阅读说明：本技术 一种目标模拟器和光学导引头偏置安装在五轴转台的视线修正方法 (Sight line correction method for offset installation of target simulator and optical seeker on five-axis turntable ) 是由 张宇 王晓雷 刘柏廷 马一原 雷杰 张帅 于 2019-11-29 设计创作，主要内容包括：本申请提供一种目标模拟器和光学导引头偏置安装在五轴转台的视线修正方法,该方法构建目标模拟器和光学导引头偏置安装在五轴转台的视线仿真系统；确定弹目视线角；基于视线仿真系统,根据弹目视线角,进行侧向偏置二轴转台驱动模型推导。本申请提供的方法,首先,构建仿真系统,然后,确定弹目视线角。最后完成侧向偏置二轴转台驱动模型推导。本发明针对目标模拟器、光学导引头与三轴转台回转中心不重合的问题,提出了视线角的修正方法,解决了目标模拟器和光学导引头偏置安装在五轴转台上的视线仿真难点,弥补了现有的视线仿真方法的不足。(The application provides a sight line correction method for mounting a target simulator and an optical seeker on a five-axis turntable in an offset manner, wherein the sight line correction method comprises the steps of constructing a sight line simulation system for mounting the target simulator and the optical seeker on the five-axis turntable in the offset manner; determining the visual line angle of the bullet; and based on a sight simulation system, according to the line-of-sight angle of the bullet, performing lateral offset biaxial rotary table driving model derivation. According to the method, firstly, a simulation system is constructed, and then the line-of-sight angle of the bullet is determined. And finally, the derivation of the lateral offset two-axis turntable driving model is completed. Aiming at the problem that a target simulator, an optical seeker and a three-axis turntable rotation center are not coincident, the invention provides a line-of-sight angle correction method, solves the line-of-sight simulation difficulty that the target simulator and the optical seeker are installed on a five-axis turntable in a biased mode, and makes up the defects of the existing line-of-sight simulation method.)

1. A method for correcting a visual line of a target simulator and an optical seeker offset-mounted on a five-axis turntable, the method comprising:

constructing a sight line simulation system in which a target simulator and an optical seeker are installed on a five-axis turntable in an offset manner;

determining the visual line angle of the bullet;

and based on the sight simulation system, according to the line-of-sight angle of the bullet eyes, performing derivation of a lateral offset biaxial turntable driving model.

2. The method of claim 1, wherein the line-of-sight simulation system comprises: the device comprises an celestial screen, an emulation computer, a five-axis turntable, a target simulator and an optical seeker;

the simulation computer is used for calculating the line-of-sight angle of the bullet eyes and controlling the five-axis turntable;

the five-axis turntable comprises: a three-axis turntable and a laterally offset two-axis turntable;

the five-axis rotary table is positioned in the celestial globe

The target simulator is installed on a lateral offset two-axis rotary table of the five-axis rotary table in an offset mode;

the optical seeker is installed on a three-axis turntable of the five-axis turntable in an offset manner;

the rotation center of the three-axis turntable is positioned at the spherical center of the celestial sphere curtain;

the distance from the revolution center of the three-axis turntable to the optical axis of the optical seeker is a, the distance from the revolution center of the three-axis turntable to the optical axis of the target simulator is b, and the radius of a and b is the same as the radius R of the dome screen.

3. The method of claim 2, wherein said determining a line of sight angle for the bullet eye comprises:

according to the spatial position (x) of the missile_m,y_m,z_m) And the spatial position (x) of the target_t,y_t,z_t) Geometric relationships, bullet eye gaze elevation angle α and gaze azimuth angle β are determined by the following formulas:

Δx＝x_t-x_m，Δy＝y_t-y_m，Δz＝z_t-z_m；

α＝arctan(Δy/ΔR)；

β＝arctan(Δz/Δx)；

wherein, Δ x, Δ y, Δ z are respectively the position deviation of the missile and the target, and Δ R is the intermediate calculated quantity without physical meaning.

