滚仰式导引头跟踪策略研究  

Research on Tracking Strategy of Roll-pitch Seeker

作　　者：姚佳志 宋延嵩[1,2] 宋建林 王伟 安岩[1,2] YAO Jiazhi;SONG Yansong;SONG Jianlin;WANG Wei;AN Yan(College of Opto-electronic Engineering,Changchun University of Science and Technology,Changchun 130022,Jilin,China;Key Laboratory of Photoelectric Measurement and Control and Optical Information Transfer Technology of Ministry of Education,Changchun University of Science and Technology,Changchun 130022,Jilin,China;Jilin Henghui Optoelectronic Technology Co.,Ltd.,Changchun 130022,Jilin,China)

机构地区：[1]长春理工大学光电工程学院,吉林长春130022 [2]长春理工大学光电测控与光信息传输技术教育部重点实验室,吉林长春130022 [3]吉林珩辉光电科技有限公司,吉林长春130022

出　　处：《兵工学报》2024年第11期4031-4038,共8页Acta Armamentarii

基　　金：吉林省科技发展计划项目资助项目(20230301002GX、20220201078GX);国家重点研发计划项目(2021YFA0718804)。

摘　　要：为了简化滚转-俯仰式导引头的跟踪过程,提出并通过实验证明了一种应用于此结构的跟踪方案。通过分析滚-仰式导引头的工作原理及特性,提出基于解像旋机理跟踪目标的新方法,以简单、有效地应用于工程实际。与传统坐标转换法不同,新方法的精度受到光轴等机械误差的影响更小,容错率更高,适用性、实时性更强,且可以同时通过角速率陀螺数据作为反馈进行任意方向的扰动补偿。根据陀螺安装方式的不同,通过推导导引头稳定平台状态及导引头与弹体间的相对运动关系得到稳定公式,完成控制系统的设计。通过半实物仿真进行实验验证,静态跟踪实验结果证明了新的跟踪方法具有可实用性。在动态跟踪实验中分别使用传统坐标转换法和新提出的解像旋法进行跟踪。动态实验结果表明:解像旋法在存在载体扰动情况下仍然适用;相比传统坐标转换法,解像旋法较大幅度地提高了跟踪精度,x轴跟踪误差RMSE值减小了79.10%,y轴减小了90.04%。In order to simplify the tracking process of roll-pitch seeker,a tracking scheme for roll-pitch structure is proposed and experimentally proven.The working principle and characteristics of roll-pitch seeker are analyzed,and a new method for tracking the targets based on aeliminating image rotation mechanism is proposed,which can be easily and effectively applied in engineering practice.Compared with traditional coordinate conversion methods,the accuracy of the proposed method is less affected by mechanical errors such as optical axis,and has higher fault tolerance,applicability,and real-time performance.It can also compensate for the disturbances in any direction through feedback from angular rate gyroscope data.In addition,based on the different installation methods of gyroscopes,the stability formula is obtained by deriving the stabized platform state of the seeker and the relative motion relationship between the seeker and the missile body,and the design of the control system is completed.Finally,rhe experimental verification is conducted through semi-physical simulation.The static tracking experimental results demonstrate the practicality of the proposed tracking method.The traditional coordinate conversion method and the proposed method are used for tracking in the dynamic tracking experiment.Dynamic experimental results show that the proposed method is still applicable in the presence of carrier disturbances.Compared with traditional coordinate conversion methods,the proposed method significantly improves tracking accuracy,reducing the RMSE values of x-axis and y-axis tracking errors by 79.10%and 90.04%,respectively.

关 键 词：导引头 横滚-俯仰式 稳定平台 伺服系统 

分 类 号：TJ765.3[兵器科学与技术—武器系统与运用工程]