target track generation module, a remote sensing platform track generation module and a sight vector generation module;
the pointing control module is used for generating a six-degree-of-freedom platform control instruction, converting a sight vector of a target relative to the remote sensing platform into a six-degree-of-freedom platform coordinate system, and further generating a six-degree-of-freedom platform pointing control instruction in an inversion mode to realize pointing control of the sight vector;
the six-degree-of-freedom platform module comprises two parts: a motion control unit and a six-degree-of-freedom platform mechanism; the motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod and drives the motion control command, and the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the composite motion of the motion control rods;
the sight vector indicating module is arranged on a six-degree-of-freedom platform, realizes the indication of the space target sight under the remote sensing field of view and is used for the verification of the whole simulation system.
Preferably, the space coordinate calibration module represents coordinate conversion of the six-degree-of-freedom platform relative to the remote sensing platform.
Preferably, the six degree of freedom platform coordinate system comprises two coordinate systems: static coordinate system Os-XsYsZsAnd a dynamic coordinate system Od-XdYdZd(ii) a The static coordinate system is fixedly connected with the ground, and the dynamic coordinate system moves along with the upper platform; geometric center O of platform under static coordinate systemsIs an origin, YsPerpendicular to the lower platform surface, XsIn the horizontal direction in the lower platform plane, ZsMeets the right-hand screw rule; the dynamic coordinate system is similar to the static coordinate system;
the remote sensing platform uses a platform body coordinate system as a reference, and the origin of the platform body coordinate system is a platform centroid OpCoordinate axis Xp，Yp，ZpThe three inertia axes are respectively parallel to the three corresponding inertia axes of the platform; the coordinate calibration of the remote sensing platform and the six-degree-of-freedom platform comprises the following steps: the conversion between the body coordinate system and the static coordinate system of the remote sensing platform depends on the motion characteristic and the attitude change of the remote sensing platform; the conversion between the static coordinate system and the dynamic coordinate system depends on the angle relation of the six-freedom platform motion mechanism.
Preferably, the flight track generation module comprises a target track generation module, a remote sensing platform track generation module and a sight vector generation module; the target track generation module defines the flight characteristics of the target by using an earth fixed coordinate system; the remote sensing platform track generation module considers the motion characteristic of the remote sensing platform by an earth inertia coordinate system; the sight line vector generation module considers the relative position relation between the target and the remote sensing platform.
Preferably, the earth-fixed coordinate system is defined as: taking the earth center O as an origin, taking the Z axis as the rotation axis of the earth and pointing to the north pole, pointing to the meridian of the beginning, and determining the Y axis according to the right-hand spiral rule; the definition of the earth's inertial coordinate system is: with earth core OIIs an origin, XIThe axis points to the spring equinox, ZIWith axis of earth's rotation pointing to north, YIThe shaft follows a right-hand spiralAnd (5) determining.
Preferably, on the basis of the sight line vector generation module and the space coordinate calibration module, converting the sight line vector of the target relative to the remote sensing platform into a six-degree-of-freedom platform coordinate system, wherein the vector is used as the input of the pointing control module; and the pointing control module compares the deviation between the initial pointing position of the remote sensing platform and the input sight vector and inverts the deviation to generate a six-degree-of-freedom platform pointing control instruction.
Preferably, the six-degree-of-freedom platform module comprises a motion control unit and a six-degree-of-freedom platform mechanism; the motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod in a self-adaptive control mode and drives the motion control command; the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion control rod; the platform driving mechanism consists of six motion control rods, an upper platform, a lower platform and six hooke joints respectively arranged on the upper platform and the lower platform. The lower platform is fixed on the infrastructure, and the upper platform is controlled to move in six degrees of freedom in space through the telescopic motion of the six motion control rods, so that various space motion postures can be simulated.
Preferably, the sight vector indicating module is installed on a six-degree-of-freedom platform, so that indication of a space target sight under a remote sensing field of view is realized, and the sight vector indicating module is used for verification of the whole simulation system.
