CN212539198U - Device for stabilizing attitude of remote sensing equipment and acquiring external orientation elements of remote sensing equipment - Google Patents
Device for stabilizing attitude of remote sensing equipment and acquiring external orientation elements of remote sensing equipment Download PDFInfo
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- CN212539198U CN212539198U CN202022007157.0U CN202022007157U CN212539198U CN 212539198 U CN212539198 U CN 212539198U CN 202022007157 U CN202022007157 U CN 202022007157U CN 212539198 U CN212539198 U CN 212539198U
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Abstract
The utility model provides a device for stabilizing the attitude of remote sensing equipment and obtaining the external orientation elements thereof, in the device, a gyro stabilizing platform is fixedly connected with a remote sensing airplane; the IMU is fixedly connected with the remote sensing equipment; the GNSS antenna is fixedly connected with the top of the remote sensing airplane; the positioning and orienting system is fixedly connected with the equipment cabinet; the control terminal is fixedly connected with the equipment cabinet; the IMU is connected with the positioning and orientation system through a data cable; the remote sensing equipment is connected with the gyro stabilization platform, the industrial personal computer and the positioning and orientation system through data cables; the gyro stable platform is connected with the positioning and orienting system through a data cable; and the control terminal is connected with the gyro stabilizing platform and the positioning and orienting system through a data cable. The utility model discloses a unified control terminal control top stabilized platform and location orientation system make the remote sensing equipment in the directional and course of stable visual axis operation and acquire the external orientation element at remote sensing equipment photography center to improve remote sensing flight efficiency, improve remote sensing image quality and precision, alleviateed operation personnel's working strength.
Description
Technical Field
The utility model belongs to a remote sensing device, concretely relates to stabilize remote sensing equipment gesture and acquire its external orientation element's device.
Background
When the remote sensing equipment works on an airplane, the whole system is always in a motion state due to the influence of airflow and the airplane body, and if a gyro stabilizing platform is not provided for providing a stable environment for the remote sensing equipment, the remote sensing equipment works in a stable visual axis direction and a stable course direction, the period of aerial remote sensing is increased, and difficulty is caused for later data processing; if no positioning and orientation system provides high-precision position and attitude data for the remote sensing equipment, the precision of aerial remote sensing is reduced, and the difficulty of later-stage data processing is increased. In addition, the gyro stabilizing platform, the positioning and orientation system and the remote sensing equipment are three different kinds of equipment and need to be operated separately, and if the operation process cannot be simplified by adopting a method, the operation difficulty of operators is increased, and the condition of manual and foot disorder occurs, so that the operation quality of the remote sensing machine is influenced.
SUMMERY OF THE UTILITY MODEL
To prior art problem, the utility model provides a stabilize remote sensing equipment gesture and acquire its external orientation element's device for at least part is solved one of above-mentioned technical problem.
The utility model provides a stabilize remote sensing equipment gesture and acquire device of its external orientation element, include: the system comprises a remote sensing airplane, a gyro stabilization platform, a remote sensing device, an equipment cabinet, an industrial personal computer, a positioning and orientation system, a GNSS antenna, an IMU and a control terminal; the gyro stabilizing platform is fixedly connected with a down-looking remote sensing window of the remote sensing airplane; the remote sensing equipment is fixedly connected with the gyro stable platform; the IMU is fixedly connected with the remote sensing equipment; the GNSS antenna is fixedly connected with the top of the remote sensing airplane; the positioning and orienting system is fixedly connected with the equipment cabinet; the control terminal is fixedly connected with the equipment cabinet; the industrial personal computer is fixedly connected with the equipment cabinet; the equipment cabinet is fixedly connected with the floor of the remote sensing airplane; the GNSS antenna is connected with the positioning and orientation system through a data cable; the IMU is connected with the positioning and orientation system through a data cable; the remote sensing equipment is connected with the industrial personal computer through a data cable; the remote sensing equipment is connected with the positioning and orientation system through a data cable; the gyro stable platform is connected with the positioning and orienting system through a data cable; the control terminal is connected with the gyro stabilizing platform through a data cable; the control terminal is connected with the positioning and orienting system through a data cable;
the gyro stabilizing platform and the positioning and orientation system are used for controlling the attitude of the remote sensing equipment, wherein the stable attitude of the remote sensing equipment is controlled by the gyro stabilizing platform and the positioning and orientation system to enable the remote sensing equipment to be vertical to the sea level and downwards to carry out ground remote sensing observation without being influenced by the angular motion of the remote sensing aircraft;
the gyro stabilization platform comprises a current loop control system, a rate loop control system and a position loop control system;
wherein, the current loop generates armature current negative feedback by a current sensor; the rate loop takes a rate gyroscope as a rate sensor and is used for isolating disturbance; the position loop is a main loop of the control system, and the IMU is used as a position sensor, so that the remote sensing load always tracks the posture of a navigation coordinate system;
the transfer function of the current loop control system is generated by a proportional parameter of a current compensator, a model function of a PWM power amplifier and a model function of a torque motor; wherein the proportional parameter of the current compensator is KipThe model function of the PWM power amplifier is
Said forceThe model function of the torque motor is
According to the input of slave current IinTo the current output IoutClosed loop transfer function of (1):
realizing current loop control, wherein KPWMIs the amplification factor, T, of the PWM power amplifierPWMIs the switching period, K, of the PWM power amplifiermIs the model parameter armature winding transconductance, T, of the torque motoreIs the electromagnetic time constant, s is the differential operator;
wherein, the transfer function of the speed loop control system is generated by the model function of the speed compensator, the equivalent value of the current loop, the transmission ratio of the transmission mechanism and the rotational inertia calculation of the frame; wherein the model function of the rate compensator is
The equivalent value of the current loop is equivalent to a proportion link 1, and the transmission ratio of the transmission mechanism is KTThe moment of inertia of the frame is
According to the rate loop open loop transfer function:
implementing rate loop control, wherein KωpIs a proportional parameter of the rate compensator, tauωpIs the integration time constant of the rate compensator;
wherein the transfer function of the position loop control system is calculated by the proportional parameter of the position compensator, the closed-loop transfer function of the speed loop and an integral operatorForming; the proportional parameter of the position compensator is KθpThe closed loop transfer function of the velocity loop is
The integral operator is
According to the position loop open loop transfer function:
implementing position loop control, wherein TωIs a time constant;
the exterior orientation element of the remote sensing equipment refers to the position (X) of the photographing center of the remote sensing equipment at the moment of exposure in the imaging coordinate systems，YS，ZS) And the rotation angle (phi, omega, kappa) from the imaging coordinate system to the image space coordinate system;
the position and orientation system is also used for outputting WGS84 rectangular coordinates (X) of IMU originIMU，YIMU，ZIMU) And the roll angle phi, the pitch angle theta and the yaw angle psi of the remote sensing airplane.
