动平台光学测量设备跟踪性能检测技术  

Tracking Performance Detection Technology of Optical Measuring Equipment Based on Moving Platform

作　　者：李希宇[1] 高昕[1] 孙亮亮[1] 雷呈强 师恒 胡蕾 宗永红 郑东昊 LI Xiyu;GAO Xin;SUN Liangliang;LEI Chengqiang;SHI Heng;HU Lei;ZONG Yonghong;ZHENG Donghao(Beijing Institute of Tracking and Telecommunications Technology,Beijing 100094,China;Xi'an Institute of Optics and Precision Mechanics,Chinese Academy of Sciences,Xi'an 710119,China;Key Laboratory of Space Precision Measurement Technology,Chinese Academy of Sciences,Xi'an 710119,China;Pilot National Laboratory for Marine Science and Technology(Qingdao),Qingdao,Shandong 266237,China)

机构地区：[1]北京跟踪与通信技术研究所,北京100094 [2]中国科学院西安光学精密机械研究所,西安710119 [3]中国科学院空间精密测量技术重点实验室,西安710119 [4]青岛海洋科学与技术国家实验室发展中心,山东青岛266237

出　　处：《光子学报》2022年第12期146-156,共11页Acta Photonica Sinica

基　　金：中国科学院青年创新促进会基金项目(No.2021406),中国科学院空间精密测量技术重点实验室基金项目(No.29J21-063-Ⅲ)。

摘　　要：为了实现在地基条件下对动平台光学测量设备跟踪性能的检测与鉴定,提出了一种六自由度检测靶标及检测方法。采用旋量指数积法以全局的方式建立了检测靶标连续无奇异性的运动学模型,只需建立检测靶标首尾两个坐标系,提高运算效率,实时高精度模拟动平台与典型机动目标的融合运动轨迹。综合考虑检测靶标与光学测量设备的性能指标,计算并分析得到某船载光学测量设备方位与俯仰轴跟踪随机误差分别为23.88″和23.86″。将模拟光学目标安装于机械臂末端构建了六自由度检测系统,制定合理可行的检测方法,进行船载光学测量设备跟踪性能的检测与鉴定试验。试验结果表明:在方位与俯仰轴角速度不同的情况下,船载动平台光学测量设备跟踪随机误差与理论分析基本保持一致,验证了该检测系统及检测方法的有效性与优越性,实现了在地基条件下对动平台光学测量设备跟踪性能的检测。The optical measurement equipment has gradually expanded from ground-based to ship-borne, vehicle-mounted, and airborne platforms. At this stage, the traditional ground-based single axis dynamic detection device is used to detect the tracking performance of the optical measurement equipment with the moving platform, and its motion trajectory is relatively single. The motion equation components of the simulated target in the azimuth and pitch directions have high-order derivatives. Although the axis number for the detection target has been increased to three, there are still position blind spots in the workspace. It is impossible to truly simulate the 6-DOF(Degree of Freedom) motion characteristics of moving platform and typical maneuvering target.In order to test and evaluate the tracking performance of optical measuring equipment with a moving platform under ground conditions, a 6-DOF detection target and detection method are proposed. In view of the fact that the traditional kinematics modeling and trajectory planning methods of multi-DOF serial mechanisms need to establish six coordinate systems, the calculation process is cumbersome, and there are problems such as poor real-time performance and easy to appear motion singular solutions. A continuous and singularity free kinematic model of the detection target is established in a global way by using the screw exponential product method. The method only needs to establish the head and tail coordinate systems of the detection target, which can completely express the transformation relationship between joints, and it is convenient to solve the inverse kinematics. The fusion motion trajectory in real time and high precision is simulated and the operation efficiency is improved. Shipborne optical measuring equipment is a typical ship moving platform equipment. The XX-1109 shipborne optical measuring equipment is studied and its tracking performance is tested.According to the performance of the detection target and optical measurement equipment, the azimuth and pitch

关 键 词：检测靶标 跟踪性能 轨迹规划算法 六自由度机械臂 光学测量设备 动平台 

分 类 号：TP216[自动化与计算机技术—检测技术与自动化装置]