The invention also relates to a simulation method of the target flight characteristic simulation system under the remote sensing visual field based on the six-degree-of-freedom platform, which comprises the following steps:
step 1: determining the relative position relation between the space target and the remote sensing platform; assuming that the space target coordinate under the earth fixed coordinate system is PT(XT,YT,ZT) P of space object in earth inertial coordinate systemTI(XTI,YTI,ZTI) Expressed as: pTI＝CI(ωe)PT(ii) a WhereinCIFor conversion from the earth-fixed coordinate system to the earth-inertial coordinate system, ωeThe rotational angular velocity of the earth;
assuming the earth's inertial frameThe position of the lower remote sensing platform is PYI(XYI,YYI,ZYI) And then, the sight line vector of the space target relative to the remote sensing platform under the earth inertial coordinate system is as follows:
step 2: determining the calibration of the space coordinate; on the basis of obtaining a sight vector of the space target relative to the remote sensing platform, coordinate conversion between the remote sensing platform and the six-degree-of-freedom platform is considered; firstly, converting the sight vector described under the inertial coordinate system into the description under the body coordinate system of the remote sensing platform, and assuming the sight vector under the remote sensing platform
Is expressed as:
wherein the content of the first and second substances,
representing the transition from the inertial system to the platform system, phi is the yaw angle,
is a rolling angle, theta is a pitch angle;
the conversion from the static coordinate system of the six-degree-of-freedom platform to the dynamic coordinate system depends on the angle relation of a motion mechanism of the six-degree-of-freedom platform, and the conversion from the remote sensing platform to the static coordinate system depends on the motion characteristic of the remote sensing platform, so that the sight line vector is expressed as
Wherein the content of the first and second substances,
the position vector of the remote sensing platform under the static coordinate system;
for sitting staticallyConversion of the coordinate system into a dynamic coordinate system,. psid，
θdDepending on the angle of movement of the mechanism;
and step 3: the sight line vector under the six-degree-of-freedom platform coordinate system is used as the input of the pointing control module, and the deviation between the initial pointing position of the remote sensing platform and the input sight line vector is assumed as
Will be provided with
Inverting to generate a six-degree-of-freedom platform pointing control instruction; then is formed by
Obtaining the change of the rotation angle of the six-degree-of-freedom platform:
and 4, step 4: the motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod in a self-adaptive control mode and drives the motion control command; the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion control rod; the change of the rotation angle is converted into the change of the stroke of the platform motion control rod:
(α,β,γ)T＝f(l1,l2,l3,l4,l5,l6) Wherein l is1...l6The stroke length of the motion control rod;
and 5: the sight vector indicating module is arranged on a six-degree-of-freedom platform, realizes the indication of the space target sight under the remote sensing view field and is used for the verification of the whole simulation system.
Compared with the prior art, the invention has the following beneficial effects: the method for simulating the flight characteristics of the space target under the remote sensing view field based on the six-degree-of-freedom platform can be used for overcoming the defect of small imaging view field of a conventional simulator and improving the tracking and receiving capacity of a remote sensing system. According to the simulation method, the six-degree-of-freedom platform is introduced, the simulation of the flight characteristics of the target under the platform view field is realized, the correctness of the simulation is verified through the sight line vector indicating module, and the simulation of the motion of the space target in a large view field range is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of spatial target trajectory imaging;
FIG. 2 is a schematic view of a six degree-of-freedom platform;
FIG. 3 is a schematic diagram of a pointing control module;
fig. 4 is a schematic diagram of a target flight characteristic simulation process.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Examples
In this embodiment, the system for simulating the flight characteristics of the target in the remote sensing field of view based on the six-degree-of-freedom platform according to the present invention includes five modules: the system comprises a space coordinate calibration module, a flight track generation module, a pointing control module, a six-degree-of-freedom platform module and a sight vector indication module; aiming at the flight characteristics of the space target, the generation of a space target sight vector and the generation of a six-degree-of-freedom platform control instruction under a remote sensing platform visual field are realized through five modules, the six-degree-of-freedom platform drives the pointing direction, the relative relation between the remote sensing platform and a dynamic target is solved in real time, and the flight trajectory and the motion characteristics of the target under the remote sensing visual field are simulated through the six-degree-of-freedom platform.
The present invention will be described in detail below.
