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.
参考文献

[1] JACQUIES W.Line-of-sight rate estimation and linearizing control of an imaging seeker in a tactical missile guided by proportional navigation [J].IEEE Transactions on Control System Technology, 2002, 10(4): 556-567.

[2] RUSSELL T R.Strapdown stabilization for imaging seekers [C]//Proceedings of the AIAA SDIO 2nd Annual Interceptor Technology Conference, Albuquerque, 1993.

[3] 王涛, 朱明超, 訚胜利, 等.稳定平台轴系精度对视轴指向误差的影响分析[J].红外与激光工程, 2011, 40(11): 2265-2269.

    WANG T, ZHU M CH, YIN SH L, et al..Analysis of LOS pointing error derived from precision of shafting in stabilization mechanism[J].Infrared and Laser Engineering, 2011, 40(11): 2265-2269.(in Chinese)

[4] CHEN I, YANG G.Kinematic calibration of modular reconfigurable robots using product of exponentials formula [J].Journal of Robotic System, 1997, 14(11): 807-821.

[5] 任永杰, 邾继贵, 杨学友, 等.利用激光跟踪仪对机器人进行标定的方法[J].机械工程学报, 2007, 43(9): 195-200.

    REN Y J, ZHU J G, YANG X Y et al..Method of robot calibration based on laser tracker [J].Chinese Journal of Mechainal Engineering, 2007, 43(9): 195-200.(in Chinese)

[6] 赵金宇, 王德兴, 李文军, 等.望远镜系统误差动态修正的一种新方法[J].红外与激光工程, 2005, 34(2): 244-247.

    ZHAO J Y, WANG D X, LI W J, et al..New method of dynamic correction for the system errors of telescope[J].Infrared and Laser Engineering, 2005, 34(2): 244-247.(in Chinese)

[7] 刘廷霞, 王伟国, 李博, 等.水平式经纬仪静态指向修正模型的比较与改进[J].光学 精密工程, 2010, 18(6): 1374-1380.

    LIU T X, WANG W G, LI B, et al..Comparison and improvement of correction models for static pointing of level mounting theodolite[J].Opt. Precision Eng., 2010, 18(6): 1374-1380.(in Chinese)

[8] 薛向尧, 高云国, 韩光宇, 等.水平式激光发射系统指向误差的修正[J].光学 精密工程, 2011, 19(3): 536-544.

    XUE X Y, GAO Y G, HAN G Y, et al..Correction of laser pointing error of level mounting laser transmiter system[J].Opt. Precision Eng., 2011, 19(3): 536-544.(in Chinese)

[9] 朱明超, 王涛, 贾宏光, 等.基于指数积公式的导引头运动学分析与标定[J].红外与激光工程, 2011, 40(8): 1556-1562.

    ZHU M CH, WANG T, JIA H G, et al..Seeker kinematic analysis and calibration based on POE formula [J].Infrared and Laser Engineering, 2011, 40(8): 1556-1562.(in Chinese)

[10] HE R B, ZHAO Y J, YANG SH N, et al..Kinematic parameter identification for serial robot calibration based on POE formula [J].IEEE Transactions on Robotics, 2010, 26(3): 411-423.

[11] 赵磊, 刘书桂.基于改进遗传算法实现柔性三坐标测量机参数标定[J].光学 精密工程, 2011, 19(11): 2753-2758.

    ZHAO L, LIU SHU G.Implementation of parameter calibration for flexible coordinate measurement machine based on improving genetic algorithm [J].Opt. Precision Eng., 2011, 19(11): 2753-2758.(in Chinese)

[12] SEIJI A, MASATO S, TOMOKAZU T, et al..Calibration of kinematic parameters of robot arm using laser tracking system [J].Int.J.of Automation Technology, 2012, 6(1): 29-37.

[13] 高贯斌, 王文, 林铿, 等.应用改进模拟退火算法实现关节臂式坐标测量机的参数辨识[J].光学 精密工程, 2009, 17(10): 2499-2505.

    GAO G B, WANG W, LIN K, et al..Parameter identification based on modified annealing algorithm for articulated arm CMMs[J].Opt. Precision Eng., 2009, 17(10): 2499-2505.(in Chinese)

[14] KOICHIRO O, PARK FC.Kinematic calibration using the product of exponentials formula [J].Robotica, 1996, 14(4): 415-421.

[15] CHEN I, YANG G, TAN C, et al..Local POE model for robot kinematic calibration[J].Mechanism and Machine Theory, 2001, 36(11-12): 1215-1239.

[16] 毛英泰.误差理论与精度分析[M].北京: 机械工业出版社, 1982.

    MAO Y T.Deviation Theory and Accuracy Analysis[M].Beijing: China Machine Press, 1982.

[17] 杜俊峰, 张孟伟, 张晓明.光电经纬仪测角精度分析[J].应用光学, 2012, 33(3): 466-473.

    DU J F, ZHANG M W, ZHANG X M.Angle measurement accuracy of photoelectric theodolite[J].Journal of Applied Optics, 2012, 33(3): 466-473.(in Chinese)

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.

本文已被 1 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!