CN104848859B - A kind of control method of three axle stable inertia platforms and self-align orientation thereof - Google Patents
A kind of control method of three axle stable inertia platforms and self-align orientation thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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Abstract
The invention belongs to airborne remote sensing technical field, it relates to a kind of control method of three axle stable inertia platforms and self-align orientation thereof, the fields such as the method is applicable to air to surface observation of navigating, base surveying, ground scouting. The present invention adds strap-down navigation in the controls and resolves module, to through-rate gyro and accelerometer sensitive to the angular rate information of corresponding frame and linear acceleration information resolve and obtain accurate inner frame attitude angle information, thus reach the object following the tracks of geographical vertical line, break away from the present situation that three current axle stable inertia platforms need dependence POS to work.
Description
Technical field
The invention belongs to airborne remote sensing technical field, it relates to a kind of control method of three axle stable inertia platforms and self-align orientation thereof, the fields such as the method is applicable to air to surface observation of navigating, base surveying, ground scouting.
Background technology
In recent years, stable inertia platform technology develop rapidly, is widely applied to airborne remote sensing field. Navigate air to surface observation operation requirement high precision real time imagery, but is subject to the impact of various disturbance when flying due to carrier aircraft, can not ensure stable at the uniform velocity to fly, cause the camera optical axis being arranged in carrier aircraft to rock, and image quality declines. Stable inertia plateform system uses stabilizing gyroscope as camera frame, the various disturbance torques on torque compensation camera rack support axle are exported by motor, thus suppress carrier aircraft low frequency angular movement to the interference of camera, make the constant bearing in the relative inertia space of camera frame, ensure image quality.
When current stable inertia plateform system is used for remote sensing fields, need combined high precision position and attitude measuring system (positionandorientationsystem, POS), the closed loop of the angular rate information realization Controlling System position ring of frame relative in inertia space that the attitude angle information provided according to POS and rate gyroscope are measured and speed ring, follows the tracks of local geographical level and course keeps.
A kind of light-type airborne remote sensing three axle stable inertia plateform system described by Chinese patent CN201110078207.7, the geographical level of the platform body attitude angle information trace locality that Controlling System provides according to POS or two jerkmeter, when not receiving POS information, utilize the thicker camera attitude angle that jerkmeter provides, realize coarse adjustment to put down, but due to the impact by jerkmeter drift and carrier movement, a geographical level that tracking can be kept within the short period of time local. Three axle stable inertia platform Aerostab-2 of Germany's development self do not install jerkmeter, also exist and do not have POS to provide the inoperable problem of attitude benchmark.
Aerial remote sensing stable platform Controlling System comprises roll passage, pitching passage, azimuthal channel three separate subsystems, the effect of roll and pitching passage suppresses aircraft roll and pitch movement to the interference of camera, keeps camera optical axis to overlap with local ground vertical line as far as possible. The effect of azimuthal channel suppresses the motion of aircraft yawing angle to the interference of camera, keeps camera to be directed at a certain course as far as possible.
The control loop of three passages includes rate gyroscope stable loop and attitude angle (track angle) control loop. Rate gyroscope stable loop is interior loop, and effect is that isolation body angular movement is to the interference of camera. Attitude angle (track angle) control loop is external loop, and effect is the horizontal attitude benchmark and the reference course that drive platform platform volume tracing locality.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is proposed to a kind of control method of three axle stable inertia platforms and self-align orientation thereof.
It is an object of the invention to be achieved through the following technical solutions.