The invention discloses a method for simulating the flight characteristics of a spatial target under a remote sensing view field based on a six-degree-of-freedom platform, which comprises five modules: the system comprises a space coordinate calibration module, a flight trajectory generation module, a pointing control module, a six-degree-of-freedom platform module and a sight line vector indication module. Aiming at the flight characteristics of the space target, the generation of a space target sight line vector and the generation of a six-degree-of-freedom platform control instruction under a remote sensing platform visual field are realized through five modules, the six-degree-of-freedom platform drives the pointing direction, the relative relation between the remote sensing platform and the dynamic target is solved in real time, the simulation of the flight track and the motion characteristics of the target under the remote sensing visual field is realized through the six-degree-of-freedom platform, and a foundation is provided for verifying the dynamic tracking capability of the target.
And the space coordinate calibration module represents the coordinate conversion of the six-degree-of-freedom platform relative to the remote sensing platform. The six-degree-of-freedom platform coordinate system comprises two coordinate systems: static coordinate system Os-XsYsZsAnd a dynamic coordinate system Od-XdYdZd. The static coordinate system is fixedly connected with the ground, and the dynamic coordinate system moves along with the upper platform. Geometric center O of platform under static coordinate systemsIs an origin, YsPerpendicular to the lower platform surface, XsIn the horizontal direction in the lower platform plane, ZsSatisfying the right-hand screw rule. The dynamic coordinate system is similar to the static coordinate system. The remote sensing platform uses a platform body coordinate system as a reference, and the origin of the platform body coordinate system is a platform centroid OpCoordinate axis Xp，Yp，ZpAre respectively parallel to the three inertia axes corresponding to the platform. The coordinate calibration of the remote sensing platform and the six-degree-of-freedom platform comprises the following steps: the conversion between the body coordinate system and the static coordinate system of the remote sensing platform depends on the motion characteristic and the attitude change of the remote sensing platform; the conversion between the static coordinate system and the dynamic coordinate system depends on the angle relation of the six-freedom platform motion mechanism.
The flight track generation module comprises a target track generation module, a remote sensing platform track generation module and a sight vector generation module. The target track generation module defines the flight characteristics of the target by using an earth fixed coordinate system; the remote sensing platform track generation module considers the motion characteristic of the remote sensing platform by an earth inertia coordinate system; the sight line vector generation module considers the relative position relation between the target and the remote sensing platform.
The definition of the earth-fixed coordinate system is as follows: the earth center O is used as an original point, the Z axis is the rotation axis of the earth and points to the north pole, the X axis points to the original meridian, and the Y axis is determined according to the right-hand spiral rule. The definition of the earth's inertial coordinate system is: with earth core OIIs an origin, XIThe axis points to the spring equinox, ZIWith axis of earth's rotation pointing to north, YIThe axes are determined according to the right-hand screw rule.
On the basis of the sight vector generation module and the space coordinate calibration module, converting the sight vector of the target relative to the remote sensing platform into a six-degree-of-freedom platform coordinate system, wherein the sight vector is used as the input of a pointing control module; and the pointing control module compares the deviation between the initial pointing position of the remote sensing platform and the input sight vector and inverts the deviation to generate a six-degree-of-freedom platform pointing control instruction.
The six-degree-of-freedom platform module comprises a motion control unit and a six-degree-of-freedom platform mechanism. The motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod in a self-adaptive control mode and drives the motion control command; the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion control rod. The platform driving mechanism consists of six motion control rods, an upper platform, a lower platform and six hooke joints respectively arranged on the upper platform and the lower platform. The lower platform is fixed on the infrastructure, and the upper platform is controlled to move in six degrees of freedom (X, Y, Z, alpha, beta and gamma) in space through the telescopic motion of the six motion control rods, so that various space motion postures can be simulated.
The sight vector indicating module is arranged on a six-degree-of-freedom platform, realizes the indication of the space target sight under the remote sensing field of view and is used for the verification of the whole simulation system.
As shown in fig. 1-4, the method of the invention comprises the following steps:
step 1: and determining the relative position relation between the space target and the remote sensing platform. Space under the assumption of earth fixed coordinate systemTarget coordinate is PT(XT,YT,ZT) P of space object in earth inertial coordinate systemTI(XTI,YTI,ZTI) Expressed as:
PTI＝CI(ωe)PT
whereinCIFor conversion from the earth-fixed coordinate system to the earth-inertial coordinate system, ωeIs the rotational angular velocity of the earth.
