CN1924736A - Stable control method for vestibular oculomotor reflection based aviation detection platform - Google Patents

Abstract

This invention relates to aviation scout plane stable control method based on vestibular oculomotor reflex, which adopts human eye control system mathematical module and comprises the following steps: sensor measuring rotation parameters of aviation direction, forward and turning through A/D conversion, digital filter, standard conversion and control desk by control signal to drive scout platform motor rotation. The single machine can receive sensor data for simple computation to control scout plate at certain speed and angle to compensate aviation pose change and to keep the platform in fix direction.

Description

Aerial reconnaissance platform stable control method based on the vestibular oculomotor reflex

Technical field

The present invention relates to a kind of method of aircraft vision track terrain object, be specifically related to a kind of stable method of the optical axis of scouting platform on the human eye vestibular oculomotor reflex method controlling aircraft of utilizing.

Background technology

In recent years, because aerial reconnaissance has ageing strong, high, broad far-reaching, the maneuverability, with strong points of scope of reconnaissance of accuracy, the aspect such as anti-ly rescuing, private is checked in frontier defense at traffic monitoring, commercial relief, the condition of a disaster all has important application.

The aerial reconnaissance platform is operated in the dynamic flight course, for accurately aiming at, observe or measure a certain specific objective, needs to guarantee optical axis definite object always.But the attitude of aircraft changes the visual field that has a strong impact on video camera, and angle has deviation slightly, and target will be lost.Prior art adopts stable inertia control to make the optical axis be stabilized in fixing inertial space direction usually, to overcome the influence to optical imaging system of moving base corner attitude variation and low frequency angle vibration.Friction interference moment, quality are unbalanced, air resistance, between centers coupling and sensor noise etc. all are influence the factor that stable inertia is controlled, and must take effective control method, just can reach the higher stable precision.Optimum control, change structure control, neural network and fuzzy control etc. all have been applied in the stable inertia control of aerial reconnaissance platform, at concrete problem, people have used various adaptive control technologies, as gain-adaptive adjustment, variable bandwidth, model reference adaptive, self-correcting control etc.Generally outside stable inertia control, also will adopt the image tracking is that the electronic steady image technology reaches the stable purpose of image compensation with treatment technology.These methods are complex structure all, and arithmetic speed is slow, and real-time is poor, and the scope of compensation is little, can not eliminate attitude of flight vehicle timely and effectively and change scouting the influence of platform.

Summary of the invention

The problem and shortage of prior art existence the purpose of this invention is to provide a kind of aerial reconnaissance platform stable control method based on the vestibular oculomotor reflex in view of the above, eliminates the influence of the angular displacement of aircraft to the video camera optical axis.

For achieving the above object, design of the present invention is: depart from because the vestibular oculomotor reflex of human eye can compensate the kinetic sight line of excuse portion well, and the mathematical model of the vestibular oculomotor reflex control system of human eye is confirmed it is correct by physiological test as shown in Figure 1.In the aerial reconnaissance system, the stabilizing control system of platform adopts the vestibular oculomotor reflex control system model of human eye, at this moment, aircraft is equivalent to people's head, camera on the platform is equivalent to people's eyeball, the motor of platform is equivalent to make oculogyral eye muscle, and the vestibular organ that sensor such as gyroscope is equivalent to the people is installed on the aircraft.

According to above-mentioned design, the present invention adopts following technical proposals to realize:

A kind of aerial reconnaissance platform stable control method based on the vestibular oculomotor reflex is characterized in that adopting the vestibular oculomotor reflex control system mathematical model of human eye to control computing, and to obtain the stable of aerial reconnaissance platform, its operation steps is as follows:

(1) airborne sensor is measured: measure the rotation parameter of orientation, the pitching of aircraft and three directions of rolling respectively, they are angle or angular velocity or angular acceleration;

(2) A/D conversion: the continuous analog signal that sensor is obtained obtains digital signal after by the A/D conversion;

(3) digital filtering: the digital signal that samples is smoothly processed, strengthen useful signal, eliminate or the minimizing noise;

(4) scale conversion: carry out the demarcation of sensor, the value that the charge value that sensor is recorded is converted to corresponding measurand is the rotation parameter value of aircraft;

(5) control computing: the rotation parameter value of the aircraft of acquisition, use people's oculovestibular reflex control system mathematical model by single-chip microcomputer and control computing, obtain angle or the speed and the direction of the required rotation of The Cloud Terrace compensation aircraft three direction attitude angle displacement.