4. The method of claim 3, wherein said performing a laterally offset two-axis turret drive model derivation from said bullet eye line angle based on said line of sight simulation system comprises:

after the three-axis turntable rotates (α), the center O of the optical seeker is solved_S1A location;

solving the objectP projected by simulator on the dome screen₀Point;

solving the intersection point P between the straight line corresponding to the visual line angle of the bullet eyes and the celestial dome₁；

Determination of O_S1P₁The intersection point P of the connecting line and the celestial dome;

determining a line of sight angle (α) of a center of gyration of the three-axis turret to point P₁,β₁)；

According to the line of sight angle (α)₁,β₁) Determining the laterally offset biaxial turret drive command angle (α)_T,β_T)。

5. The method of claim 4, wherein the optical seeker center O is solved for after (α) rotation of the three-axis turret_S1A location, comprising:

O_S1＝[x_S1,y_S1,z_S1]；

wherein the content of the first and second substances,

6. the method of claim 5, wherein the solving for P projected by the target simulator on the dome screen₀Points, comprising:

P₀＝[x_P0,y_P0,z_P0]；

7. the method according to claim 6, wherein the intersection point P between the straight line corresponding to the bullet eye sight angle and the celestial dome is solved₁The method comprises the following steps:

P₁＝[x_P1,y_P1,z_P1]；

8. the method of claim 7, wherein the determining O is performed_S1P₁The intersection point P of the connecting line and the celestial dome comprises:

p (x) is obtained according to the following equation_P,y_P,z_P)：

x²+y²+z²＝R²。

9. The method of claim 8, wherein said determining a line of sight angle (α) from a center of gyration to point P of said three axis turret₁,β₁) The method comprises the following steps:

10. the method of claim 9, wherein said determining is based on said line of sight angle (α)₁,β₁) Determining the laterally offset biaxial turret drive command angle (α)_T,β_T) The method comprises the following steps:

Technical Field

The invention relates to the technical field of target position correction of a target simulator, in particular to a sight line correction method for mounting a target simulator and an optical seeker on a five-axis turntable in an offset mode.

Background

In optical guidance semi-physical simulation, the simulation of the line of sight of a bullet eye is usually realized by a two-axis turntable or an independent target motion simulation device in a five-axis turntable. The target simulator is installed, usually, the rotation center of the visual line rotation, the rotation center of the optical seeker and the rotation center of the three-axis turntable are coincident, in this case, the elevation angle and the azimuth angle of the visual line can be calculated according to the geometrical relationship between the missile and the space position of the target, and then the equipment for installing the target simulator is directly driven.

In semi-physical simulation in which a target simulator and an optical seeker are mounted offset on a five-axis turntable, the target simulator is mounted offset on one side of a two-axis turntable, resulting in misalignment of the line-of-sight rotation center of rotation with the three-axis turntable center of rotation. Meanwhile, the optical seeker is installed on the three-axis turntable in a biased mode, the optical axis is parallel to the elastic axis but does not coincide with the elastic axis, and therefore the rotation center of the optical seeker does not coincide with the rotation center of the three-axis turntable. The existing pineye sight line simulation method cannot correct the deviation of the sight angle caused by the fact that the rotation centers of a target simulator and an optical seeker are not coincident due to offset installation.

Disclosure of Invention

In order to solve the above problem, an embodiment of the present application provides a method for correcting a line of sight in which a target simulator and an optical seeker are mounted offset on a five-axis turntable, where the method includes:

constructing a sight line simulation system in which a target simulator and an optical seeker are installed on a five-axis turntable in an offset manner;

determining the visual line angle of the bullet;

and based on the sight simulation system, according to the line-of-sight angle of the bullet eyes, performing derivation of a lateral offset biaxial turntable driving model.

Optionally, the gaze simulation system comprises: the device comprises an celestial screen, an emulation computer, a five-axis turntable, a target simulator and an optical seeker;

the simulation computer is used for calculating the line-of-sight angle of the bullet eyes and controlling the five-axis turntable;

the five-axis turntable comprises: a three-axis turntable and a laterally offset two-axis turntable;

the five-axis rotary table is positioned in the celestial globe

The target simulator is installed on a lateral offset two-axis rotary table of the five-axis rotary table in an offset mode;

the optical seeker is installed on a three-axis turntable of the five-axis turntable in an offset manner;

the rotation center of the three-axis turntable is positioned at the spherical center of the celestial sphere curtain;

the distance from the revolution center of the three-axis turntable to the optical axis of the optical seeker is a, the distance from the revolution center of the three-axis turntable to the optical axis of the target simulator is b, and the radius of a and b is the same as the radius R of the dome screen.