The position of the remote sensing platform under the earth inertial coordinate system is assumed to be PYI(XYI,YYI,ZYI) And then, the sight line vector of the space target relative to the remote sensing platform under the earth inertial coordinate system is as follows:
step 2: and determining the calibration of the space coordinates. On the basis of obtaining the sight vector of the space target relative to the remote sensing platform, the coordinate conversion between the remote sensing platform and the six-degree-of-freedom platform is considered. Firstly, converting the sight vector described under the inertial coordinate system into the description under the body coordinate system of the remote sensing platform, and assuming the sight vector under the remote sensing platform
Is expressed as:
wherein the content of the first and second substances,
representing the transition from the inertial system to the platform system, phi is the yaw angle,
is roll angle and theta is pitch angle.
The conversion from the static coordinate system to the dynamic coordinate system of the six-degree-of-freedom platform depends on the angle relation of the motion mechanism of the six-degree-of-freedom platformThe conversion from the remote sensing platform to the static coordinate system depends on the motion characteristic of the remote sensing platform, so that the sight line vector is expressed in a six-degree-of-freedom platform dynamic coordinate system
Wherein the content of the first and second substances,
the position vector of the remote sensing platform under the static coordinate system;
for conversion of the static coordinate system into the dynamic coordinate system,. psid，
θdDepending on the angle of movement of the mechanism.
And step 3: the sight line vector under the six-degree-of-freedom platform coordinate system is used as the input of the pointing control module, and the deviation between the initial pointing position of the remote sensing platform and the input sight line vector is assumed as
Will be provided with
And (4) inverting to generate a six-degree-of-freedom platform pointing control instruction.
Then is formed by
Obtaining the change of the rotation angle of the six-degree-of-freedom platform:
and 4, step 4: the motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod in a self-adaptive control mode and drives the motion control command; the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion control rod. The change of the rotation angle is converted into the change of the stroke of the platform motion control rod:
(α,β,γ)T＝f(l1,l2,l3,l4,l5,l6) Wherein l is1...l6The stroke length of the motion control rod.
And 5: the sight vector indicating module is arranged on a six-degree-of-freedom platform, realizes the indication of the space target sight under the remote sensing view field and is used for the verification of the whole simulation system.
In conclusion, the simulation system of the invention solves the relative relation between the remote sensing platform and the dynamic target in real time aiming at the flight characteristics of the space target, realizes the simulation of the flight track and the motion characteristics of the target in the remote sensing visual field through the six-degree-of-freedom platform, and provides a foundation for verifying the dynamic tracking capability of the target. The invention comprises five modules: the system comprises a space coordinate calibration module, a flight trajectory generation module, a pointing control module, a six-degree-of-freedom platform module and a sight line vector indication module. The spatial coordinate calibration module is used for calibrating the position relation between the remote sensing platform and the six-degree-of-freedom platform, acquiring a coordinate conversion matrix of the six-degree-of-freedom platform relative to the remote sensing platform, and facilitating the conversion and simulation of a sight vector of a target under a coordinate system of the remote sensing platform to the coordinate system of the six-degree-of-freedom platform; the flight path generation module is used for generating a sight line vector of a target relative to the remote sensing platform and comprises three sub-modules: the system comprises a target track generation module, a remote sensing platform track generation module and a sight vector generation module; the pointing control module is used for generating a six-degree-of-freedom platform control instruction, converting a sight vector of a target relative to the remote sensing platform into a six-degree-of-freedom platform coordinate system, and further generating a six-degree-of-freedom platform pointing control instruction in an inversion mode to realize pointing control of the sight vector; the six-degree-of-freedom platform module comprises two parts: a motion control unit and a six-degree-of-freedom platform mechanism. The motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod and drives the motion control command; the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion control rod; the sight vector indicating module is arranged on a six-degree-of-freedom platform, realizes the indication of the space target sight under the remote sensing view field and is used for the verification of the whole simulation system. The generation of a space target sight vector under a remote sensing platform visual field, the generation of a six-degree-of-freedom platform control instruction and the driving pointing of the six-degree-of-freedom platform are realized through five modules, the simulation of the target flight characteristics under the platform visual field is finally realized, and the correctness of the simulation is verified through a sight vector indicating module. The simulation method of the invention can be used for improving the defect of small imaging field of view of the conventional simulator and improving the tracking and receiving capacity of the remote sensing system. According to the simulation method, the six-degree-of-freedom platform is introduced, the simulation of the flight characteristics of the target under the platform view field is realized, the correctness of the simulation is verified through the sight line vector indicating module, and the simulation of the motion of the space target in a large view field range is realized.