一种高精度船只目标光电定位系统设计与实现

李英杰; 李绍军; 蒋鹏; 卢嘉成; 陈力; 梁冬冬; 周磊

一种高精度船只目标光电定位系统设计与实现

李英杰^1,,
李绍军^1, ,,
蒋鹏²,
卢嘉成²,
陈力¹,
梁冬冬¹,
周磊¹

1.
北方信息控制研究院集团有限公司, 江苏南京 210000
2.
驻南京地区第三军事代表室, 江苏南京 210000

详细信息

作者简介:
李英杰（1987-），男，博士，从事光电技术研究。E-mail：lsj_gdsf@163.com

通讯作者:
李绍军（1989-），男，硕士，从事云台伺服控制技术研究。E-mail：lsj_gdsf@163.com

中图分类号: TN06
计量
- 文章访问数: 29
- HTML全文浏览量: 3
- PDF下载量: 13
- 被引次数: 0
出版历程
- 收稿日期: 2022-09-03
- 修回日期: 2022-09-25
- 刊出日期: 2023-10-20

Design and Implementation of a High-precision Ship Target Photoelectric Positioning System

1.
North Information Control Research Academy Group Co. LTD., Nanjing 210000, China
2.
The Third Military Representative Office in Nanjing, Nanjing 210000, China

摘要

摘要: 针对跨海桥梁或沿海机场等场所需要实时测算获取移动船只目标绝对位置和高程的现实需要，文中介绍一种高精度光电船只目标定位系统设计与实现方案。通过将高清高精度光学探测组件集成于高精度云台设备内部，可实时解算出目标点的绝对位置信息和高程信息并上报监控系统。结合雷达系统引导可实现无人值守情况下自动测算过往船只经纬度坐标及高程功能。经实际运行测试，该系统展现出良好的可靠性，具有较好的测量精度和应用前景。
- 光学探测组件 /
- 云台 /
- 无人值守 /
- 自动测算 /
- 经纬度坐标 /
- 高程
Abstract: Herein, the design and implementation of a high-precision photoelectric ship target positioning system is introduced to obtain the absolute position and elevation of a moving ship target for real-time measurements in places such as sea-crossing bridges or coastal airports. By integrating high-definition and high-precision optical detection components into the high-definition PTZ equipment, the absolute position and altitude information of the target point can be calculated in real time and reported to the monitoring system. Combined with the guidance of a radar system, it can automatically measure the longitude, latitude coordinates, and altitude of passing ships under unattended conditions. An actual operational test showed that the system had good reliability, measurement accuracy, and application prospects.
- optical detection assembly /
- PTZ /
- unattended /
- automatic calculation /
- longtitude and latitude /
- altitude

HTML全文

图 1 目标定位系统示意

Figure 1. Target positioning system diagram

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图 2 目标位置信息解算流程

Figure 2. Target location information calculation process

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图 3 目标与云台坐标系关系

Figure 3. The relationship between the target and PTZ coordinate system

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图 4 目标与偏移后的云台坐标系关系

Figure 4. The relationship between the target and offset PTZ coordinate system

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图 5 云台伺服系统方案

Figure 5. PTZ servo system scheme

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图 6 速度环LADRC控制器结构

Figure 6. Speed loop LADRC controller structure

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图 7 速度环响应曲线对比

Figure 7. Comparison of speed loop response curves Angle/(°)

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图 8 位置环响应曲线对比

Figure 8. Comparison of position loop response curves

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图 9 系统工作流程

Figure 9. System workflow diagram

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表 1 电机和编码器参数

Table 1. Motor and encoder parameter

J180LWX005 motor	Value	EAC90F-0M21S encoder	Value
Rated torque/(N⋅m)	8	Resolution	21 bits
Rated current/A	4	Accuracy	< 30″
No-load speed/rpm	110	Maximum speed/rpm	6000
Torque coefficient/(N⋅m/A)	2
Phase resistor/Ω	1.6
Phase inductance/mH	4.5

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表 2 目标经纬度测量对照

Table 2. Target longitude and latitude measurement comparison

Actual value of target longitude and latitude/°	Measurement value of target longitude and latitude/°	Distance/m	Deviation/m
Longitude: 118.7693622; Latitude: 31.87598539	Longitude: 118.7693379; Latitude: 31.8759465	2638	4.77
Longitude: 118.7841865; Latitude: 31.896963	Longitude: 118.7841426; Latitude: 31.8969342	3825	4.86
Longitude: 118.7775752; Latitude: 31.9166531	Longitude: 118.777571; Latitude: 31.9166863	6025	3.71
Longitude: 118.86845383; Latitude: 31.89987727	Longitude: 118.868425; Latitude: 31.8998692	8224	2.84

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表 3 目标高程测量对照

Table 3. Target height measurement comparison

Actual value of target height/m	Measurement value/m	Distance/m	Deviation/m
87.944	88.2	2638	0.256
113.346	112.4	3825	-0.946
116.26	115.2	6025	-1.06
230.2	228.7	8224	-1.5

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