Optionally, the gyro-stabilized platform comprises a roll frame, a pitch frame, a yaw frame, at least 3 torque motors, a roll rate gyro, a pitch rate gyro, a yaw rate gyro, a roll accelerometer, a pitch accelerometer, a roll resolver, a pitch resolver, and a yaw resolver; wherein the roll frame, the pitch frame and the yaw frame are respectively driven by at least 3 torque motors; the remote sensing equipment is arranged on the rotary deviation frame, and the posture change of the remote sensing equipment is the same as that of the rotary deviation frame; the IMU is used for measuring an attitude angle of the remote sensing equipment and providing an attitude reference for the gyro stable platform; the roll rate gyro, the pitch rate gyro and the yaw rate gyro are respectively used for measuring the angular rates of the roll frame, the pitch frame and the yaw frame; the roll accelerometer and the pitch accelerometer are used for measuring a horizontal attitude angle of the gyro stabilization platform and providing a horizontal attitude reference for the gyro stabilization platform; the roll rotary transformer, the pitch rotary transformer and the rotation deviation rotary transformer are respectively used for measuring relative rotation angles among the roll frame, the pitch frame and the rotation deviation frame and providing compensation angle information for the remote sensing equipment; when the remote sensing aircraft generates roll, pitch and yaw motions, a base of the gyro stabilizing platform fixedly connected with the remote sensing aircraft respectively applies roll, pitch and yaw angular motions to the roll frame, the pitch frame and the yaw frame through a bearing of the roll frame, a bearing of the pitch frame and a bearing of the yaw frame, the IMU is used for measuring roll, pitch and yaw attitudes of the remote sensing load, and the gyro stabilizing platform generates control signals according to attitude reference input and attitudes measured by the IMU to drive the at least 3 torque motors so as to generate reaction torque.
Optionally, the data cable includes a positioning and orientation system one-to-five data cable a, a one-to-four transit cable B between the positioning and orientation system and the gyro stabilization platform, a gyro stabilization platform control cable C, a data cable D of the control terminal control gyro stabilization platform, a transit cable E between the positioning and orientation system and the remote sensing device, a remote sensing device one-to-two data cable F, a data cable G between the GNSS antenna and the positioning and orientation system, and a data cable H between the IMU and the positioning and orientation system; one end a1 of a five-in-one data cable A of the positioning and orientation system is connected with the positioning and orientation system, and the other five ends comprise a first COM2 serial port end a2, a first COM3 serial port end a3, a first second pulse BNC interface end a4, an Ethernet port end a5 and a digital input/output serial port end a 6; one end B1 of a four-in-one switching cable B between the positioning and orientation system and the gyro stabilization platform is connected with a third serial port end C1 of a control cable C of the gyro stabilization platform, and the other four ends comprise a second COM2 serial port end B2, a second COM3 serial port end B3, a second pulse BNC interface end B4 and an FMS serial port end B5 which are respectively connected with a first COM2 serial port end a2, a first COM3 serial port end a3, and a first second pulse BNC interface end a4 is connected with an RS-232 serial port end D1 of the data cable D; the control end C2 of the gyro stabilization platform control cable C is connected with the gyro stabilization platform; the USB end D2 of the data cable D is connected with the control terminal; the Ethernet port end a5 is connected with the control terminal, and the digital input/output serial port end a6 is connected with a first serial port end E1 of a patch cable E between the positioning and orientation system and the remote sensing equipment; one end F1 of a remote sensing device divided into two data cables F is connected with the remote sensing device, the other two ends of the remote sensing device comprise a second BNC interface end F2 and a second serial port end F3, the second BNC interface end E2 of a transfer cable E between the positioning and orientation system and the remote sensing device is connected with the industrial personal computer, the first TNC interface end G1 of a data cable G between the GNSS antenna and the positioning and orientation system is connected with the positioning and orientation system, the second TNC interface end G2 of the data cable G between the IMU and the positioning and orientation system is connected with the GNSS antenna, one end H1 of a data cable H between the IMU and the positioning and orientation system is connected with the positioning and orientation system, and the other end H2 of the data cable H between the IMU and the positioning and orientation system is connected with.
Optionally, four corners of the bottom of the equipment cabinet are fixedly connected with seat ground rails on the remote sensing airplane floor; the equipment cabinet is provided with three layers of aluminum plates which are sequentially and respectively fixedly connected with the industrial personal computer, the positioning and orienting system and the control terminal; the two sides of the equipment cabinet are respectively provided with an aluminum plate, the first side aluminum plate is provided with 6 round holes, the second side aluminum plate is provided with 2 round holes, the round holes are used for inserting, fixing and isolating the data cables between the equipment, the distance between the adjacent round holes is 2 times of the diameter of the round holes,
wherein, the data cable that 6 round holes on the aluminum plate of first side correspond is respectively:
a cable to which the ethernet port a5 is connected with the control terminal;
a cable to which the first second pulse BNC interface end a4 is connected with the second pulse BNC interface end b 4;
a cable connecting the first COM3 serial-end a3 with the COM3 serial-end b 3;
a cable connecting the first COM2 serial-end a2 with the second COM2 serial-end b 2;
the digital input/output serial port end a6 is connected with the first serial port end e1, and the first BNC interface end e2 is connected with the second BNC interface end f 2;
the second serial port end f3 is connected with the industrial personal computer;
wherein, the data cable that 2 round holes on the second side aluminum plate correspond is respectively:
a data cable G between the GNSS antenna and the positioning and orientation system and a data cable H between the IMU and the positioning and orientation system.