Optionally, the determining the line-of-sight angle of the bullet comprises:

according to the spatial position (x) of the missile_m，y_m，z_m) And the spatial position (x) of the target_t，y_t，z_t) Geometric relationships, bullet eye gaze elevation angle α and gaze azimuth angle β are determined by the following formulas:

Δx＝x_t-x_m，Δy＝y_t-y_m，Δz＝z_t-z_m；

α＝arctan(Δy/ΔR)；

β＝arctan(Δz/Δx)；

wherein, Δ x, Δ y, Δ z are respectively the position deviation of the missile and the target, and Δ R is the intermediate calculated quantity without physical meaning.

Optionally, the deriving a laterally offset biaxial turntable drive model according to the line-of-sight angle of the bullet eye based on the line-of-sight simulation system includes:

after the three-axis turntable rotates (α), the center O of the optical seeker is solved_S1A location;

solving the target simulator projectionP of the dome screen₀Point;

solving the intersection point P between the straight line corresponding to the visual line angle of the bullet eyes and the celestial dome₁；

Determination of O_S1P₁The intersection point P of the connecting line and the celestial dome;

determining a line of sight angle (α) of a center of gyration of the three-axis turret to point P₁，β₁)；

According to the line of sight angle (α)₁，β₁) Determining the laterally offset biaxial turret drive command angle (α)_T，β_T)。

Optionally, after the three-axis turntable rotates (α), solving the center O of the optical seeker_S1A location, comprising:

O_S1＝[x_S1，y_S1，z_S1]；

wherein the content of the first and second substances,

optionally, solving P projected by the target simulator on the dome screen₀Points, comprising:

P₀＝[x_P0，y_P0，z_P0]；

optionally, the intersection point P of the straight line corresponding to the solution bullet eye sight angle and the celestial dome₁The method comprises the following steps:

P₁＝[x_P1，y_P1，z_P1]；

optionally, the determination of O_S1P₁The intersection point P of the connecting line and the celestial dome comprises:

p (x) is obtained according to the following equation_P，y_P，z_P)：

x²+y²+z²＝R²。

Optionally, determining a line of sight angle (α) of a center of gyration of the three axis turret to point P₁，β₁) The method comprises the following steps:

optionally, the angle of sight (α) is based on the angle of sight₁，β₁) Determining the laterally offset biaxial turret drive command angle (α)_T，β_T) The method comprises the following steps:

the beneficial effects are as follows:

the method provided by the application is used for constructing a sight line simulation system in which a target simulator and an optical seeker are installed on a five-axis turntable in an offset mode; determining the visual line angle of the bullet; and based on a sight simulation system, according to the line-of-sight angle of the bullet, performing lateral offset biaxial rotary table driving model derivation. According to the method, firstly, a simulation system is constructed, and then the line-of-sight angle of the bullet is determined. And finally, the derivation of the lateral offset two-axis turntable driving model is completed. Aiming at the problem that a target simulator, an optical seeker and a three-axis turntable rotation center are not coincident, the invention provides a line-of-sight angle correction method, solves the line-of-sight simulation difficulty that the target simulator and the optical seeker are installed on a five-axis turntable in a biased mode, and makes up the defects of the existing line-of-sight simulation method.

Drawings

Specific embodiments of the present application will be described below with reference to the accompanying drawings, in which:

fig. 1 is a schematic flow chart illustrating a method for correcting a visual line by mounting a target simulator and an optical seeker offset on a five-axis turntable according to an embodiment of the present application;

fig. 2 shows a schematic view of a view correction of a target simulator and a seeker mounted on a five-axis turret offset according to an embodiment of the application.