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. The system for simulating the flight characteristics of the target in the remote sensing field of view based on the six-degree-of-freedom platform is characterized by comprising five modules: the system comprises a space coordinate calibration module, a flight track generation module, a pointing control module, a six-degree-of-freedom platform module and a sight vector indication module;
the spatial coordinate calibration module is used for calibrating the position relation between the remote sensing platform and the six-degree-of-freedom platform;
the flight path generation module is used for generating a sight vector of a target relative to a remote sensing platform and comprises three sub-modules: the system comprises a target track generation module, a remote sensing platform track generation module and a sight vector generation module;
the target track generation module defines the flight characteristics of the target by using an earth fixed coordinate system; the remote sensing platform track generation module considers the motion characteristic of the remote sensing platform by an earth inertia coordinate system; the sight line vector generation module considers the relative position relation between the target and the remote sensing platform;
the pointing control module is used for generating a six-degree-of-freedom platform control instruction, converting a sight vector of a target relative to the remote sensing platform into a six-degree-of-freedom platform coordinate system, and further generating a six-degree-of-freedom platform pointing control instruction in an inversion mode to realize pointing control of the sight vector;
the six-degree-of-freedom platform module comprises two parts: a motion control unit and a six-degree-of-freedom platform mechanism; the motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod and drives the motion control command, and the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the composite motion of the motion control rods;
the sight vector indicating module is arranged on a six-degree-of-freedom platform, realizes the indication of the space target sight under the remote sensing field of view and is used for the verification of the whole simulation system.
2. The system of claim 1, wherein the spatial coordinate calibration module is configured to characterize a coordinate transformation of the six-dof platform with respect to the remote sensing platform.
3. The system for simulating the flight characteristics of the target in the remote sensing field of view based on the six-degree-of-freedom platform as claimed in claim 2, wherein the six-degree-of-freedom platform coordinate system comprises two coordinate systems: static coordinate system Os-XsYsZsAnd a dynamic coordinate system Od-XdYdZd(ii) a The static coordinate system is fixedly connected with the ground, and the dynamic coordinate system moves along with the upper platform; geometric center O of platform under static coordinate systemsIs an origin, YsPerpendicular to the lower platform surface, XsIn the horizontal direction in the lower platform plane, ZsMeets the right-hand screw rule; dynamic coordinate systemSimilar to the static coordinate system;
the remote sensing platform uses a platform body coordinate system as a reference, and the origin of the platform body coordinate system is a platform centroid OpCoordinate axis Xp，Yp，ZpThe three inertia axes are respectively parallel to the three corresponding inertia axes of the platform; the coordinate calibration of the remote sensing platform and the six-degree-of-freedom platform comprises the following steps: the conversion between the body coordinate system and the static coordinate system of the remote sensing platform depends on the motion characteristic and the attitude change of the remote sensing platform; the conversion between the static coordinate system and the dynamic coordinate system depends on the angle relation of the six-freedom platform motion mechanism.
4. The system for simulating the flight characteristics of the target in the remote sensing view field based on the six-degree-of-freedom platform as claimed in claim 3, wherein the earth-fixed coordinate system is defined as: taking the earth center O as an origin, taking the Z axis as the rotation axis of the earth and pointing to the north pole, pointing to the meridian of the beginning, and determining the Y axis according to the right-hand spiral rule; the definition of the earth's inertial coordinate system is: with earth core OIIs an origin, XIThe axis points to the spring equinox, ZIWith axis of earth's rotation pointing to north, YIThe axes are determined according to the right-hand screw rule.