Optionally, the remote sensing device, the gyro stabilizing platform, the industrial personal computer, the positioning and orienting system and the control terminal are all provided with grounding devices for preventing static electricity from damaging the device; the grounding device includes: the device comprises a screw, a nut, a plurality of nuts, a stainless steel supporting belt and a grounding lead, wherein the nut is arranged at the upper part of the screw, the plurality of nuts are arranged in the middle of the screw, one end of the grounding lead is fixed among the plurality of nuts and is in contact with the screw, the screw is fixed on the industrial personal computer, the positioning and orienting system and the control terminal, and the other end of the grounding lead is fixed on a ground rail; and two ends of the stainless steel supporting belt are respectively provided with an annular sleeve, wherein one end of the annular sleeve is fixed at the bottom of the screw cap, and the other end of the annular sleeve is fixed at the lower part of the screw rod.
Owing to adopted above technical scheme, the utility model has the advantages of:
1. the utility model discloses through control terminal simultaneous control top stabilized platform and location orientation system at the flight in-process, simplified the operation flow, by three kinds of different equipment such as needs operation top stabilized platform, location orientation system and remote sensing equipment respectively, become two kinds of different equipment such as difference operation control terminal and remote sensing equipment, alleviateed operating personnel's the operation degree of difficulty, avoid appearing the condition in disorder of hand and foot to guarantee the quality of operation on the remote sensing machine.
2. The utility model discloses make remote sensing equipment can obtain the external orientation element at remote sensing equipment photography center simultaneously at the directional and operation in the course of stable visual axis to improve aerial remote sensing's efficiency, improve remote sensing data quality and precision, alleviateed earlier stage and later stage operation personnel's working strength.
3. The utility model discloses set up the round hole on equipment rack and be used for interlude, fixed and keep apart the data cable between the equipment, guarantee that the data cable can not the adhesion be in the same place, prevent that the data cable from interfering mutually.
4. The utility model discloses an equipment mounting has earthing device for prevent that static from causing the damage to equipment.
Drawings
FIG. 1 schematically illustrates a connection structure diagram of an apparatus for stabilizing the attitude of a remote sensing device and obtaining its external orientation elements, in accordance with an embodiment of the present invention;
fig. 2 schematically shows a block diagram of a grounding device according to the invention;
fig. 3 schematically shows a data processing flow chart according to an embodiment of the present invention.
[ reference numerals ]
1-screw, 2-nut, 3-several nuts, 4-stainless steel supporting band, 5-grounding lead, 6, equipment cabinet and 7-remote sensing equipment;
a-a one-to-five data cable of a positioning and orientation system, B-a one-to-four switching cable between the positioning and orientation system and a gyro stabilization platform, a C-gyro stabilization platform control cable, a D-control terminal control data cable of the gyro stabilization platform, an E-switching cable between the positioning and orientation system and a remote sensing device, an F-remote sensing device one-to-two data cable, a data cable between a G-GNSS antenna and the positioning and orientation system, and a data cable between an H-IMU and the positioning and orientation system;
a 1-one-five data cable A end of the positioning and orientation system, a 2-first COM2 serial port end, a 3-first COM3 serial port end, a 4-first second pulse BNC interface end, a 5-Ethernet port end, a 6-digital input and output serial port end; b1-one end of a four-in-one transit cable B between the positioning and orientation system and the gyro stabilization platform, B2-a second COM2 serial port end, B3-a second COM3 serial port end, B4-a second pulse BNC interface end, B5-FMS serial port end, c 1-a first serial port end, c 2-a control end and d1-RS-232 serial port end; d 2-a USB end, e 1-a first serial port end, e 2-a first BNC interface end, F1-a second data cable F end of the remote sensing equipment, F2-a second BNC interface end, F3-a second serial port end, g 1-a first TNC interface end, g 2-a second TNC interface end, H1-a data line H end between the IMU and the positioning and orientation system, and H2-a data line H end between the IMU and the positioning and orientation system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings.
The embodiment of the utility model provides a stabilize remote sensing equipment gesture and acquire device of its external orientation element, refer to fig. 1, the device includes the remote sensing aircraft, and top stabilized platform, remote sensing equipment, equipment rack, industrial computer, location orientation system, GNSS antenna, IMU, and control terminal (for example can select desktop computer, notebook computer etc.). The gyro stabilization platform is fixedly connected with a down-looking remote sensing window of the remote sensing airplane, the remote sensing equipment is fixedly connected with the gyro stabilization platform, and the IMU is fixedly connected with the remote sensing equipment; the remote sensing system comprises a GNSS antenna, a positioning and orientation system, an equipment cabinet, a control terminal, an industrial personal computer, an equipment cabinet, an aircraft floor, a data cable, a positioning and orientation system, an IMU (inertial measurement Unit) and a gyroscope stabilization platform, wherein the GNSS antenna is fixedly connected with the top of the remote sensing aircraft, the positioning and orientation system is fixedly connected with the equipment cabinet, the control terminal is fixedly connected with the equipment cabinet, the industrial personal computer is fixedly connected with the equipment cabinet, the equipment cabinet is fixedly connected with the aircraft floor, the GNSS antenna is connected with the positioning and orientation system through the data cable, the IMU is connected with the positioning and orientation system through the data cable, the remote sensing equipment is.
The gyro stabilizing platform and the positioning and orientation system are used for controlling the attitude of the remote sensing equipment, wherein the attitude of the remote sensing equipment is stabilized by enabling the remote sensing equipment to be perpendicular to the sea level and downwards to carry out remote sensing observation on the ground through the gyro stabilizing platform and the positioning and orientation system without being influenced by the angular motion of the airplane.
The gyro stabilization platform comprises a current loop control system, a rate loop control system and a position loop control system.
The current loop generates armature current negative feedback by a current sensor so as to reduce the influence of power supply voltage fluctuation, improve the linearity of control torque, realize stable control on current and prevent the current from sudden change. The rate loop takes a rate gyroscope as a rate sensor, and is used for isolating disturbance, ensuring the rapidity of system response and keeping the load inertia space stable. The position loop is a main loop of the control system, and the IMU is used as a position sensor, so that the remote sensing load always tracks the posture of the navigation coordinate system.
