阅读说明：本技术 一种光电吊舱跟踪模拟测试及系统 (Photoelectric pod tracking simulation test and system ) 是由 易生虎 吕坤 陈杰 李国亮 李勋龙 齐哲明 刘蒙 李创新 于 2020-12-23 设计创作，主要内容包括：一种光电吊舱跟踪模拟测试装置及系统,包括驱动电机、电机速度控制器、目标模拟器靶标以及目标模拟器靶标连接杆。驱动电机的旋转轴通过连接杆与目标模拟器靶标连接,用于带动目标模拟器靶标转动。电机速度控制器通过闭环控制驱动电机按给定速度进行旋转,并且旋转速度可设置。通过更换不同长度的连接杆,改变目标模拟器靶标与驱动电机旋转轴的距离,实现目标模拟器靶标运动速度的变化。目标模拟器靶标位于光电吊舱的跟踪视场内,用于被光电吊舱锁定并跟踪。本发明根据目标模拟器靶标旋转角速度、目标模拟器靶标旋转半径以及光电吊舱与目标模拟器靶标距离计算光电吊舱跟踪角速度,根据多次光电吊舱的跟踪脱靶量信息计算光电吊舱跟踪精度。(A photoelectric pod tracking simulation test device and a photoelectric pod tracking simulation test system comprise a driving motor, a motor speed controller, a target simulator target and a target simulator target connecting rod. And a rotating shaft of the driving motor is connected with the target of the target simulator through a connecting rod and used for driving the target of the target simulator to rotate. The motor speed controller drives the motor to rotate at a given speed by closed loop control, and the rotational speed can be set. The distance between the target of the target simulator and the rotating shaft of the driving motor is changed by replacing connecting rods with different lengths, so that the change of the movement speed of the target simulator is realized. The target simulator target is located within the tracking field of the optoelectronic pod for being locked and tracked by the optoelectronic pod. The photoelectric pod tracking angular speed is calculated according to the target rotating angular speed of the target simulator, the target rotating radius of the target simulator and the distance between the photoelectric pod and the target of the target simulator, and the photoelectric pod tracking accuracy is calculated according to the tracking miss distance information of the photoelectric pod for multiple times.)

1. The photoelectric pod tracking simulation testing device is characterized by comprising a driving motor, a target simulator target and a target simulator target connecting rod, wherein a rotating shaft of the driving motor is connected with the target simulator target through the connecting rod and used for driving the target simulator target to rotate, the target simulator target is located in a tracking field of a photoelectric pod, and the photoelectric pod is used for locking and tracking the target simulator target.

2. The optoelectronic pod tracking simulation test device of claim 1, further comprising a motor speed controller electrically connected to the drive motor for controlling rotation of the drive motor rotating shaft.

3. The electro-optical pod tracking simulation test device of claim 2, wherein the motor speed controller drives the motor to rotate at a set speed by closed loop control.

4. The electro-optical pod tracking simulation test device according to claim 2, wherein a display is provided on the motor speed controller for displaying a rotational angular speed value of the driving motor.

5. The electro-optical pod tracking simulation test device of claim 2, further comprising a base on which the drive motor and motor speed controller are mounted.

6. The optoelectronic pod tracking simulation test device of claim 1, wherein the target simulator target is equivalently transformed from real target characteristics, including size, shape, color, and temperature differential.

7. An optoelectronic pod tracking simulation test system, characterized in that the system comprises an optoelectronic pod tracking angular velocity calculation module, an optoelectronic pod tracking accuracy calculation module and a simulation test device according to any one of claims 1-6;

the photoelectric pod tracking angular velocity calculation module is used for calculating the photoelectric pod tracking angular velocity according to the target rotating radius of the target simulator, the target rotating angular velocity of the target simulator and the target distance between the photoelectric pod and the target simulator;

the photoelectric pod tracking precision calculation module is used for calculating the photoelectric pod tracking precision according to the tracking miss distance information of the photoelectric pod.

8. The optoelectronic pod tracking simulation test system according to claim 7, wherein the calculating the optoelectronic pod tracking angular velocity by the optoelectronic pod tracking angular velocity calculation module specifically comprises:

and (3) enabling the target simulator target to normally rotate, and calculating the target simulator target motion linear speed V1 as R-w 1:

locking the photoelectric pod and tracking the target simulator target, and calculating the linear velocity V2 of the target simulator relative to the movement of the photoelectric pod, namely L.W;

from the linear velocity equality of the target motion, V1 ═ V2, formula one is derived: r · W1 ═ L · W;

obtaining the tracking angular speed W of the photoelectric pod from the formula I, wherein the tracking angular speed W is R.w 1/L;

wherein, R is the target rotation radius of the target simulator, W1 is the target rotation angular velocity of the target simulator, L is the distance between the photoelectric pod and the target simulator, and W is the tracking angular velocity of the photoelectric pod.

