光学 精密工程, 2014, 22 (3): 687, 网络出版: 2014-04-24   

应用LPOE公式与遗传算法标定导引头运动学参数

Calibration of kinematic parameters of seekers by LPOE formula and genetic algorithm
作者单位
1 中国科学院 长春光学精密机械与物理研究所, 吉林 长春 130033
2 中国科学院大学, 北京 100039
摘要
提出了一种导引头运动学参数标定方法, 用于提高两轴双框架导引头的视轴静态指向精度。首先, 根据导引头稳定平台的光机结构特点, 应用局部指数积(LPOE)公式建立了导引头理论运动学模型; 通过分析轴系误差对运动学参数的影响, 修正了理论运动学模型。然后, 结合参数标定原理, 设计了遗传算法。该算法采用多点交叉与自适应变异概率来提高搜索效率并求得全局最优解。以视轴静态指向误差为目标函数, 利用遗传算法对运动学参数进行了辨识。最后, 利用激光跟踪仪测得两组数据, 分别用于辨识参数及验证标定模型。实验结果表明: 视轴的静态指向精度由标定前的109.9″提高到22.3″, 显示提出的标定方法能够有效的修正导引头运动学参数。
Abstract
A calibration method for kinematic parameters of a seeker was researched to improve the Line of Sight (LOS )static pointing precision of the seeker. Based on the opto-mechanical structure feature of the seeker stabilized platform , the ideal kinematic model of the seeker was established by local product-of-exponentials (LPOE) formula. Then, the ideal kinematic model was corrected by analyzing the impact of axial errors on kinematic parameters. According to the principle of parameter calibration, a genetic algorithm was designed to improve the searching efficiency by using multi-point crossover and adaptive mutation probability and to obtain the global optimal parameters. By using LOS static pointing error as the objective function, the kinematic parameters of seeker were identified based on the genetic algorithm. Finally, two groups of data were measured by a laser tracker to identify the kinematic parameters and verify the calibration model. The experiments indicate that the LOS static pointing precision can be improved from 109.9″to 22.3″after calibration, which concludes that the kinematic parameters of seeker can be corrected by the proposed calibration method.

赵明, 朱明超, 白杨, 刘慧, 王涛, 贾宏光, 宣明. 应用LPOE公式与遗传算法标定导引头运动学参数[J]. 光学 精密工程, 2014, 22(3): 687. ZHAO Ming, ZHU Ming-chao, BAI Yang, LIU Hui, WANG Tao, JIA Hong-guang, XUAN Ming. Calibration of kinematic parameters of seekers by LPOE formula and genetic algorithm[J]. Optics and Precision Engineering, 2014, 22(3): 687.

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