The transfer function of the current loop control system is generated by calculation of a proportional parameter of a current compensator, a model function of a PWM power amplifier and a model function of a torque motor. Wherein the proportional parameter of the current compensator is KiThe model function of the PWM power amplifier is
The model function of the torque motor is
According to the input of slave current IinTo the current output IoutClosed loop transfer function of (1):
realizing current loop control, wherein KPWMIs the amplification factor, T, of the PWM power amplifierPWMIs the switching period, K, of the PWM power amplifiermIs the model parameter armature winding transconductance, T, of a torque motoreIs the electromagnetic time constant and s is the differential operator.
The transfer function of the speed loop control system is generated by calculating a model function of the speed compensator, an equivalent value of a current loop, a transmission ratio of a transmission mechanism and the rotational inertia of the frame; the model function of the rate compensator is
The equivalent value of the current loop is equivalent to a proportion link 1, and the transmission ratio of the transmission mechanism is KTThe moment of inertia of the frame is
According to the rate loop open loop transfer function:
implementing rate loop control, wherein KωpIs a proportional parameter of the rate compensator, tauωpIs the integration time constant of the rate compensator.
The transfer function of the position loop control system is generated by calculation of a proportional parameter of the position compensator, a closed-loop transfer function of the speed loop and an integral operator. Wherein the proportional parameter of the position compensator is KθpThe closed loop transfer function of the rate loop is
The integral operator is
According to the position loop open loop transfer function:
implementing position loop control, wherein TωIs a time constant.
The exterior orientation element of the remote sensing device refers to the position (X) of the photographing center of the remote sensing device in the imaging coordinate system at the moment of exposures，YS，ZS) And the rotation angle (phi, omega, kappa) of the imaging coordinate system to the imaging space coordinate system.
The WGS84 rectangular coordinate (X) of IMU origin can be output by the positioning and orientation systemIMU，YIMU，ZIMU) And roll angle of aircraftΦ, pitch angle Θ, and yaw angle Ψ.
The utility model discloses an in the embodiment, top stabilized platform can contain the roll frame, the every single move frame, revolves inclined to one side frame, 3 at least torque motors, roll rate top, pitch rate top revolves inclined to one side rate top, the roll accelerometer, the pitch accelerometer, roll resolver, every single move resolver and revolve inclined to one side resolver. Wherein, roll frame, every single move frame, revolve the frame to incline and is driven by 3 at least torque motor respectively. The remote sensing equipment is arranged on the rotary deviation frame, and the posture change of the remote sensing equipment is the same as that of the rotary deviation frame. The IMU is used for measuring the attitude angle of the remote sensing equipment and providing an attitude reference for the gyro stable platform. And the roll rate gyroscope, the pitch rate gyroscope and the yaw rate gyroscope are respectively used for measuring the angular rates of the roll frame, the pitch frame and the yaw frame. And the roll accelerometer and the pitch accelerometer are used for measuring the horizontal attitude angle of the gyro stabilization platform and providing a horizontal attitude reference for the gyro stabilization platform. The roll rotary transformer, the pitch rotary transformer and the rotary deflection rotary transformer are respectively used for measuring relative rotation angles among the roll frame, the pitch frame and the rotary deflection frame and providing compensation angle information for remote sensing equipment.
When the remote sensing aircraft generates roll, pitch and yaw motions, a gyro stabilizing platform base fixedly connected with the aircraft respectively acts the roll, pitch and yaw angular motions on a roll frame, a pitch frame and a yaw frame through a roll frame bearing, a pitch frame bearing and a yaw frame bearing, the IMU can measure the roll, pitch and yaw attitudes of the remote sensing load, and the gyro stabilizing platform generates control signals to drive 3 torque motors according to attitude reference input and the attitudes measured by the IMU to generate reaction torque, so that the remote sensing load attitude is kept stable.
The utility model discloses an embodiment, the data cable is equipped with 8 types altogether, forms the wiring route of mutual noninterference. The 8 types of data cables can comprise a one-to-five data cable A of the positioning and orientation system, a one-to-four switching cable B between the positioning and orientation system and the gyro stabilization platform, a control cable C of the gyro stabilization platform, a data cable D of the control terminal control gyro stabilization platform, a switching cable E between the positioning and orientation system and the remote sensing equipment, a one-to-two data cable F of the remote sensing equipment, a data cable G between the GNSS antenna and the positioning and orientation system, and a data cable H between the IMU and the positioning and orientation system.
One end a1 of a five-in-one data cable A of the positioning and orientation system is connected with the positioning and orientation system, and the other five ends comprise a first COM2 serial port end a2, a first COM3 serial port end a3, a first second pulse BNC interface end a4, an Ethernet port end a5 and a digital input/output serial port end a 6.
One end B1 of a four-in-one switching cable B between the positioning and orientation system and the gyro stabilization platform is connected with a third serial port end C1 of a gyro stabilization platform control cable C, and the other four ends comprise a second COM2 serial port end B2, a second COM3 serial port end B3, a second pulse BNC interface end B4 and an FMS serial port end B5 which are respectively connected with a first COM2 serial port end a2, a first COM3 serial port end a3, a first second pulse BNC interface end a4 and an RS-232 serial port end D1 of a data cable D. And the control end C2 of the gyro stabilization platform control cable C is connected with the gyro stabilization platform. The USB end D2 of the data cable D is connected with the control terminal; the Ethernet port end a5 of a five-in-one data line A of the positioning and orientation system is connected with a control terminal, and the digital input/output serial port end a6 is connected with the first serial port end E1 of a switching cable E between the positioning and orientation system and the remote sensing equipment; one end F1 of a remote sensing device divided into two data cables F is connected with the remote sensing device, the other two ends of the remote sensing device comprise a second BNC interface end F2 and a second serial port end F3, the second BNC interface end E2 and the industrial personal computer are respectively connected with a transit cable E between the positioning and orientation system and the remote sensing device, a first TNC interface end G1 of a data cable G between the GNSS antenna and the positioning and orientation system is connected with the positioning and orientation system, a second TNC interface end G2 is connected with the GNSS antenna, one end H1 of a data line H between the IMU and the positioning and orientation system is connected with the positioning and orientation system, and the other end H2 of the data line H between the IMU and the positioning and orientation system is connected with the IMU.
