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基于CCD的车载三轴稳定跟踪平台姿态修正算法
Attitude Correction Algorithm for a Vehicular 3-Axis Stabilized Tracking System Based on CCD
【Author】 Liu Zhigang,Wang Junzheng,Zhao Jiangbo Dept.of Automatic Control,Beijing Institute of Technology,Beijing 100081,P.R.China
【机构】 北京理工大学信息科学技术学院自动控制系；
【摘要】 三轴稳定跟踪平台是对机动目标进行跟踪的执行机构,安装于车载平台之上,作用是当车体姿态和目标机动时控制目标探测传感器(CCD)始终跟踪机动目标,因此其空间姿态控制决定了对空中目标的跟踪精度和图像质量。三轴稳定跟踪平台包括方位、俯仰和横滚三个自由度,CCD安装于横滚轴回转中心。本文以CCD瞄准线为对象,分析了车体运动、机动目标运动对瞄准线姿态变化的影响,建立了三轴稳定跟踪平台行进间对空中目标跟踪的姿态修正量模型。仿真结果表明,给定车体和机动目标的运动参数,模型的输出能够快速地跟踪输入信号,验证了数学模型的准确性。
【Abstract】 The 3-axis stabilized tracking table is the maneuvering target tracking actuator of a vehicular platform.The precision of its spatial attitude determines the tracking performance of the system.The proposed correction model bases on the analysis of the sight line of the self-propelled vehicle.Convert the detected motion by the vehicular body and the maneuvering target into the control increment of the 3-axis turntable.Maintain the target on the center of CCD and prevent the detected image from distortion.This is the key problem of maneuvering target tracking.The change of sight line is caused by the movements of vehicle and maneuvering target.From this standpoint,the attitude model for target tracking of the 3-axis stabilized tracking table was built.The output of the model can track the input signal while giving the road surface signal and kinemics parameters of maneuvering target.Simulation suggested the veracity of the proposed model.
【Key words】 Attitude correction model； Vehicular platform； 3-axis stabilized tracking table； Maneuvering target tracking；
- 【会议录名称】 第二十七届中国控制会议论文集
- 【会议名称】第二十七届中国控制会议
- 【会议时间】2008-07-16
- 【会议地点】中国云南昆明
- 【分类号】O242.1;TP212.9
- 【主办单位】中国自动化学会控制理论专业委员会(Technical Committee on Control Theory,Chinese Association of Automation)