CN105947227A - Stabilizing platform of airborne optoelectronic pod - Google Patents
Stabilizing platform of airborne optoelectronic pod Download PDFInfo
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- CN105947227A CN105947227A CN201610362914.1A CN201610362914A CN105947227A CN 105947227 A CN105947227 A CN 105947227A CN 201610362914 A CN201610362914 A CN 201610362914A CN 105947227 A CN105947227 A CN 105947227A
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- 230000005693 optoelectronics Effects 0.000 title abstract description 5
- 230000000087 stabilizing effect Effects 0.000 title abstract 5
- 230000009123 feedback regulation Effects 0.000 claims abstract description 35
- 238000005259 measurement Methods 0.000 claims abstract description 23
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 230000001133 acceleration Effects 0.000 claims description 16
- 230000033228 biological regulation Effects 0.000 claims description 15
- 238000013528 artificial neural network Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 239000000835 fiber Substances 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000008054 signal transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims 1
- 238000003384 imaging method Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010297 mechanical methods and process Methods 0.000 description 2
- 230000005226 mechanical processes and functions Effects 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
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- 241000544061 Cuculus canorus Species 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- 238000011105 stabilization Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a stabilizing platform of an airborne optoelectronic pod. The stabilizing platform comprises a field programmable gate array (FPGA) controller, an inertial measurement unit (IMU) and a feedback regulation unit. The FPGA controller is connected with the IMU and the feedback regulation unit. The FPGA controller, the IMU and the feedback regulation unit are arranged for controlling the stabilizing platform of the airborne optoelectronic pod, compared with the condition that in the prior art, gyros are used for stabilizing the gesture of airborne optoelectronic pod systems, the platform can be better stabilized, and the definition of target images obtained by an aerial carrier is ensured.
Description
Technical field
The present invention relates to stabilized platform field, in particular to stablizing of a kind of airborne photoelectric gondola
Platform.
Background technology
At present, the work under bad environment of airborne photoelectric Towed bird system, carrier aircraft when flight, flight attitude
Change, fuselage shaking, windage, mechanical vibration and load disturbance, all give airborne photoelectric Towed bird system
Bringing huge interference, cause the problem that control system is unstable, Control System of Stable Platform is that photoelectricity hangs
The important component part in cabin, is used for isolating body and external environment condition disturbance, eliminates the shake of target image,
Ensure stability and the definition of sensor imaging.
In correlation technique, photoelectric nacelle stability contorting platform is typically realized light by gyroscope and controller
Electricity the stablizing of gondola stability contorting platform, gyroscope is by the beginning of the azimuth information of stabilized platform and pitch information
Passing controller, controller realizes stability contorting platform by conditions such as the moments of regulation direct current generator
Stablize.
In actual mechanical process, complicated and changeable due to external interference factor, cause stability contorting to be put down
The gyroscope of platform system also exists during stable airborne photoelectric Towed bird system attitude can not accurately
Realize carrier aircraft location and the sensitive defect that platform is controlled, thus cause the target that carrier aircraft obtains
The problem that image generation shake and the stability of sensor imaging and definition do not reach requirement.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is to provide the stable flat of a kind of airborne photoelectric gondola
Platform, to realize carrying out carrier aircraft accurately location and sensitive stabilized platform to enter emerging control, preferably
Ensure the definition of the target image of carrier aircraft acquisition.