The utility model discloses an in the embodiment, equipment rack bottom four corners links firmly with the seat ground rail on the remote sensing aircraft floor. The equipment cabinet is provided with three layers of aluminum plates which are fixedly connected with the industrial personal computer, the positioning and orienting system and the control terminal respectively from bottom to top. Aluminum plate is respectively installed to the equipment rack left and right sides, is provided with 6 round holes on first aluminum plate (left side aluminum plate), is provided with 2 round holes on second aluminum plate (right side aluminum plate), and the round hole is used for interlude, fixed and the data cable between the isolation device, and the distance between the adjacent round hole is 2 times of round hole diameter.
Wherein, the data cable that 6 round holes on the aluminum plate of left side correspond is respectively: a cable connecting the ethernet port a5 with a control terminal; a cable to which the first second pulse BNC interface end a4 is connected with the second pulse BNC interface end b 4; a cable connecting the first COM3 serial-end a3 with the COM3 serial-end b 3; a cable connecting the first COM2 serial-end a2 with the second COM2 serial-end b 2; a cable with a digital input/output serial port end a6 connected with a first serial port end e1, and a first BNC interface end e2 connected with a second BNC interface end f 2; and the second serial port end f3 is connected with a cable of the industrial personal computer. The data cable that 2 round holes on the second side aluminum plate correspond is respectively: a data cable G between the GNSS antenna and the positioning and orientation system and a data cable H between the IMU and the positioning and orientation system. The arrangement of the round holes can ensure that the data cables are not adhered together, and the data cables are prevented from interfering with each other.
The utility model relates to an embodiment, earthing device is all installed to remote sensing equipment, top stabilized platform, industrial computer, location orientation system and control terminal for prevent that static from causing the damage to equipment. As shown in fig. 2, the grounding device may include, for example: screw rod 1, nut 2, a plurality of nut 3, stainless steel support band 4, ground lead 5. Nut 2 is installed on 1 upper portion of screw rod, a plurality of nut 3 is installed at 1 middle part of screw rod, 5 one ends of ground lead are fixed between a plurality of nut 3, with 1 contact of screw rod, screw rod 1 is fixed at the industrial computer, location orientation system and control terminal are last, the 5 other ends of ground lead are fixed on the ground rail, the stainless steel support, 4 both ends all are equipped with the annular cover, wherein, the upper end annular cover is fixed in nut 2 bottom, lower extreme annular cover is fixed in screw rod 1 lower part, when installation or dismantlement, stainless steel support area 4 can prevent that a plurality of nut 3 from droing, nut 2 can conveniently hand the installation or dismantle.
The embodiment of the utility model provides a stabilize the remote sensing equipment gesture and acquire its outside position element device that provides to above-mentioned embodiment, the embodiment of the utility model provides a control method still is provided for control top stabilized platform. The control terminal is provided with a Windows operating system, and the gyro stable platform control software is installed in the Windows operating system. As shown in fig. 3, the control method may include: 1) The control terminal and the gyro-stabilized platform are connected using a data cable D. Specifically, the USB end D2 of the data cable D is connected to the control terminal, the RS-232 serial port end D1 of the data cable D is connected to the FMS serial port end B5 of the adaptor cable B, the FMS serial port end B5 of the adaptor cable B is connected to the third serial port end C1 of the control cable C, and the control end C2 of the control cable C is connected to the gyro stabilization platform.
2) And opening a computer management program of the control terminal, and clicking the equipment manager.
3) Click "port: COM and LPT ".
4) Find USB to serial communication port: COMn, n is 1, 2, 3 … ….
5) And (3) opening the gyro stabilization platform control software and clicking communication setting.
6) In the communication setting, the COM port is selected as the COMn in step 4.
7) Click "function settings".
8) In the functional setting, angle parameters are set, wherein the range of the roll angle is: -7 ° - +7 °; the range of pitch angles is: -8 ° - +6 °; the range of the spin deflection angle is as follows: -30 ° - +30 °.
9) In the functional setting, the type of remote sensing device is selected.
10) In the functional setting, the pitch angle vertical offset is input. The vertical offset of the pitch angle is equal to the included angle between the plane of the gyro stable platform and the sea level in the flying process.
11) And after the setting is finished, the remote sensing aircraft enters a platform state, when the remote sensing aircraft is about to enter a flight route, the 'open stable platform' is clicked, and the gyro stable platform enters a self-adaptive control state and controls the remote sensing equipment to vertically shoot. At the moment, the gyro stabilization platform continuously sends gyro encoding data to the positioning and orientation system through a COM3 serial port end and a pulse-per-second BNC interface end; and when the remote sensing airplane finishes the air route, clicking to close the stable platform, returning the gyro stable platform to the original state and stopping controlling the remote sensing equipment.
12) And (5) closing the gyro stable platform control software after finishing all the routes according to the method in the step 11.
The embodiment of the utility model provides a stabilize the remote sensing equipment gesture and acquire its outside position element device that provides to above-mentioned embodiment, the embodiment of the utility model provides a control method still is provided for control location orientation system. The control terminal is provided with a Windows operating system, and the positioning and orientation system control software is installed in the Windows operating system. As shown in fig. 3, the control method may include:
1) connecting the control terminal with the positioning and orientation system using a data cable a: the ethernet port a5 of the data cable a is connected to the control terminal.
2) Opening a network and a sharing center of the control terminal, clicking local connection, clicking attribute, double clicking Internet protocol version 4: TCP/IPv4, set IP address 129.100.0.25, subnet mask 255.255.0.0.
3) And opening the control software of the positioning and orientation system, entering a setting interface, setting the IP address of the positioning and orientation system to be 129.100.0.100, and setting the subnet mask to be 255.255.0.0.
4) An IMU eccentricity component, a GNSS eccentricity component and an IMU placement angle are set.
5) Set RMS (root mean square translation is put in the specification, and cannot be bracketed here) precision: the attitude angle precision is 0.008-0.05 degree, the absolute azimuth angle precision is 0.008-0.05 degree, the position precision is 0.5-2 m, and the speed precision is 0.05-0.5 m/s.
6) Setting Event trigger rule: a Positive Edge Trigger (Positive Edge Trigger) is selected.
7) Setting a COM port: COM1 transmits GNSS data, the baud rate is 9600, the frequency is 1 Hz; the information receiver in the COM2 selects the PAST1 format, the baud rate is 38400, and the frequency is 20 Hz; the receiver of information in COM3 selects the P30_ GIM Encoder Input format, with a baud rate of 38400 and a frequency of 1 Hz.