9. The optoelectronic pod tracking simulation test system of claim 7, wherein the optoelectronic pod tracking accuracy calculation module calculating the optoelectronic pod tracking accuracy specifically comprises:

the tracking miss distance information of the photoelectric pod in the stable tracking process of n times is collected respectively, the tracking miss distance collected each time is recorded, and the tracking precision of the photoelectric pod is calculated through the tracking miss distance collected each time, wherein the specific formula is as follows:

wherein mu is tracking precision of the photoelectric pod and has a unit of mrad and alpha_iThe unit of the ith tracking miss distance is pixel, n is the acquisition frequency, beta is the angle value corresponding to the number of single imaging image under the current tracking view field, and the unit is mrad/pixel.

10. The electro-optical pod tracking simulation test system of claim 9, wherein i is 1000 or greater and 5000 or less.

Technical Field

The invention relates to the technical field of airborne photoelectricity, in particular to a photoelectric pod tracking simulation test device and a photoelectric pod tracking simulation test system.

Background

At present, the tracking angular speed and the tracking precision of the photoelectric pod are measured, a target is erected at a specified distance of a special test site, the target moves in a direction perpendicular to an observation direction, and the photoelectric pod can stably track and lock the target. And calculating the tracking angular speed and the tracking precision through the distance between the photoelectric pod and the target, the moving speed of the target and the deviation value between the tracking central line and the target central line. The prior art measures the tracking angular velocity and the tracking precision, has strict requirements on fields and weather, and needs a large amount of test auxiliary equipment and professional personnel for operation.

Disclosure of Invention

In view of the technical defects and technical drawbacks in the prior art, embodiments of the present invention provide a tracking simulation test device and system for a photovoltaic pod, which overcome the above problems or at least partially solve the above problems, and the specific solution is as follows:

as a first aspect of the present invention, there is provided an optoelectronic pod tracking simulation test apparatus including a driving motor, a target simulator target, and a target simulator target connecting rod. The rotating shaft of the driving motor is connected with the target simulator target through a connecting rod and used for driving the target simulator target to rotate, the target simulator target is located in a tracking field of the photoelectric pod, and the photoelectric pod is used for locking and tracking the target simulator target.

Further, the device also comprises a motor speed controller, wherein the motor speed controller is electrically connected with the driving motor and is used for controlling the rotation of the rotating shaft of the driving motor.

Further, the motor speed controller drives the motor to rotate at a set speed through closed-loop control.

Further, a display is arranged on the motor speed controller and used for displaying the rotating angular speed value of the driving motor.

Further, the device also comprises a base, and the driving motor and the motor speed controller are both arranged on the base.

Further, the target simulator target is a target simulator target which is equivalently converted according to real target characteristics.

As a second aspect of the present invention, there is provided an optoelectronic pod tracking simulation test system comprising an optoelectronic pod tracking angular velocity calculation module, an optoelectronic pod tracking accuracy calculation module, and a simulation test system as described in any of the above.

The photoelectric pod tracking angular velocity calculation module is used for calculating the photoelectric pod tracking angular velocity according to the target rotation radius of the target simulator, the target rotation angular velocity of the target simulator and the target distance between the photoelectric pod and the target simulator.

The photoelectric pod tracking precision calculation module is used for calculating the photoelectric pod tracking precision according to the tracking miss distance information of the photoelectric pod for multiple times.

Further, the calculating the photoelectric pod tracking angular velocity by the photoelectric pod tracking angular velocity calculating module specifically includes:

enabling the target simulator target to normally rotate, and calculating the target simulator target motion linear speed V1 to be R.w 1;

locking the photoelectric pod and tracking the target simulator target, and calculating the linear velocity V2 of the target simulator relative to the movement of the photoelectric pod, namely L.W;

from the linear velocity equality of the target motion, V1 ═ V2, formula one is derived: r · W1 ═ L · W;

obtaining the tracking angular speed W of the photoelectric pod from the formula I, wherein the tracking angular speed W is R.w 1/L;

wherein, R is the target rotation radius of the target simulator, W1 is the target rotation angular velocity of the target simulator, L is the distance between the photoelectric pod and the target simulator, and W is the tracking angular velocity of the photoelectric pod.

Further, the calculating the photoelectric pod tracking accuracy by the photoelectric pod tracking accuracy calculating module specifically includes:

the tracking miss distance information of the photoelectric pod in the stable tracking process of n times is collected respectively, the tracking miss distance collected each time is recorded, and the tracking precision of the photoelectric pod is calculated through the tracking miss distance collected each time, wherein the specific formula is as follows:

wherein mu is tracking precision of the photoelectric pod and has a unit of mrad and alpha_iThe unit of the ith tracking miss distance is pixel, n is the acquisition frequency, beta is the angle value corresponding to a single imaging pixel under the current tracking view field, and the unit is mrad/pixel.

Further, i is 1000 or more and 5000 or less.

The invention has the following beneficial effects:

1. the system is simple in composition and operation, can be used in any place, and is not limited by the place environment.