Detailed Description

In semi-physical simulation in which a target simulator and an optical seeker are mounted offset on a five-axis turntable, the target simulator is mounted offset on one side of a two-axis turntable, resulting in misalignment of the line-of-sight rotation center of rotation with the three-axis turntable center of rotation. Meanwhile, the optical seeker is installed on the three-axis turntable in a biased mode, the optical axis is parallel to the elastic axis but does not coincide with the elastic axis, and therefore the rotation center of the optical seeker does not coincide with the rotation center of the three-axis turntable. The existing pineye sight line simulation method cannot correct the deviation of the sight angle caused by the fact that the rotation centers of a target simulator and an optical seeker are not coincident due to offset installation.

In order to solve the problem that the existing method cannot correct the angular deviation of a sight line caused by offset installation of a target simulator and a seeker at the same time, the application provides a sight line correction method for offset installation of the target simulator and an optical seeker on a five-axis turntable.

Referring to fig. 1, the flow of the sight line correction method for offset mounting of the target simulator and the optical seeker on the five-axis turntable provided in this embodiment is as follows:

101, constructing a sight line simulation system with a target simulator and an optical seeker installed on a five-axis turntable in an offset mode.

Specifically, the sight line simulation system includes: the device comprises a dome screen, an emulation computer, a five-axis turntable, a target simulator and an optical seeker.

The simulation computer is used for finishing calculation of the line-of-sight angle of the bullet eyes and control of the five-axis rotary table.

The five-axis turntable comprises: a three-axis turntable and a lateral offset two-axis turntable.

Five-axis rotary table in the dome screen

The target simulator is installed on a lateral offset two-axis rotary table of the five-axis rotary table in an offset mode.

The optical seeker is installed on a three-axis turntable of the five-axis turntable in an offset mode.

The rotation center of the three-axis turntable is positioned at the spherical center of the dome screen.

The distance from the revolution center of the three-axis turntable to the optical axis of the optical seeker is a, the distance from the revolution center of the three-axis turntable to the optical axis of the target simulator is b, and the radius of a and b is the same as the radius R of the dome screen.

For example, the sight line simulation system with the target simulator and the optical seeker offset mounted on the five-axis turntable comprises: the device comprises a dome screen, an emulation computer, a five-axis turntable, a target simulator and an optical seeker. Wherein five revolving stages include: a three-axis turntable and a lateral offset two-axis turntable. The simulation computer has the functions of calculating the line-of-sight angle of the bullet eyes and controlling the five-axis turntable, the optical seeker is installed on the three-axis turntable of the five-axis turntable in an offset mode, and the target simulator is installed on the lateral offset two-axis turntable of the five-axis turntable in an offset mode. The five-axis turntable is positioned in a hemispherical dome curtain with the radius of R, the rotation center of the three-axis turntable is positioned at the spherical center of the dome curtain, the distance from the rotation center of the three-axis turntable to the optical axis of the optical seeker is a, the distance from the rotation center of the three-axis turntable to the optical axis of the target simulator is b, and the heights of the three are the same.

And 102, determining the visual line angle of the bullet.

Let the space position of the missile be (x)_m，y_m，z_m) The spatial position of the target is (x)_t，y_t，z_t) According to the spatial position (x) of the missile_m，y_m，z_m) And the spatial position (x) of the target_t，y_t，z_t) Geometric relationships, bullet eye gaze elevation angle α and gaze azimuth angle β are determined by the following formulas:

Δx＝x_t-x_m，Δy＝y_t-y_m，Δz＝z_t-z_m。

α＝arctan(Δy/ΔR)。

β＝arctan(Δz/Δx)。

wherein, Δ x, Δ y, Δ z are respectively the position deviation of the missile and the target, and Δ R is the intermediate calculated quantity without physical meaning.

103, based on a sight simulation system, according to the line-of-sight angle of the bullet eyes, derivation of a lateral offset biaxial turntable driving model is carried out.