Here, the PAST1 is 32 bytes of information, and includes information such as time, position, attitude, speed, and trajectory of the reference coordinate system.
Among them, P30_ GIM Encoder Input is composed of gyro Encoder angle data (Tx, Ty, Tz) for defining coordinate system conversion between the airplane and the ground. The gyroscope provides encoded data to the position and orientation system for computing dynamic eccentricity components of the GNSS antenna and IMU.
8) Setting data recording parameters: the type of data to be recorded is selected and the recording frequency is set to 50 Hz.
9) After the setting is finished, after the remote sensing aircraft takes off, starting a positioning and orientation system, observing information of a navigation mode, an IMU state, a GNSS receiver state, a gyro stable platform state, a memory card available space and the like of the system in control software, and if the navigation mode is in a calibration mode, the IMU state is normal, the GNSS receiver state is normal, the gyro stable platform state is normal, the memory card is in an idle state, and the memory card available space is more than 50%, judging that the system is normal; at the moment, the positioning and orientation system continuously sends angle element data to the gyro stabilization platform through the COM2 serial port end.
10) Observing the information of attitude angle precision, absolute azimuth angle precision, position precision and speed precision, and judging that the system precision is normal if the information meets the precision of the step 5).
11) And starting to record data, starting to acquire the exterior orientation element of the remote sensing equipment by the positioning and orientation system, stopping recording the data and closing the positioning and orientation system control software in the process of returning the airplane after all the air routes are flown.
Wherein, the relationship between the gyro stabilizing platform and the positioning and orientation system is as follows: the positioning and orientation system sends the data of the roll angle, the pitch angle and the spin-yaw angle isogonism elements to the gyro stabilization platform through the COM2 serial port end for correcting the angle error of the gyro stabilization platform, the gyro stabilization platform sends the gyro encoding data to the positioning and orientation system through the COM3 serial port end and the second pulse BNC interface end for calculating the dynamic eccentric components of the GNSS antenna and the IMU, the GNSS antenna does not need to be forcibly installed in the range within 10 cm from the remote sensing equipment photography center, and multiple choices are provided for the installation scheme of the GNSS antenna.
The embodiment of the utility model also provides a method for stabilizing the attitude of the remote sensing equipment and obtaining the external orientation elements thereof, wherein,WGS84 rectangular coordinates (X) of IMU origin output by positioning and orientation systemIMU，YIMU，ZIMU) And the roll angle Φ, pitch angle Θ, and yaw angle Ψ of the aircraft comprise:
according to the following formula:
the outer azimuth element (phi, omega, kappa) is solved. Wherein,
is a rotation matrix from the mapping coordinate system m to the geocentric coordinate system E,
is a rotation matrix from the geocentric coordinate system E to the local geographic coordinate system g,
is a rotation matrix of the local geographical coordinate system g to the IMU coordinate system b,
is a rotation matrix from the IMU coordinate system b to the telemetry device coordinate system c,
is a rotation matrix from the remote sensing device coordinate system c to the image space coordinate system i.
The origin of the image space coordinate system i is located at the image principal point, the x axis points to the flight direction, the y axis points to the left side of the image, and the z axis points to the upper direction.
The origin of the coordinate system c of the remote sensing equipment is positioned in the photographing center, the x axis points to the flight direction, the y axis points to the right side of the remote sensing equipment, and the z axis points downwards.
The origin of the IMU coordinate system b is located at the center of the IMU gyroscope, the x axis points to the flight direction, the y axis points to the right side of the airplane, and the z axis points downwards.
The local geographic coordinate system g is tangent to the reference ellipsoid, the x-axis points to the north, the y-axis points to the east, and the z-axis points to the down.
The origin of the geocentric coordinate system E is located at the center of the reference ellipsoid, the x axis points to the intersection point of the equator and the Greenwich mean, the y axis points to the intersection point of the equator and the 90-degree mean, and the z axis points to the north pole;
the mapped coordinate system m is an arbitrary local right-hand coordinate system specified by the user.
According to the following formula:
solving out the exterior orientation line element (X)S，YS，ZS) Wherein (x)l，yl，zl) Is the eccentric component of the remote sensing device camera center in the IMU coordinate system and is a known value.
To this end, 6 external orientation elements of the remote sensing device, i.e. 3 line elements (X) are obtainedS，YS，ZS) And 3 corner elements (phi, omega, kappa).
The utility model discloses a computer remote control realizes functions such as linkage remote sensing equipment, remote sensing data transmission and remote sensing data real-time processing, can control a plurality of remote sensing equipment of different positions on the fixed point seat of aircraft, has avoided the danger of walking about in the air making a round trip, has ensured operator's safety, has saved backup, the time of handling data, can accomplish the remote sensing task fast, improves aviation remote sensing efficiency.
The embodiment of the utility model provides a device and method can accomplish the remote sensing monitoring task faster more stably than traditional unmanned aerial vehicle aerial remote sensing, can obtain two kind at least achievements: 1) remote sensing data of multiple sources; 2) and (4) processing the remote sensing data result in real time. Therefore, the working efficiency of the device is improved.
The embodiment of the utility model provides an in, remote sensing equipment includes the equipment of different functions such as high resolution linear array digital aerial camera, high resolution area array digital aerial camera, multi-mode digital aerial camera, push away broom-type hyperspectral imager, three-dimensional laser radar.
The gyro stable platform is called a gyro platform and an inertial platform for short, and is a device for keeping the platform body of the platform stable in direction by utilizing the characteristics of a gyroscope.
The Positioning and Orientation System (POS) integrates the dgps (differential gps) technology and the Inertial Navigation System (INS) technology, can acquire the spatial Position and three-axis attitude information of a moving object, and is widely applied to navigation and positioning of aircraft, ships and missiles.
The IMU is a device for measuring the three-axis attitude angle and acceleration of an object. Typical IMUs include a three-axis gyroscope and a three-axis accelerometer, and some 9-axis IMUs also include a three-axis magnetometer
The GNSS is called Global Navigation Satellite System (Global Navigation Satellite System), which refers to all Satellite Navigation systems in general, including Global, regional, and enhanced systems, such as GPS in the united states, Glonass in russia, Galileo in europe, and beidou Satellite Navigation System in china, and related enhanced systems, such as WAAS (wide area augmentation System) in the united states, EGNOS in europe (european geostationary Navigation overlay System), MSAS in japan (multi-functional transportation Satellite augmentation System), and the like, and also covers other Satellite Navigation systems to be built and later built.