The one three axle stable inertia platform of the present invention, this three axles stable inertia platform comprises platform support, platform platform body, inertial measurement cluster, platform driving unit and platform electronic box;
Platform support is in order to support platform platform body;
The useful load such as platform platform body comprises outside framework, middle frame and inner frame, and inner frame is orientation framework, carrying camera, middle frame is pitching framework, and outside framework is roll framework;
Inertial measurement cluster comprises the first rate gyroscope, the 2nd rate gyroscope, the 3rd rate gyroscope, the first jerkmeter, the 2nd jerkmeter and the 3rd jerkmeter, first rate gyroscope, the 2nd rate gyroscope and the 3rd rate gyroscope are mutually orthogonal installation, and the first jerkmeter, the 2nd jerkmeter and the 3rd jerkmeter are mutually orthogonal installation; First rate gyroscope, the 2nd rate gyroscope, the 3rd rate gyroscope, the first jerkmeter, the 2nd jerkmeter and the 3rd jerkmeter are installed in inner frame; First rate gyroscope, the 2nd rate gyroscope and the 3rd rate gyroscope measurement obtain the inertia angular rate information in inner frame three directions, first jerkmeter, the 2nd jerkmeter and the 3rd accelerometer measures obtain the linear acceleration information in inner frame three directions, and the information obtained is supplied to electronic box;
The 3rd torque motor that the first torque motor is defined as middle frame motor, the 2nd torque motor of band deceleration device is defined as outside framework motor and band deceleration device that platform drives unit to comprise band deceleration device is defined as inner frame motor, and inner frame motor is arranged on middle frame and drives that inner frame rotates, middle frame motor is arranged on outside framework and drive that middle frame rotates, outside framework motor is arranged on platform support and drives outside framework to rotate;
Platform clectronic case comprises data acquisition module, strap-down navigation resolves module, power amplifier module and stable gesture stability module; The information of data collecting module collected first rate gyroscope, the 2nd rate gyroscope, the 3rd rate gyroscope, the first jerkmeter, the 2nd jerkmeter and the 3rd jerkmeter; Strap-down navigation resolves module and follows according to the data that data collecting module collected arrives, and resolves through strap-down navigation and obtains accurate inner frame attitude angle information and positional information; Power amplifier module carries out power magnification rear drive motor towards designated parties to rotation the calculation result of stable gesture stability module; Stablizing gesture stability module reception strap-down navigation and resolve the accurate inner frame attitude angle information obtained, by poor to itself and attitude angle set(ting)value, difference result calculates through gesture stability device and generates angular rate set(ting)value, completes gesture stability loop; The gyro angular rate information that angular rate set(ting)value and data collecting module collected obtain is poor, and difference result calculates through angular rate controller and generates motor drive signal, completes angular rate stable loop; Motor drive signal is through power amplifier module rear drive middle frame motor, outside framework motor and inner frame electric machine rotation, it is achieved the stability contorting of inner frame and ground attitude level and course being kept; The effect stablizing gesture stability module suppresses aircraft pitch, roll, yawing angle motion to the interference of camera, keeps camera optical axis to overlap with local ground vertical line and to be directed at a certain course constant, it is achieved camera to ground attitude level and course maintenance.
Three axle stable inertia plateform systems are made up of three frameworks, outside framework is roll framework, middle frame is pitching framework, inner frame is orientation framework, orientation frame relative freely can rotate around orientation axle in pitching framework, pitching frame relative freely can rotate around pitching axle in roll framework, and roll frame relative freely can rotate around roll axle of bowing in pedestal, realizes the isolation of the motion of airframe track angle, pitch movement, roll angle motion respectively. inertial measurement cluster comprises three rate gyroscopes and three jerkmeters, orthogonal respectively it is arranged on the orientation framework of plateform system, the angular rate relative to inertia space of difference sensitive platforms three frameworks and linear acceleration, Controlling System according to rate gyroscope responsive to frame corners speed information and accelerometer sensitive to linear acceleration information resolve through strap-down navigation and to draw accurate inner frame attitude angle information and positional information, produce control signal, control signal exports control moment by power driver module driving moment motor, Reverse Turning Control corresponding frame is rotated, reach the object of the geographical vertical line of stable inner frame and the camera optical axis and tracking.
The control method of the self-align orientation of a kind of three axle stable inertia platforms of the present invention, step is:
(1) data gathering. Data collecting module collected three gyros and three jerkmeters obtain inner frame relative to the angular rate information in inertia space and linear acceleration information.
(2) strap-down navigation resolves. Strap-down navigation resolves module to carry out strap-down navigation according to the information of collect three gyros and three jerkmeters and resolves the accurate attitude angle information and positional information that obtain inner frame.
(3) stablize gesture stability to calculate. Stablize gesture stability module and carry out gesture stability calculating according to the attitude angle information of inner frame, carry out speed stability contorting calculating according to gyro angular rate information, obtain the actuate signal of motor.
(4) power magnification. Motor drive signal towards designated parties to rotation through power magnification rear drive three motors, reaches and keeps platform stance level and the stable object of gyro.
