适用于光电跟踪仪的高速目标跟踪控制算法

为了提高光电跟踪仪对于高速运动目标的跟踪精度和稳定性,提出一种适用于光电跟踪仪的高速目标跟踪控制算法。利用光电跟踪仪、火炮、载体惯导系统、视频跟踪器和激光测距机输出的相关参数,通过一系列坐标转换、递推迭代和坐标反变换,完成瞄准线坐标系下方位速度环和俯仰速度环跟踪前馈补偿参数的计算,并将该参数分别叠加到方位、俯仰跟踪控制回路,参与跟踪控制;采用模拟航路进行验证,该跟踪控制算法对速度2.5 Ma的高速运动目标,跟踪系统误差和随机误差均小于0.15 mrad。实验结果表明,该方法能有效提高光电跟踪仪对高速运动目标的跟踪精度,响应速度快、动态滞后小。

High speed target tracking control algorithm for electro-optical tracker

In order to improve the tracking accuracy and stability of electro-optical tracker for high speed moving target,a high speed target tracking control algorithm for electro-optical tracker is proposed. A series of coordinate transformation,recursion iteration and inverse transformation are carried out by using the relevant parameters of electro-optical tracker,gun,carrier inertial navigation system,video tracker and laser rangefinder. The feed-forward compensation parameters of azimuth velocity loop and pitch velocity loop in aiming line coordinate system are calculated. In addition,the parameters are superimposed on azimuth and pitch tracking control loop to participate in tracking control. The tracking control algorithm is applied to high speed moving target,whose velocity is 2.5 Ma by simulation routes,and the tracking system error and random error are less than 0.15 mrad. The experimental results show that the algorithm can effectively improve the tracking accuracy of electro-optical tracker for high speed moving target,and has fast response speed and small dynamic lag.