PWM refers to pulse width modulation. The pulse width modulation is an analog control mode, and the bias of a transistor base electrode or an MOS tube grid electrode is modulated according to the change of corresponding load to change the conduction time of the transistor or the MOS tube, so that the change of the output of the switching voltage-stabilized power supply is realized
The TNC is an antenna interface.
BNC is a connector for coaxial cables.
FMS is an acronym for flight management system.
RS-232 is one of the commonly used serial communication interface standards, which was commonly established by the american association of Electronics and Industry Association (EIA) with bell systems, modem manufacturers, and computer terminal manufacturers in 1970, and is known as "technical standard for serial binary data exchange interface between Data Terminal Equipment (DTE) and Data Communication Equipment (DCE)".
COM is a serial communication port, called serial port for short.
The LPT is a line print terminal (line print terminal) for connecting a parallel communication port of a printer or a scanner.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes or variations led out by the technical scheme of the utility model are still in the protection scope of the utility model.
Claims (5)
1. An apparatus for stabilizing the attitude of a remote sensing device and obtaining its external orientation elements, comprising: the system comprises a remote sensing airplane, a gyro stabilization platform, a remote sensing device, an equipment cabinet, an industrial personal computer, a positioning and orientation system, a GNSS antenna, an IMU and a control terminal;
the gyro stabilizing platform is fixedly connected with a down-looking remote sensing window of the remote sensing airplane; the remote sensing equipment is fixedly connected with the gyro stable platform; the IMU is fixedly connected with the remote sensing equipment; the GNSS antenna is fixedly connected with the top of the remote sensing airplane; the positioning and orienting system is fixedly connected with the equipment cabinet; the control terminal is fixedly connected with the equipment cabinet; the industrial personal computer is fixedly connected with the equipment cabinet; the equipment cabinet is fixedly connected with the floor of the remote sensing airplane; the GNSS antenna is connected with the positioning and orientation system through a data cable; the IMU is connected with the positioning and orientation system through a data cable; the remote sensing equipment is connected with the industrial personal computer through a data cable; the remote sensing equipment is connected with the positioning and orientation system through a data cable; the gyro stable platform is connected with the positioning and orienting system through a data cable; the control terminal is connected with the gyro stabilizing platform through a data cable; the control terminal is connected with the positioning and orienting system through a data cable;
the gyro stabilizing platform and the positioning and orientation system are used for controlling the attitude of the remote sensing equipment, wherein the stable attitude of the remote sensing equipment is controlled by the gyro stabilizing platform and the positioning and orientation system to enable the remote sensing equipment to be vertical to the sea level and downwards to carry out ground remote sensing observation without being influenced by the angular motion of the remote sensing aircraft;
the gyro stabilization platform comprises a current loop control system, a rate loop control system and a position loop control system;
wherein, the current loop generates armature current negative feedback by a current sensor; the rate loop takes a rate gyroscope as a rate sensor and is used for isolating disturbance; the position loop is a main loop of the control system, and the IMU is used as a position sensor, so that the remote sensing load always tracks the posture of a navigation coordinate system;
the transfer function of the current loop control system is generated by calculation of a proportional parameter of a current compensator, a model function of a PWM power amplifier and a model function of a torque motor; wherein the proportional parameter of the current compensator is KipThe model function of the PWM power amplifier is
The model function of the torque motor is
According to the input of slave current IinTo the current output IoutClosed loop transfer function of (1):
realizing current loop control, wherein KPWMIs the amplification factor, T, of the PWM power amplifierPWMIs the switching period, K, of the PWM power amplifiermIs the model parameter armature winding transconductance, T, of the torque motoreIs the electromagnetic time constant, s is the differential operator;
wherein the rate loopThe transfer function of the control system is generated by the model function of the speed compensator, the equivalent value of the current loop, the transmission ratio of the transmission mechanism and the rotational inertia of the frame through calculation; wherein the model function of the rate compensator is
The equivalent value of the current loop is equivalent to a proportion link 1, and the transmission ratio of the transmission mechanism is KTThe moment of inertia of the frame is
According to the rate loop open loop transfer function:
implementing rate loop control, wherein KωpIs a proportional parameter of the rate compensator, tauωpIs the integration time constant of the rate compensator;
the transfer function of the position loop control system is generated by calculation of a proportional parameter of a position compensator, a closed-loop transfer function of a speed loop and an integral operator; the proportional parameter of the position compensator is KθpThe closed loop transfer function of the velocity loop is
The integral operator is
According to the position loop open loop transfer function:
implementing position loop control, wherein TωIs a time constant;
the exterior orientation element of the remote sensing equipment refers to the position (X) of the photographing center of the remote sensing equipment at the moment of exposure in the imaging coordinate systemS，YS，ZS) And the rotation angle (phi, omega, kappa) from the imaging coordinate system to the image space coordinate system;
the position and orientation system is also used for outputting WGS84 rectangular coordinates (X) of IMU originIMU，YIMU，ZIMU) And the roll angle phi, the pitch angle theta and the yaw angle psi of the remote sensing airplane.