Controlling computing in scale conversion and the step (5) in digital filtering, the step (4) in A/D conversion, the step (3) in (2) in the above step can separately carry out, for compact conformation, lightly also can carry out in the same single-chip microcomputer that has an A/D converter.

The mathematical model of the vestibular oculomotor reflex of the human eye that above-mentioned control algolithm adopts: as shown in Figure 1:

Among the figure, $[E\left(s\right)]=\left[\begin{array}{c}{E}_x\left(s\right)\\ E_y\left(s\right)\\ E_z\left(s\right)\end{array}\right],[H\left(s\right)]=\left[\begin{array}{c}{H}_x\left(s\right)\\ H_y\left(s\right)\\ H_z\left(s\right)\end{array}\right],$ Wherein the input quantity of model [H (s)] is the three-dimensional head anglec of rotation, and the output quantity of model [E (s)] is the three-dimensional rotation angle of eyeball, T _vBe the time constant of vestibular receptor, T _nBe the time constant of neural integrator, T _eBe the time constant of extraocular muscle, the cynapse transmission gain that the nerve fibre of head rate signal is transmitted in the symbol representative.According to Physiology Experiment data, T _v=16 seconds, T _n=25 seconds, T _e=0.24 second, α=0.9～1.

Output with the transport function of input is among the figure: $G\left(s\right)=\frac{\mathrm{\α}{T}_n{T}_v{s}^2}{(T_{n}s+1)(T_{v}s+1)}---\left(1\right)$

Among the present invention, the three-dimensional head anglec of rotation is corresponding to the three-dimensional rotation angle of aircraft, and the three-dimensional rotation angle of eyeball is corresponding to the anglec of rotation of scouting platform.

When system's input quantity is the angular velocity of rotation of aircraft, output quantity is to scout the angular velocity of rotation of platform, and then output is identical with transport function and the following formula imported.

When system's input quantity is the rotating angular acceleration of aircraft, output quantity is when scouting the angular velocity of rotation of platform, and when system's input quantity be the angular velocity of rotation of aircraft, output quantity is when scouting the anglec of rotation of platform, output with the transport function of input is:

$G_2\left(s\right)=\frac{\mathrm{\α}{T}_n{T}_{v}s}{(T_{n}s+1)(T_{v}s+1)}---\left(2\right)$

When system's input quantity is the rotating angular acceleration of aircraft, output quantity is when scouting the anglec of rotation of platform, and output with the transport function of input is:

$G_3\left(s\right)=\frac{\mathrm{\α}{T}_n{T}_v}{(T_{n}s+1)(T_{v}s+1)}---\left(3\right)$

Select corresponding transport function for use according to sensors different in the system, finish the program of single-chip microcomputer, can calculate required controlled quentity controlled variable, send to motor.

The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: the aerial reconnaissance platform stable control method of the present invention's design is to utilize the vestibular oculomotor reflex control system mathematical model of human eye to control computing, simple, the easy row of its method, as long as accepting sensing data, single-chip microcomputer will carry out simple operation according to the program of finishing automatically, just can control the motor of scouting platform rotates by corresponding direction with certain speed or angle, the attitude of real-Time Compensation aircraft changes, and the optical axis that keeps platform is in fixing direction.

Description of drawings

Fig. 1 is the mathematical model of the vestibular oculomotor reflex control system of human eye.

Fig. 2 is the operational flowchart of the inventive method control aerial reconnaissance platform stable.

Fig. 3 is an application examples unmanned vehicle vision track mobile surface targets system schematic of the present invention.

