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Research on dynamic angle measurement method based on electro-optical servo platform
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摘要:
针对动态角度测量的成本高及精度低的问题，提出一种基于非合作目标视觉跟踪的光电测量方法。利用安装在被测对象上的光电伺服平台搭载相机和激光测距仪对非合作目标进行实时跟踪和距离测量，根据伺服平台输出的精密角度、非合作目标距离和被测角度之间的转化关系计算出被测动态角度值。研制了基于光电伺服平台的动态角度测量装置，并对其进行了精度标定和误差分析。利用高精度旋转台模拟被测动态角度进行实验，验证了测量方法的可行性。实验结果表明在测量空间11.082 m范围内，测角误差在±0.09°以内。
Abstract:Aiming at the measurement problem of high cost and low precision in dynamic angle, an electro-optical measurement method based on non-cooperative target vision tracking is presented. By using electro-optical servo platform mounted on the measured object to carry the camera and the laser rangefinder for the real time tracking and distance measurement of the non-cooperative target, the dynamic angle value is calculated according to the conversion relationship between the high precision angle of measurement of the servo system and the distance of the non-cooperative target. A dynamic angle measuring device is developed, and its precision calibration and error analysis are carried out. Using the high precision manual displacement table to simulate the measured dynamic angle to experiment, the feasibility of the measuring method is verified. The experimental results show that the measured angle error is 0.09° within the range of 11.082 m.
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Key words:
- electro-optical measurement /
- large angle /
- dynamic measurement /
- non-cooperative target
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Overview: In the field of military and industrial production, it is often necessary to measure the dynamic corners of large rotating equipment. This type of rotating angle, which cannot be measured directly by angle measuring equipment, requires indirect measurement with the help of a sensor, and the measured angle is calculated according to the sensor data. Aiming at the problems of high measurement cost and low precision of dynamic angle measurement methods such as inertial measurement method, double theodolite measurement method, and three coordinate measurement method, an electro-optical measurement method based on non-cooperative target vision tracking is presented. Mathematical calculation model and dynamic compensation model for dynamic angle measurement are established. Using electro-optical servo platform mounted on the measured object to carry the camera and the laser rangefinder for the real time tracking and distance measurement of the non-cooperative target, the dynamic angle value is calculated according to the conversion relationship between the high precision angle of measurement of the servo system and the distance of the non-cooperative target and compensating the angle value according to the dynamic compensation model.
A dynamic angle measuring device is developed. The servo system structure adopts the azimuth and pitch double frame structure, the inner frame is the pitch channel, the outer frame is the azimuth channel, and the camera and the laser rangefinder are installed in the inner frame. The frame is driven directly by the permanent magnet synchronous motor, and the 16-bit rotary transformer is used as the angle measuring unit. Futhermore, its precision calibration and error analysis are carried out and accuracy of servo system up to 30" after calibration.
The servo control adopts the speed position double closed loop, using the instantaneous angular rate of the rate Gyro induction camera installed in the inner frame. This angular rate is regarded as the speed loop feedback, which make up of the closed loop with servo motor composition speed to isolate the disturbance of the carrier. Achieving stable tracking of non-cooperative goals, the non-cooperative target miss is used as the position ring input, and the spin angle is used as the feedback quantity to form the position closed loop. Using the high precision manual displacement table to simulate the measured dynamic angle, the feasibility of the measuring method is verified. The experimental results show that the measured angle error is 0.09° within the range of 11.082 m and angle measuring range reaches ±80°.
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图 4 测量实物图。(a) 整体图；(b) 旋转台；(c) 测量装置
Figure 4. Physical diagram of measurement setup. (a) Overall diagram; (b) Rotary table; (c) Measuring device
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