2. The apparatus for stabilizing the attitude of a remote sensing device and obtaining the orientation elements thereof according to claim 1, wherein the gyrostabiliser platform comprises a roll frame, a pitch frame, a yaw frame, at least 3 torque motors, a roll rate gyro, a pitch rate gyro, a yaw rate gyro, a roll accelerometer, a pitch accelerometer, a roll resolver, a pitch resolver, a yaw resolver;
wherein the roll frame, the pitch frame and the yaw frame are respectively driven by at least 3 torque motors; the remote sensing equipment is arranged on the rotary deviation frame, and the posture change of the remote sensing equipment is the same as that of the rotary deviation frame; the IMU is used for measuring an attitude angle of the remote sensing equipment and providing an attitude reference for the gyro stable platform; the roll rate gyro, the pitch rate gyro and the yaw rate gyro are respectively used for measuring the angular rates of the roll frame, the pitch frame and the yaw frame; the roll accelerometer and the pitch accelerometer are used for measuring a horizontal attitude angle of the gyro stabilization platform and providing a horizontal attitude reference for the gyro stabilization platform; the roll rotary transformer, the pitch rotary transformer and the rotation deviation rotary transformer are respectively used for measuring relative rotation angles among the roll frame, the pitch frame and the rotation deviation frame and providing compensation angle information for the remote sensing equipment; when the remote sensing aircraft generates roll, pitch and yaw motions, a base of the gyro stabilizing platform fixedly connected with the remote sensing aircraft respectively applies roll, pitch and yaw angular motions to the roll frame, the pitch frame and the yaw frame through a bearing of the roll frame, a bearing of the pitch frame and a bearing of the yaw frame, the IMU is used for measuring roll, pitch and yaw attitudes of the remote sensing load, and the gyro stabilizing platform generates control signals according to attitude reference input and attitudes measured by the IMU to drive the at least 3 torque motors so as to generate reaction torque.
3. The apparatus for stabilizing the attitude of a remote sensing device and obtaining its external orientation elements according to claim 1, wherein the data cable comprises a five-in-one data cable (a) of a positioning and orientation system, a four-in-one switching cable (B) between the positioning and orientation system and a gyro stabilization platform, a control cable (C) of the gyro stabilization platform, a data cable (D) of a control terminal control gyro stabilization platform, a switching cable (E) between the positioning and orientation system and the remote sensing device, a two-in-one data cable (F) of the remote sensing device, a data cable (G) between a GNSS antenna and the positioning and orientation system, and a data cable (H) between an IMU and the positioning and orientation system;
one end (a1) of a five-in-one data cable (A) of the positioning and orientation system is connected with the positioning and orientation system, and the other five ends comprise a first COM2 serial port end (a2), a first COM3 serial port end (a3), a first second pulse BNC interface end (a4), an Ethernet port end (a5) and a digital input and output serial port end (a 6); one end (B1) of a four-in-one transit cable (B) between the positioning and orientation system and the gyro stabilization platform is connected with a third serial port end (C1) of a control cable (C) of the gyro stabilization platform, and the other four ends comprise a second COM2 serial port end (B2), a second COM3 serial port end (B3), a second pulse-per-second BNC interface end (B4) and an FMS serial port end (B5), which are respectively connected with a first COM2 serial port end (a2), a first COM3 serial port end (a3), a first pulse-per-second BNC interface end (a4) and an RS-232 serial port end (D1) of a data cable (D) of the control terminal control gyro stabilization platform; the control end (C2) of the gyro stabilization platform control cable (C) is connected with the gyro stabilization platform; the control terminal controls a USB end (D2) of a data cable (D) of the gyro stabilization platform to be connected with the control terminal; the Ethernet port end (a5) is connected with the control terminal, and the digital input and output serial port end (a6) is connected with a first serial port end (E1) of a patch cable (E) between the positioning and orientation system and the remote sensing equipment; one end (F1) of a remote sensing device is connected with the remote sensing device through a binary data cable (F), the other two ends of the remote sensing device comprise a second BNC interface end (F2) and a second serial port end (F3), the second BNC interface end (E2) of a transit cable (E) between the positioning and orientation system and the remote sensing device is connected with the industrial personal computer, the first TNC interface end (G1) of a data cable (G) between the GNSS antenna and the positioning and orientation system is connected with the positioning and orientation system, the second TNC interface end (G2) is connected with the GNSS antenna, one end (H1) of a data cable (H) between the IMU and the positioning and orientation system is connected with the positioning and orientation system, and the other end (H2) of the data cable (H) between the IMU and the positioning and orientation system is connected with the IMU.
4. The apparatus for stabilizing the attitude and obtaining the azimuthal elements of a remote sensing device of claim 3, wherein four corners of the bottom of said device cabinet are fixedly connected to the ground rails of the seats on the floor of said remote sensing aircraft; the equipment cabinet is provided with three layers of aluminum plates which are sequentially and respectively fixedly connected with the industrial personal computer, the positioning and orienting system and the control terminal; aluminum plate is respectively installed to equipment rack both sides, is provided with 6 round holes on the aluminum plate of first side, is provided with 2 round holes on the aluminum plate of second side, the round hole is used for interlude, fixed and keeps apart the data cable between the equipment, and the distance between the adjacent round hole is 2 times of round hole diameter, wherein, the data cable that 6 round holes on the aluminum plate of first side correspond is respectively:
a cable to which the Ethernet port (a5) is connected with the control terminal;
a cable connecting the first second pulse BNC interface end (a4) with the second pulse BNC interface end (b 4);
a cable connecting the first COM3 serial-port end (a3) with the COM3 serial-port end (b 3);
a cable connecting the first COM2 serial-port end (a2) with the second COM2 serial-port end (b 2);
a cable connecting the digital input/output serial port end (a6) with the first serial port end (e1), and connecting the first BNC interface end (e2) with the second BNC interface end (f 2);
the second serial port end (f3) is connected with the industrial personal computer;
wherein, the data cable that 2 round holes on the second side aluminum plate correspond is respectively:
a data cable (G) between the GNSS antenna and the positioning and orientation system and a data cable (H) between the IMU and the positioning and orientation system.
5. The device for stabilizing the attitude of the remote sensing equipment and obtaining the external orientation elements of the remote sensing equipment according to claim 1, wherein the remote sensing equipment, the gyro stabilizing platform, the industrial personal computer, the positioning and orienting system and the control terminal are all provided with grounding devices for preventing static electricity from damaging the equipment;
the grounding device includes: the device comprises a screw, a nut, a plurality of nuts, a stainless steel supporting belt and a grounding lead, wherein the nut is arranged at the upper part of the screw, the plurality of nuts are arranged in the middle of the screw, one end of the grounding lead is fixed among the plurality of nuts and is in contact with the screw, the screw is fixed on the industrial personal computer, the positioning and orienting system and the control terminal, and the other end of the grounding lead is fixed on a ground rail; and two ends of the stainless steel supporting belt are respectively provided with an annular sleeve, wherein one end of the annular sleeve is fixed at the bottom of the screw cap, and the other end of the annular sleeve is fixed at the lower part of the screw rod.
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