Model input-line of sight for the bullet eye (α);

model output, lateral offset biaxial rotary table control instruction (α)_T，β_T)。

Setting the rotation center of the three-axis turntable as O point, and setting the rotation center of the optical seeker at O point when the three-axis turntable and the laterally offset two-axis turntable are at zero position_SPoint, target simulator center located at O_TAssuming that the optical seeker's center of rotation coincides with the three-axis turret's center of rotation, to produce the desired viewing angle (α), the target at that time needs to be projected onto P of the celestial globe₀Point, while the three-axis turret should be rotated through an angle (α) (pitch angle, yaw angle.) when the optical seeker is mounted off-set, after the three-axis turret has been rotated (α), O_SPoint movement to O_S1Point, to ensure that the resulting viewing angle is constant (i.e. to ensure straight line OP)₀P O_S1P₁) The object must be projected to the line O_S1P₁The intersection point P with the sky dome at which the line of sight of the OP connection is (α)₁，β₁) To achieve the projection of the target simulator at point P, the laterally offset two-axis turntable needs to be rotated by an angle (α)_T，β_T). The projection of the point P on the horizontal plane passing through the center of the celestial sphere screen is P₁And (4) point. All the angles are based on a laboratory coordinate system (o-xyz), and the three-axis turntable is only used for a vertical turntable.

The implementation process of this step includes but is not limited to:

1. after the three-axis turntable rotates (α), the center O of the optical seeker is solved_S1Location.

Because the optical seeker is not positioned at the rotation center of the three-axis turntable, when the pitch angle and the yaw angle of the three-axis turntable are both 0, O is_SThe projections in the laboratory coordinate system are: o is_S＝[0，0，a]^T；

When the pitch angle and the yaw angle of the three-axis turntable respectively rotate (α), the projection of the rotation center of the optical seeker in a laboratory coordinate system is as follows:

OS1＝[x_S1，y_S1，z_S1]＝L[α]·L[β]·[0，0，a]^T。

wherein the content of the first and second substances,

based on the above two formulas

2. Solving the P projected by the target simulator on the celestial dome₀And (4) point.

P₀＝[x_P0，y_P0，z_P0]。

3. Solving the intersection point P between the straight line corresponding to the visual line angle of the bullet eyes and the celestial dome₁。

As in 2 OP₀P₁O_S1For a parallelogram, P can be derived₁Point calculation formula:

P₁＝[x_P1，y_P1，z_P1]。

4. determination of O_S1P₁The intersection point P of the connecting line and the dome screen.

P (x) is obtained according to the following equation_P，y_P，z_P)：

PP₁Equation of the connecting line:

celestial curtain equation: x is the number of²+y²+z²＝R²。

5. Determining a line of sight angle (α) from a center of rotation of the three-axis turret to point P₁，β₁)。

6. According to the line of sight angle (α)₁，β₁) Determining a laterally offset biaxial turret drive command angle (α)_T，β_T)。

According to fig. 2, the target projection position and the laterally offset biaxial turntable driving command angle satisfy the following relations:

obtaining a driving command angle of the lateral offset biaxial turntable according to the formula 2 as follows:

therefore, the vision correction of the target simulator and the seeker which are installed on the five-axis turntable in an offset mode is realized.

Aiming at the problem that a target simulator, an optical seeker and a three-axis turntable rotation center are not coincident, the invention provides a line-of-sight angle compensation calculation method, solves the line-of-sight simulation difficulty that the target simulator and the optical seeker are installed on a five-axis turntable in a biased mode, and makes up the defects of the existing line-of-sight simulation method.

Has the advantages that:

the method provided by the application is used for constructing a sight line simulation system in which a target simulator and an optical seeker are installed on a five-axis turntable in an offset mode; determining the visual line angle of the bullet; and based on a sight simulation system, according to the line-of-sight angle of the bullet, performing lateral offset biaxial rotary table driving model derivation. According to the method, firstly, a simulation system is constructed, and then the line-of-sight angle of the bullet is determined. And finally, the derivation of the lateral offset two-axis turntable driving model is completed. Aiming at the problem that a target simulator, an optical seeker and a three-axis turntable rotation center are not coincident, the invention provides a line-of-sight angle correction method, solves the line-of-sight simulation difficulty that the target simulator and the optical seeker are installed on a five-axis turntable in a biased mode, and makes up the defects of the existing line-of-sight simulation method.