舰载光电跟踪系统视场消旋方法研究
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摘要
在舰载平台上的光电跟踪系统,由于船体姿态的变化,其视场会沿视轴转动从而引起跟踪误差。为了解决这一问题,提出了一种基于四元数坐标变换的补偿方法。通过研究视场在各个坐标系下的状态,定量地给出了船体姿态对视场旋转的影响,并确定了视场旋转量与方向,同时,研究了跟踪系统装配误差对视场旋转的影响,为实时消除由船摇引起的视场旋转提供了理论依据。
A kind of tracking error of shipboard electro-optical tracking system is caused by the rotation of vessel. In order to solve this problem, a method using coordinate transformation based on quaternion is proposed. By analyzing the viewing field in each coordinate system, the effect of vessel attitude on the viewing field is deduced. Meanwhile, the effect of the installation misalignment on the viewing field is deduced too. The result provides a theoretical basis for real-time despinning of shipboard electro-optical tracking system.
A kind of tracking error of shipboard electro-optical tracking system is caused by the rotation of vessel. In order to solve this problem, a method using coordinate transformation based on quaternion is proposed. By analyzing the viewing field in each coordinate system, the effect of vessel attitude on the viewing field is deduced. Meanwhile, the effect of the installation misalignment on the viewing field is deduced too. The result provides a theoretical basis for real-time despinning of shipboard electro-optical tracking system.
引文
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2 Francesco Conte,Valerio Cusimano,Alfredo Germani.Robust planar tracking via a virtual measurement approach[J].Eur J Control,2013,19(2):146-156.
3 Feng Xiaoyong,Zhu Weikang,Qiao Yanfeng,et al..A dynamic,real-time,high-precision optical method of level attitude measurement[J].Acta Optica Sinica,2013,33(3):0312001.冯小勇,朱伟康,乔彦峰,等.动态实时光学精密水平姿态测量方法[J].光学学报,2013,33(3):0312001.
4 Shen Fahua,Sun Dongsong,Wang Zhongchun,et al..Beam scanning and wind inversion technique of a mobile Doppler lidar[J].Acta Optica Sinica,2012,32(3):0312004.沈法华,孙东松,王忠纯,等.移动式多普勒激光雷达光束扫描及风场反演技术研究[J].光学学报,2012,32(3):0312004.
5 Wen Qingchuan,Da Feipeng,Fang Xu.Calibration for gaze tracking system based on binocular stereo vision[J].Acta Optica Sinica,2012,32(10):1015002.温晴川,达飞鹏,方旭.基于双目立体视觉的视线跟踪系统标定[J].光学学报,2012,32(10):1015002.
6 Ge Bing,Gao Huibin.Stabilization of LOS for carrier-based theodolite[J].Ship Science and Technology,2006,28(6):93 -95.葛兵,高慧斌.舰载经纬仪视轴自稳定方法研究[J].舰船科学技术,2006,28(6):93-95.
7 Zou Dongming,Liu Qishan,Chen Changqing,et al..Stabilization analysis of LOS for carrier-based electro-optical tracking equipment[J].Armament Automation,2003,21(1):15-19.邹东明,刘栖山,陈长青,等.舰载光电跟踪设备视轴稳定分析[J].兵工自动化,2003,21(1):15-19.
8 Farouki R T,Dospra P,Sakkalis T.Scalar-vector algorithm for the roots of quadratic quaternion polynomials,and the characterization of quintic rational rotation-minimizing frame curves[J].J Symbolic Computation,2013,58:1-17.
9 Iztok Fister,Xin-She Yang,Janez Brest,et al..Modified firefly algorithm using quaternion representation[J].Expert Systems with Applications,2013,40(18):7220-7230.
10 Ding Guangtao.Quaternion method in polarization optics[J].Acta Optica Sinica,2013,33(7):0726001.丁光涛.偏振光学的四元数方法[J].光学学报,2013,33(7):0726001.
11 Xu Qiaoyu,Yao Huai,Che Rensheng.Online calibration of stereo vision measurement system[J].Acta Optica Sinica,2009,29(6):1546-1551.徐巧玉,姚怀,车仁生.立体视觉测量系统现场校准技术[J].光学学报,2009,29(6):1546-1551.