| 单欣,刘敏,林贻翔,郑纳川,曾庆武,艾勇.无人机动态目标的快速捕获跟踪演示实验[J].光电子激光,2017,28(5):510~518 |
| 无人机动态目标的快速捕获跟踪演示实验 |
| Fast acquisition and tracking demonstration experiments of unmanned aeri al vehicle dynamic object |
| 投稿时间：2016-04-25 |
| DOI： |
| 中文关键词: 激光通信 快速捕获 GPS 粗跟踪 PID控制 非线性调整 |
| 英文关键词:laser communication fast acquisition GPS coarse tracking PID control nonlin ear adjustment |
| 基金项目:国家自然科学基金(11204220)和光电控制技术重点实验室和航空科学基金联 合资助(201351S5002)资助项目 (1.武汉大学 电子信息学院,湖北 武汉 430072; 2.光电控制技术重点实验室,河南 洛阳 471009) |
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| 中文摘要: |
| 为了实现对机载移动目标的快速捕获和粗跟踪瞄准,设计了粗跟踪演示系统,完成了外 场飞行实验的 初步验证。本文系统利用GPS数据完成对目标的捕获,通过对姿态数据的校正,方位误差降 到0.60°(1σ),俯 仰误差降到0.40°(1σ),有效缩小了不确定区域；系统还对跟踪算 法进行了优化改进,利用分段式函数等效 非线性调整函数,有效解决动态目标跟踪时快速调整和超调之间的矛盾。飞行实验表明, 本文的粗跟踪演示 系统的捕获时间优于10s,粗跟踪精度优于480μrad,为精跟踪子系统实现最终的目标精确跟踪瞄准提供了 有利条件,实验结果验证了该系统用于激光通信链路快速建立的可行性。 |
| 英文摘要: |
| In order to realize the fast acquisition and coarse tracking of a moving object, a coarse APT demonstration system is designed for an unmanned aerial vehicle,and outdoor flight experiment s have been carried on to validate the system′s performance preliminarily.In the system,the fast acquisition is based on the calculation of the GPS coordinates.After correcting the attitude data,azimuth and elevation errors ar e reduced to 0.60° and 0.40° (1σ), respectively.And consequently,the uncertain region becomes narrower efficientl y.For the sake of resolving the contradiction between the quick responsibility and the overshooting when trackin g the dynamic object,the proportion integration differentiation (PID) algorithm of the coarse tracking has also been ameliorated by introducing segmen ted functions to simulate the nonlinear adjustment function.In outdoor flight experiments,acquisition times are less than 10s,and residual coarse tracking errors are less than 480μrad,which provides favorable conditio ns for the fine tracking subsystem to achieve the final tracking accuracy.The results verify the feasibility of this s ystem to realize fast establishments of the laser communication links. |
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