The present invention's advantage compared with prior art is:
Existing three axle stable inertia plateform systems need the object realizing the geographical vertical line of camera optical axis close tracking in conjunction with POS system, and POS system is arranged on platform inner frame together with camera, and platform receives the attitude angle information of POS, and then realizes attitude closed loop. When not having POS system, due to drift characteristic and the carrier movement of jerkmeter, platform only can rely on the rate gyroscope of self and jerkmeter to realize the tracking function of geographical vertical line in short-term. The present invention adds strap-down navigation in the controls and resolves module, to through-rate gyro and accelerometer sensitive to the angular rate information of corresponding frame and linear acceleration information resolve and obtain accurate inner frame attitude angle information, thus reach the object following the tracks of geographical vertical line, break away from the present situation that three current axle stable inertia platforms need dependence POS to work.
Accompanying drawing explanation
Fig. 1 is the structure block diagram of the present invention;
Fig. 2 is the Controlling System schematic diagram of the present invention;
The strap-down navigation that Fig. 3 is the present invention resolves schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
As shown in Figure 1, a kind of three axle stable inertia platforms, this three axles stable inertia platform comprises platform support 1, platform platform body, inertial measurement cluster, platform driving unit and platform electronic box;
Platform support 1 is in order to support platform platform body;
The useful load such as platform platform body comprises outside framework 2, middle frame 3 and inner frame 4, and inner frame 4 is orientation framework, carrying camera, middle frame 3 is pitching framework, and outside framework 2 is roll framework;
Inertial measurement cluster comprises the first rate gyroscope 5, the 2nd rate gyroscope 7, the 3rd rate gyroscope 10, first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9, first rate gyroscope 5, the 2nd rate gyroscope 7 and the 3rd rate gyroscope 10 are mutually orthogonal installation, and the first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9 are mutually orthogonal installation; First rate gyroscope 5, the 2nd rate gyroscope 7, the 3rd rate gyroscope 10, first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9 are installed in inner frame 4; The inertia angular rate information obtaining inner frame 4 three directions measured by first rate gyroscope 5, the 2nd rate gyroscope 7 and the 3rd rate gyroscope 10, the linear acceleration information obtaining inner frame 4 three directions measured by first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9, and the information obtained is supplied to electronic box 14;
The 3rd torque motor that the first torque motor is defined as middle frame motor 11, the 2nd torque motor of band deceleration device is defined as outside framework motor 12 and band deceleration device that platform drives unit to comprise band deceleration device is defined as inner frame motor 13, and inner frame motor 13 is arranged on middle frame 3 and drives that inner frame 4 rotates, middle frame motor 11 is arranged on outside framework 2 and drive that middle frame 3 rotates, outside framework motor 12 is arranged on platform support 1 and drives outside framework 2 to rotate;
Platform clectronic case 14 comprises data acquisition module, strap-down navigation resolves module, power amplifier module and stable gesture stability module; The information of data collecting module collected first rate gyroscope the 5, the 2nd rate gyroscope 7, the 3rd rate gyroscope 10, first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9; Strap-down navigation resolves module and follows according to the data that data collecting module collected arrives, and resolves through strap-down navigation and obtains accurate inner frame 4 attitude angle information and positional information; Power amplifier module carries out power magnification rear drive electric machine rotation the calculation result of stable gesture stability module; Stablizing gesture stability module reception strap-down navigation and resolve the accurate inner frame 4 attitude angle information obtained, by poor to itself and attitude angle set-point, difference result calculates through gesture stability device and generates angular rate set-point, completes gesture stability loop; The gyro angular rate information that angular rate set-point and data collecting module collected obtain is poor, and difference result calculates through angular rate controller and generates motor drive signal, completes angular rate stable loop; Motor drive signal is rotated through power amplifier module rear drive middle frame motor 11, outside framework motor 12 and inner frame motor 13, it is achieved the stability contorting of inner frame 4 and ground attitude level and course being kept; The effect stablizing gesture stability module suppresses aircraft pitch, roll, yawing angle motion to the interference of camera, keeps camera optical axis to overlap with local ground vertical line and to be directed at a certain course constant, it is achieved camera to ground attitude level and course maintenance.
Data acquisition module in platform clectronic case 14, strap-down navigation are resolved module, power amplifier module and stable gesture stability module and are realized by numeral, analog hybrid system. Wherein, digital circuits section adopts DSP2812 and FPGA to combine as digital operation treater, and artificial circuit part comprises motor drive ic and peripheral circuit thereof. Wherein, data acquisition module completes primarily of FPGA, and strap-down navigation resolves module and stable gesture stability module completes primarily of DSP2812, and power amplifier module completes primarily of motor drive ic and peripheral circuit thereof.