Embodiment

Details are as follows in conjunction with the accompanying drawings for a preferred embodiment of the present invention:

Referring to Fig. 2, this aerial reconnaissance platform stable control method based on the vestibular oculomotor reflex is to adopt the vestibular oculomotor reflex control system mathematical model of human eye to control computing, to obtain the stable of aerial reconnaissance platform; Its operation steps is as follows:

(1) airborne sensor is measured: measure the rotation parameter of orientation, the pitching of aircraft and three directions of rolling respectively, they are angle or angular velocity or angular acceleration;

(2) A/D conversion: the continuous analog signal that sensor is obtained obtains digital signal after by the A/D conversion;

(3) digital filtering: the digital signal that samples is smoothly processed, strengthen useful signal, eliminate or the minimizing noise;

(4) scale conversion: carry out the demarcation of sensor, the value that the charge value that sensor is recorded is converted to corresponding measurand is the rotation parameter value of aircraft;

(5) control computing: the rotation parameter value of the aircraft of acquisition, use human eye vestibular oculomotor reflex control system mathematical model by single-chip microcomputer and control computing, obtain angle or the speed and the direction of the required rotation of The Cloud Terrace compensation aircraft three direction attitude angle displacement.

Above-mentioned human eye vestibular oculomotor reflex control system mathematical model is: output with the transport function of input is:

$G\left(s\right)=\frac{\mathrm{\α}{T}_n{T}_v{s}^2}{(T_{n}s+1)(T_{v}s+1)}$

In the formula: T _v=16 seconds, T _n=25 seconds, α=0.9～1.

Referring to Fig. 3, present embodiment is applied to unmanned vehicle and carries out vision track on a surface target, and system partly is made up of aerial part and land station, and aerial part comprises unmanned vehicle and mobile system, land station partly receives and shows the tracking scene, and is responsible for handling aerial part.Unmanned vehicle is the microminiature rotor craft of Shanghai arrow micro-electromechanical technology company limited development, and model is SUAV-X160.

Because gyrostatic sample frequency than high many of magnetic compass, helps improving the real-time that the attitude of scouting platform compensation aircraft changes.So this example adopts the SMD piezoelectric shock rate-of-turn gyroscope of the ENC-03M type of Japanese Murata company to measure the angular velocity of aircraft, two gyroscopes are measured the orientation of aircraft and the angular velocity of pitching both direction respectively.

Adopt the C8051F020 single-chip microcomputer of U.S. Cygnal company to carry out A/D conversion, digital filtering, scale conversion and control computing, obtain speed and direction that The Cloud Terrace need rotate after the computing, The Cloud Terrace is carried out speed control, in time compensate the attitude angle displacement of aircraft.

Scout the two-dimensional pan-tilt VC-C50iR that platform adopts Japanese Cannon company, two sense of rotation of orientation and pitching are arranged.

This control method is used for the control of said system, and is respond well, can compensate aircraft flight well or hover in because the attitude deflection that self instability causes remains the optical axis in fixing target.

Claims (3)

1. the aerial reconnaissance platform stable control method based on the vestibular oculomotor reflex is characterized in that adopting the vestibular oculomotor reflex control system mathematical model of human eye to control computing, to obtain the stable of aerial reconnaissance platform; Its operation steps is as follows:

(1) airborne sensor is measured: measure the rotation parameter of orientation, the pitching of aircraft and three directions of rolling respectively, they are angle or angular velocity or angular acceleration;

(2) A/D conversion: the continuous analog signal that sensor is obtained obtains digital signal after by the A/D conversion;

(3) digital filtering: the digital signal that samples is smoothly processed, strengthen useful signal, eliminate or the minimizing noise;

(4) scale conversion: carry out the demarcation of sensor, the value that the charge value that sensor is recorded is converted to corresponding measurand is the rotation parameter value of aircraft;

(5) control computing: the rotation parameter value of the aircraft of acquisition, use human eye vestibular oculomotor reflex control system mathematical model by single-chip microcomputer and control computing, obtain angle or the speed and the direction of the required rotation of The Cloud Terrace compensation aircraft three direction attitude angle displacement.

2. the aerial reconnaissance platform stable control method based on the vestibular oculomotor reflex according to claim 1, it is characterized in that in the described step (2) in A/D conversion, the step (3) controlling computing in the scale conversion and step (5) in digital filtering, the step (4), all in the same single-chip microcomputer that has an A/D converter, carry out.

3. the aerial reconnaissance platform stable control method based on the vestibular oculomotor reflex according to claim 1 is characterized in that described human eye vestibular oculomotor reflex control system mathematical model is: output with the transport function of input is:

$G\left(s\right)=\frac{\mathrm{\α}{T}_n{T}_v{s}^2}{(T_{n}s+1)(T_{v}s+1)}$

In the formula: T _v=16 seconds, T _n=25 seconds, α=0.9～1.

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