2. The method has strong universality, and index tests of tracking functions of various photoelectric gondolas are realized by adapting proper target types, target rotation angular velocities and distances between the photoelectric gondolas and the targets.

3. The application range is wide. And infrared and visible light tracking is considered, and the target can be adjusted and replaced.

Drawings

Fig. 1 is a schematic diagram of a photoelectric pod tracking simulation test device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the target installation of a target simulator provided by an embodiment of the present invention;

in the figure: 1. target simulator target, 2, connecting rod, 3, driving motor, 4, base, 5, photoelectric pod, 6, motor speed controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As a first embodiment of the present invention, as shown in fig. 1 to 2, there is provided an optoelectronic pod tracking simulation test apparatus including a driving motor 3, a target simulator target 1, and a target simulator target connecting rod 2. And the rotating shaft of the driving motor 3 is connected with the target simulator target 1 through a connecting rod 2 and is used for driving the target simulator target 1 to rotate. The target simulator target 1 is positioned in the tracking field of the photoelectric pod 5, and the motion surface of the target simulator target 1 is perpendicular to the observation direction of the photoelectric pod 5. The electro-optical pod 5 is used to lock and track the target simulator target 1.

The target 1 of the target simulator can be equivalently converted into the target 1 of the target simulator according to the characteristics of the real target, such as size, shape, color, temperature difference and the like, such as a cross target, a four-bar target, a circular target, an infrared thermal characteristic target and the like.

Under the condition of a certain motor rotating speed, the distance between the target simulator target 1 and the rotating shaft of the driving motor 3 is changed by replacing the connecting rods 2 with different lengths, so that the change of the moving speed of the target simulator target 1 is realized.

Wherein the motor speed controller 6 drives the motor 3 to rotate at a given speed through closed-loop control, and the rotating speed can be adjusted and set, and the rotating speed value can be displayed.

As shown in fig. 2, the driving motor 3 and the motor speed controller 6 are both fixedly mounted on the base 4 by screws.

As a second embodiment of the present invention, there is provided an optoelectronic pod tracking simulation test system including an optoelectronic pod tracking angular velocity calculation module, an optoelectronic pod tracking accuracy calculation module, and a simulation test system as described in any of the above.

The photoelectric pod tracking angular velocity calculation module is used for calculating the photoelectric pod tracking angular velocity according to the target rotating radius of the target simulator, the target rotating angular velocity of the target simulator and the distance between the photoelectric pod 5 and the target simulator target 1;

the photoelectric pod tracking precision calculation module is used for calculating the photoelectric pod tracking precision according to the tracking miss distance information of the photoelectric pod for multiple times.

Specifically, as shown in fig. 1, the target simulator normally rotates, and the linear velocity V1 of the target motion of the target simulator is R · w 1;

the photoelectric pod locks and tracks the target, and the linear speed V2 of the target relative to the movement of the photoelectric pod is L.W;

from the linear velocity equality of the target motion, V1 ═ V2, formula one is derived: r · W1 ═ L · W;

the photoelectric pod tracking angular speed W is R.w 1/L;

wherein, R is the target rotation radius of the target simulator, W1 is the target rotation angular velocity of the target simulator, L is the distance between the photoelectric pod 5 and the target simulator target 1, and W is the photoelectric pod tracking angular velocity.

The target rotating radius R of the target simulator can change the distance between the target and the rotating shaft of the driving motor 3 by replacing connecting rods 2 with different lengths, namely the target rotating radius of the target simulator is changed; the target rotating angular velocity w1 of the target simulator can be set and adjusted through the driving motor 3 and the motor speed controller 6, and the rotating angular velocity value is displayed in real time; the distance L between the photoelectric pod 5 and the target simulator target 1 can be set at will according to the size of a test field, and L is larger than the minimum clear imaging distance of the photoelectric pod 5.

By setting the three parameters, the target simulator target 1 operates stably, and the photoelectric pod 5 can stably track the target simulator target 1 for more than two minutes, i.e., the current tracking angular velocity and tracking accuracy of the photoelectric pod 5 can be calculated.

The tracking miss distance information alpha of the photoelectric pod 5 in the stable tracking process is respectively acquired by using a computer, n times of acquisition can be carried out, data is recorded, and the tracking precision mu of the photoelectric pod is calculated according to the following specific formula:

wherein mu is tracking precision of the photoelectric pod and has a unit of mrad and alpha_iThe unit of the ith tracking miss distance is pixel, n is the acquisition frequency, beta is the angle value corresponding to a single imaging pixel under the current tracking view field, and the unit is mrad/pixel.

According to the photoelectric pod tracking simulation test device and system provided by the invention, the photoelectric pod tracking angular velocity and tracking precision test is realized by adapting different target types, target rotation angular velocities and distances between the photoelectric pod 5 and the target simulator target 1.

The tracking simulation testing device is simple to operate and control, wide in application range and strong in universality, is not limited by site environment, can accurately measure the tracking angular speed and the tracking precision, and can greatly reduce the testing time and the testing cost of the tracking index of the photoelectric pod.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.