A control method for the self-align orientation of three axle stable inertia platforms, as shown in Figure 2, step is:
(1) data gathering. FPGA gathers the information of first rate gyroscope 5, the 2nd rate gyroscope 7, the 3rd rate gyroscope 10, first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9 every 2ms, and by acquired data storage in inner register, wait the reading order of DSP2812.
(2) strap-down navigation resolves. DSP2812 reads the information of first rate gyroscope 5, the 2nd rate gyroscope 7, the 3rd rate gyroscope 10, first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9 every 2ms by address and data bus from FPGA, and carries out a strap-down navigation and resolve. Strap-down navigation resolves principle as shown in Figure 3, and system of coordinates wherein is defined as follows: inertial coordinates system o-xiyizi, inner frame system of coordinates o-xbybzb, terrestrial coordinates system o-xnynzn. The inertial measurement cluster being arranged on inner frame 4 records the angular rate of inner frame 4 relative to inertia spaceAnd accelerationAfter error compensation, with(terrestrial coordinates system is relative to the circular frequency in inertia space) synthesis obtains the angular rate of inner frame 4 relative to terrestrial coordinates systemAnd then resolved by attitude battle array and to obtain the pose transformation matrix that inner frame 4 coordinate is tied to terrestrial coordinates systemAnd the angle of pitchYawing angle (��), roll angle (��). The linear acceleration that first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9 recordWarpRealize acceleration vector from inner frame 4 system of coordinates b converting to terrestrial coordinates system nSpeed, the positional information of platform inner frame 4 is obtained through navigation calculation.
Due to the output of the first rate gyroscope 5, the 2nd rate gyroscope 7, the 3rd rate gyroscope 10, first jerkmeter 6, the 2nd jerkmeter 8 and the 3rd jerkmeter 9 is moved except inner frame 4 circular frequency, except linear acceleration, still containing the various error signals self produced in the measurements, according to the error model of the rate gyroscope used, jerkmeter, output need to be done error compensation process. The output of the first rate gyroscope 5, the 2nd rate gyroscope 7 and the 3rd rate gyroscope 10 draws the angular velocity of satellite motion of inner frame 4 after error compensation, carries it into quaternion differential equation formula (formula 1),
Separate this differential equation, try to achieve 4 first q of instantaneous quaternion0��q1��q2��q3Value, thus can obtain pose transformation matrix(formula 2).
Known pose transformation matrixAfter, the platform body angle of pitch can be calculated by formula 3Yawing angle (��), roll angle (��).
(formula 3)
(3) stablize gesture stability to calculate. Stablizing gesture stability calculating and comprise gesture stability calculating and angular rate control calculating, wherein angular rate controls calculating every 2ms execution once, and gesture stability calculates every 10ms execution once. Stablizing gesture stability module and resolve the accurate inner frame 4 attitude angle information obtained according to strap-down navigation, by poor to itself and attitude angle set-point, difference result calculates through gesture stability device and generates angular rate set-point, completes gesture stability loop; The gyro angular rate information that angular rate set-point and data collecting module collected obtain is poor, and difference result calculates the actuate signal generating middle frame motor 11, outside framework motor 12 and inner frame motor 13 through angular rate controller, completes angular rate stable loop.
(4) power magnification. The actuate signal of middle frame motor 11, outside framework motor 12 and inner frame motor 13 is calculated by stable gesture stability every 2ms and regenerates and once enter power amplifier module afterwards, turn into after 28V level, driving middle frame motor 11 to drive middle frame 3, outside framework motor 12 to drive outside framework 2, inner frame motor 13 to drive inner frame 4 to rotate towards the direction reducing attitude angle difference respectively from 3.3V level through power magnification chip and peripheral circuit thereof, reach and keep platform stance level and the stable object of gyro.
The content not being described in detail in specification sheets of the present invention belongs to the known prior art of professional and technical personnel in the field.
