Translational Motion Compensation of Roll-Pitch Electro-Optical Pod to Ground Targets
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摘要:
由于挂载于某无人飞行平台上的滚仰式光电吊舱具有极大的速高比，因此在对地观测时，会在光电传感器的曝光时间内产生较大像移，使图像变得模糊不清，从而影响成像质量；同时，快速刷新的视频场景使操作手很难发现感兴趣的目标，也给跟踪捕获带来困难。针对此情况，本文提出利用惯导及光电吊舱信息求取相对目标运动的角速度，并通过设备的反向运动补偿来消除载体平移运动的不利影响。同时，本文还给出了补偿的应用条件限制及误差分析，并就目标距离、补偿角速度与观测角度、飞行高度的关系进行了仿真，接着对惯导测量误差及框架角误差对补偿角速度误差的影响进行了仿真分析。经过实际的挂飞试验验证表明：在不考虑光电吊舱运动范围受限情况下，光电视轴可长时间持续稳定地指向任一目标区域，输出清晰稳定的图像而不受载体平移运动的影响，从而给操作手的观测及操作带来极大便利。
Abstract:The roll–pitch electro-optical pod mounted on an unmanned flight platform has a high velocity–height ratio. When observing the ground, a large image motion can occur during the exposure time of the photoelectric sensor, causing image blurring, and thereby, affecting the imaging quality. Simultaneously, a rapidly refreshed video scene results in the operator facing challenges in finding the target of interest. This in turn causes difficulties in tracking and capturing. Given the aforementioned issue, in this study, the information on inertial and electro-optical pods is used to calculate the angular velocity relative to the target motion and eliminate the adverse effects of carrier motion via the reverse angular motion of the equipment. Furthermore, limitations on compensation application and error analysis are provided. The relationship among target distance, compensation angular velocity, observation angle, and flight altitude is simulated. This is followed by a simulation analysis of the influence of inertial measurement error and frame angle error on the compensation angular velocity error. The actual hanging flight test shows that the electro-optical sight axis can point to any target area continuously and stably for a long time without considering the limited motion range of the equipment and provide clear and stable images as the output, without being affected by the translational motion of the carrier. This in turn provides significant convenience to the operator for observation and operation.
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图 5 补偿角速度与观测角的关系
Figure 5. Relationship between compensation angular velocity and observation angle
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图 6 补偿角速度与飞行高度的关系
Figure 6. Relationship between compensation angular velocity and flight altitude
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图 8 不同测量误差对速度误差的影响
Figure 8. Influence of different measurement errors on velocity error
表 1 本系统中各误差数据
Table 1 Various error data of this system
Item INS Pod Heading/° Roll/° Pitch/° Speed/(m/s) Height/m Roll/° Pitch/° Error 0.1 0.05 0.05 0.1 10 0.03° 0.03 
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表 2 飞行条件参数
Table 2 Flight condition parameters
Items Parameters Heading/° 44.5 Roll/° -5.3 Pitch/° -2.1 East speed/(m/s) -20.07 North speed/(m/s) 22.97 Sky speed/(m/s) -0.6 Height/m 200
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