5. The system for simulating the flight characteristics of the target in the remote sensing view field based on the six-degree-of-freedom platform as claimed in claim 1, wherein the sight vector of the target relative to the remote sensing platform is converted to the six-degree-of-freedom platform coordinate system based on the sight vector generation module and the space coordinate calibration module, and the vector is used as the input of the pointing control module; and the pointing control module compares the deviation between the initial pointing position of the remote sensing platform and the input sight vector and inverts the deviation to generate a six-degree-of-freedom platform pointing control instruction.
6. The system for simulating the flight characteristics of the target in the remote sensing field of view based on the six-degree-of-freedom platform as claimed in claim 1, wherein the six-degree-of-freedom platform module comprises a motion control unit and a six-degree-of-freedom platform mechanism; the motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod in a self-adaptive control mode and drives the motion control command; the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion control rod; the platform driving mechanism consists of six motion control rods, an upper platform, a lower platform and six hooke joints respectively arranged at the upper part and the lower part; the lower platform is fixed on the infrastructure, and the upper platform is controlled to move in six degrees of freedom in space through the telescopic motion of the six motion control rods, so that various space motion postures can be simulated.
7. The system for simulating the flight characteristics of the target in the remote sensing field of view based on the six-degree-of-freedom platform as claimed in claim 1, wherein the sight vector indicating module is installed on the six-degree-of-freedom platform to realize the indication of the sight of the spatial target in the remote sensing field of view, and is used for the verification of the whole simulation system.
8. The simulation method of the target flight characteristic simulation system in the remote sensing visual field based on the six-degree-of-freedom platform as claimed in claim 1, characterized by comprising the following steps:
step 1: determining the relative position relation between the space target and the remote sensing platform; assuming that the space target coordinate under the earth fixed coordinate system is PT(XT,YT,ZT) P of space object in earth inertial coordinate systemTI(XTI,YTI,ZTI) Expressed as: pTI＝CI(ωe)PT(ii) a WhereinCIFor conversion from the earth-fixed coordinate system to the earth-inertial coordinate system, ωeThe rotational angular velocity of the earth;
the position of the remote sensing platform under the earth inertial coordinate system is assumed to be PYI(XYI,YYI,ZYI) And then, the sight line vector of the space target relative to the remote sensing platform under the earth inertial coordinate system is as follows:
step 2: determining the calibration of the space coordinate; relative distance of target in spaceOn the basis of the vision vector of the sensing platform, the coordinate conversion between the remote sensing platform and the six-degree-of-freedom platform is considered; firstly, converting the sight vector described under the inertial coordinate system into the description under the body coordinate system of the remote sensing platform, and assuming the sight vector under the remote sensing platform
Is expressed as:
wherein the content of the first and second substances,
representing the transition from the inertial system to the platform system, phi is the yaw angle,
is a rolling angle, theta is a pitch angle;
the conversion from the static coordinate system of the six-degree-of-freedom platform to the dynamic coordinate system depends on the angle relation of a motion mechanism of the six-degree-of-freedom platform, and the conversion from the remote sensing platform to the static coordinate system depends on the motion characteristic of the remote sensing platform, so that the sight line vector is expressed as
Wherein the content of the first and second substances,
the position vector of the remote sensing platform under the static coordinate system;
for conversion of the static coordinate system into the dynamic coordinate system,. psid，
θdDepending on the angle of movement of the mechanism;
and step 3: the sight line vector under the six-degree-of-freedom platform coordinate system is used as the input of the pointing control module, and the deviation between the initial pointing position of the remote sensing platform and the input sight line vector is assumed as
Will be provided with
Inverting to generate a six-degree-of-freedom platform pointing control instruction; then is formed by
Obtaining the change of the rotation angle of the six-degree-of-freedom platform:
and 4, step 4: the motion control unit receives the six-degree-of-freedom control command, converts the six-degree-of-freedom control command into a motion control command of each motion control rod in a self-adaptive control mode and drives the motion control command; the six-degree-of-freedom platform mechanism realizes six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion control rod; the change of the rotation angle is converted into the change of the stroke of the platform motion control rod:
(α,β,γ)T＝f(l1,l2,l3,l4,l5,l6) Wherein l is1...l6The stroke length of the motion control rod;
and 5: the sight vector indicating module is arranged on a six-degree-of-freedom platform, realizes the indication of the space target sight under the remote sensing view field and is used for the verification of the whole simulation system.
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