Claims (2)
1. an axle stable inertia platform, it is characterised in that: this three axles stable inertia platform comprises platform support (1), platform platform body, inertial measurement cluster, platform driving unit and platform electronic box;
Platform support (1) is in order to support platform platform body;
Platform platform body comprises outside framework (2), middle frame (3) and inner frame (4), inner frame (4) is orientation framework, carrying camera useful load, middle frame (3) is pitching framework, and outside framework (2) is roll framework;
Inertial measurement cluster comprises the first rate gyroscope (5), the 2nd rate gyroscope (7), the 3rd rate gyroscope (10), the first jerkmeter (6), the 2nd jerkmeter (8) and the 3rd jerkmeter (9), first rate gyroscope (5), the 2nd rate gyroscope (7) and the 3rd rate gyroscope (10) are mutually orthogonal installation, and the first jerkmeter (6), the 2nd jerkmeter (8) and the 3rd jerkmeter (9) are mutually orthogonal installation; First rate gyroscope (5), the 2nd rate gyroscope (7), the 3rd rate gyroscope (10), the first jerkmeter (6), the 2nd jerkmeter (8) and the 3rd jerkmeter (9) are installed in inner frame (4); The inertia angular rate information obtaining inner frame (4) three directions measured by first rate gyroscope (5), the 2nd rate gyroscope (7) and the 3rd rate gyroscope (10), the linear acceleration information obtaining inner frame (4) three directions measured by first jerkmeter (6), the 2nd jerkmeter (8) and the 3rd jerkmeter (9), and the information obtained is supplied to electronic box (14);
The first torque motor that platform drives unit to comprise band deceleration device is defined as middle frame motor (11), the 3rd torque motor that the 2nd torque motor with deceleration device is defined as outside framework motor (12) and band deceleration device is defined as inner frame motor (13), inner frame motor (13) is arranged on middle frame (3) and goes up and drive inner frame (4) to rotate, middle frame motor (11) is arranged on outside framework (2) and goes up and drive middle frame (3) to rotate, outside framework motor (12) is arranged on platform support (1) and goes up and drive outside framework (2) to rotate,
Platform clectronic case (14) comprises data acquisition module, strap-down navigation resolves module, power amplifier module and stable gesture stability module; The information of data collecting module collected first rate gyroscope (5), the 2nd rate gyroscope (7), the 3rd rate gyroscope (10), the first jerkmeter (6), the 2nd jerkmeter (8) and the 3rd jerkmeter (9); Strap-down navigation resolves the data that module arrives according to data collecting module collected, resolves through strap-down navigation and obtains inner frame (4) attitude angle information and positional information; Power amplifier module carries out power magnification rear drive motor towards designated parties to rotation the calculation result of stable gesture stability module; Stablizing gesture stability module reception strap-down navigation and resolve inner frame (4) the attitude angle information obtained, by poor to itself and attitude angle set(ting)value, difference result calculates through gesture stability device and generates angular rate set(ting)value, completes gesture stability loop; The gyro angular rate information that angular rate set(ting)value and data collecting module collected obtain is poor, and difference result calculates through angular rate controller and generates motor drive signal, completes angular rate stable loop; Motor drive signal is rotated through power amplifier module rear drive middle frame motor (11), outside framework motor (12) and inner frame motor (13), it is achieved the stability contorting of inner frame (4) and ground attitude level and course being kept.
2. the control method of the self-align orientation of three axle stable inertia platforms as claimed in claim 1, it is characterised in that step is:
(1) information of data collecting module collected first rate gyroscope, the 2nd rate gyroscope, the 3rd rate gyroscope, the first jerkmeter, the 2nd jerkmeter and the 3rd jerkmeter obtains inner frame relative to the angular rate information in inertia space and linear acceleration information;
(2) strap-down navigation resolves module and carries out strap-down navigation according to the information of the first rate gyroscope collected, the 2nd rate gyroscope, the 3rd rate gyroscope, the first jerkmeter, the 2nd jerkmeter and the 3rd jerkmeter and resolve the accurate attitude angle information and positional information that obtain inner frame;
(3) stablize gesture stability module and carry out gesture stability calculating according to the attitude angle information of inner frame, information according to the first rate gyroscope, the 2nd rate gyroscope, the 3rd rate gyroscope carries out angular rate stability contorting calculating, obtains the actuate signal of middle frame motor, outside framework motor and inner frame motor;
(4) actuate signal of frame motor, outside framework motor and inner frame motor is through power magnification rear drive middle frame driven by motor middle frame, outside framework driven by motor outside framework, inner frame driven by motor inner frame towards designated parties to rotation, reaches and keeps platform stance level and the stable object of gyro.
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| CN104848859A (en) | 2015-08-19 |
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