应用跟踪误差等效模型评价光电经纬仪跟踪性能

张宁; 沈湘衡; 杨亮

光学精密工程, 2010, 18 (3): 677, 网络出版: 2010-08-31

应用跟踪误差等效模型评价光电经纬仪跟踪性能

Evaluation of tracking performance of photoelectric theodolite using equivalent model of tracking error

论文大纲

张宁 ^1,2,*沈湘衡 ¹杨亮 ^1,2

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 中国科学院研究生院，北京 100039

摘要

针对目前光电经纬仪跟踪性能室内检测方法的缺陷，提出了评价光电经纬仪跟踪性能的新方法。基于系统辨识理论建立了光电经纬仪跟踪误差等效模型，将等效正弦信号输入等效模型，通过对模型输出进行数据处理来评价光电经纬仪的跟踪性能。介绍了建立等效模型的原理和等效模型阶次，给出了根据光电经纬仪检测指标进行等效正弦信号设计的方法。为得到精确的模型参数，采用动态靶标目标角频率连续调制模式实现了对光电经纬仪动态性能的持续激励。仿真和实验结果显示，得到的跟踪误差等效模型估计误差均值为(2.587 2×10-6)°≈0°，最大值为1.8″，标准差为1.1″，表明建立的等效模型能够满足跟踪性能评价要求，实现了对光电经纬仪跟踪性能的合理、准确评价。

Abstract

Considering the drawback of checking method indoor for the dynamic characteristics of tracking systems of photoelectric theodolites, a novel approach is proposed to evaluate the tracking performance of photoelectric theodolites in this paper.The equivalent mathematical model of tracking error of a photoelectric theodolite is established.On the basis of identification theory,the equivalent sine signal is inputted to the equivalent model, and then the output signals are processed to evaluate the tracking performance.The principle of the equivalent model of tracking error and the identification method of equivalent model order are introduced, and the design approach of equivalent sine signal is given according to the checking and testing desires of theodolites.Because the dynamic characteristics of the theodolite need to be inspirited fully by input signals to obtain accurate parameters of equivalent model, the frequency of dynamic target is modulated continuously.The proposed equivalent model is verified by simulation and experiments, obtained results indicate that the estimate errors of equivalent model including average error, maximum error and standard error are (2.587 2×10-6)°≈0°, 1.8″ and 1.1″,respectively,which shows that the equivalent model meets the needs of evaluating the tracking performance of theodolites, and achieves the accurate evaluation of tracking performance.

参考文献

[1] 何照才.光电测量［M］.北京：国防工业出版社，2002：80-81.

HE ZH C.Photoelectricity Measure ［M］.Beijing: National Defense Industry Press, 2002：80-81.(in Chinese)

[2] 王建立.光电经纬仪电视跟踪伺服系统捕获跟踪快速运动目标技术的研究［D］.长春：长春光机所,2002.

WANG J L.Study on TV tracking system of O-E theodolite to track and acquire fast moving targets［D］.Changchun：Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences.2002.(in Chinese)

[3] 李文军，陈涛.光电跟踪系统噪声分析及其抑制［J］.光学精密工程，2007，15(2)：254-260.

LI W J,CHEN T.Analysis and restraining of random noise of optoelectronic tracking system［J］.Opt.Precision Eng.,2007,15(2):254-260.(in Chinese)

[4] 吴今培.系统辨识［M］.北京：中国铁道出版社，1994：168-170.

WU J P.System Identification ［M］.Beijing: China Railway Publish House, 1994:168-170.(in Chinese)

[5] 方崇智，萧德云.过程辨识［M］.北京：清华出版社，2007：134-137.

FANG CH ZH,XIAO D Y.Process Identification［M］.Beijing: Tsinghua University Press,2007:134-137.(in Chinese)

[6] . 时变系统辨识方法及其收敛定理[J]. 江南大学学报(自然科学版), 2006, 5(1): 115-126.

. Time-varying system identification methods and convergence theorems[J]. Journal of Southern Yangtze University(Natural Science Edition), 2006, 5(1): 115-126.

[7] SUZUKI H.SUGIE T.Optimal input design for system identification in the presence of undermodeling［C］.46th IEEE CDC，New Orleans, USA, DEC.12-14,2007:5522-5527.

[8] 张波，贺庚贤，沈湘衡.可编程动态旋转靶标标定方法［J］.光学精密工程，2003，11(2)：176-180.

ZHANG B,HE G X,SHEN X H.Calibration of programmable dynamic target ［J］.Opt.Precision Eng.,2003,11(2):176-180.(in Chinese)

[9] 张宁，沈湘衡.基于等效正弦、等效目标的直线动靶标建模［J］.激光与红外，2008，38(2)：154-157.

ZHANG N, SHEN X H.Modeling of linear dynamic target based on equivalent sine curve and equivalent target［J］.Laser & Infrared,2008,38(2):154-157.(in Chinese)

[10] 孟中，张涛，郑秀筠，等.正交基函数多项式实时拟合在轴角编码器测速中的应用［J］.光学精密工程，2006，14(2)：303-307.

MENG ZH, ZHNAG T, ZHENG X J, et al..Application of real time polynomial fitting based on orthogonal basis function algorithm to encoder rate measurement［J］.Opt.Precision Eng.,2006，14(2):303-307.(in Chinese)

[11] AGERO J C, GOODWIN G C.Choosing between open-and closed-loop experiments in linear system identification ［J］.IEEE Transtions on Automatic Control,2007,52(8).

[12] 付明.小波变换在信号降噪中的应用研究［J］.微计算机信息，2008，24(1-1)：237-238.

FU M.The application of decreasing noise by wavelet transform［J］.Microcomputer Information,2008,24(1-1):237-238.(in Chinese)

张宁, 沈湘衡, 杨亮. 应用跟踪误差等效模型评价光电经纬仪跟踪性能[J]. 光学精密工程, 2010, 18(3): 677. ZHANG Ning, SHEN Xiang-heng, YANG Liang. Evaluation of tracking performance of photoelectric theodolite using equivalent model of tracking error[J]. Optics and Precision Engineering, 2010, 18(3): 677.

应用跟踪误差等效模型评价光电经纬仪跟踪性能

关于本站 Cookie 的使用提示

全站搜索

应用跟踪误差等效模型评价光电经纬仪跟踪性能

相关论文

相关资讯

关于本站 Cookie 的使用提示

全站搜索