First aspect, embodiments provides the stabilized platform of a kind of airborne photoelectric gondola, including:
Including: field programmable gate array (Field-Programmable Gate Array, FPGA) is controlled
Device processed, Inertial Measurement Unit (Inertial measurement unit, IMU) and feedback regulation unit；
Described FPGA controller respectively with described IMU Inertial Measurement Unit and described feedback regulation list
Unit connects；
Described IMU Inertial Measurement Unit, for measuring angular velocity and the acceleration of photoelectric detection equipment；
Described FPGA controller, for receiving the described light that described IMU Inertial Measurement Unit sends
The regulation feedback letter that the angular velocity of electrical resistivity survey measurement equipment and acceleration and described feedback regulation unit return
Number, and comprise according in the described angular velocity received, described acceleration and described regulation feedback signal
The angular displacement of described feedback regulation unit described feedback regulation unit is sent control signal so that institute
State feedback regulation unit the stabilized platform of described airborne photoelectric gondola is adjusted；
Described feedback regulation unit, for the control signal that sends according to described FPGA controller to institute
State the angular displacement of the stabilized platform of airborne photoelectric gondola, velocity of displacement and acceleration to be controlled, and to
Described FPGA controller returns the described regulation feedback letter comprising described feedback regulation cell corner displacement
Number.
In conjunction with first aspect, embodiments provide the first possible embodiment party of first aspect
Formula, wherein, described IMU Inertial Measurement Unit includes: multiple single-axis accelerometers and multiple single shaft
Gyroscope；
The plurality of single-axis accelerometer, is used for detecting described photoelectric detection equipment at described airborne photoelectric
The acceleration signal of the stabilized platform coordinate system independent axes of gondola；
The plurality of single axis gyroscope, for detect the stabilized platform of described airborne photoelectric gondola relative to
The angular velocity signal of navigational coordinate system.
In conjunction with first aspect, embodiments provide the embodiment party that the second of first aspect is possible
Formula, wherein, described feedback regulation unit includes: drive machine, azimuth axis motor, pitch axis motor,
Azimuth axis encoder and pitch axis encoder；
Described driving machine respectively with described FPGA controller, described azimuth axis motor and described pitch axis
Motor connects；
Described azimuth axis encoder is connected with described FPGA controller and described azimuth axis motor respectively；
Described pitch axis encoder is connected with described FPGA controller and described pitch axis motor respectively；
Described driving machine, for receiving the instruction of described FPGA controller and controlling according to instruction described
Azimuth axis motor and described pitch axis motor move；
Described azimuth axis motor and described pitch axis motor, for the axial movement in control azimuth respectively
Movement axial with pitching；
Described azimuth axis encoder and described pitch axis encoder, for measuring described azimuth axis respectively
Motor and described pitch axis motor relative bearing axle and the angular displacement of pitch axes, and will be according to described
The described regulation feedback signal transmission that angular displacement generates is to FPGA controller.
In conjunction with first aspect, embodiments provide the third possible embodiment party of first aspect
Formula, wherein, described FPGA controller, by neural network algorithm, described Photoelectric pod system is entered
Row controls.
In conjunction with first aspect, embodiments provide the 4th kind of possible embodiment party of first aspect
Formula, wherein, described FPGA controller combines PID ratio-long-pending also by described neural network algorithm
Point-differential control method, described Photoelectric pod system is controlled.
In conjunction with first aspect, embodiments provide the 5th kind of possible embodiment party of first aspect
Formula, wherein, described FPGA controller uses NIOSII processor able to programme.
In conjunction with first aspect, embodiments provide the 6th kind of possible embodiment party of first aspect
Formula, wherein, the stabilized platform of described airborne photoelectric gondola also includes: host computer；
Described host computer is connected with described FPGA controller；
Described host computer, for sending host computer instruction to described FPGA controller so that described
FPGA controller sends control signal to described feedback regulation unit.
In conjunction with first aspect, embodiments provide the 7th kind of possible embodiment party of first aspect
Formula, wherein, described gyroscope is fibre optic gyroscope.
In conjunction with first aspect, embodiments provide the 8th kind of possible embodiment party of first aspect
Formula, wherein, the stabilized platform of described airborne photoelectric gondola also includes: power supply；
Described power supply is connected with described FPGA controller；
Described power supply, for powering to described FPGA controller.
In conjunction with first aspect, embodiments provide the 9th kind of possible embodiment party of first aspect
Formula, wherein, the stabilized platform of described airborne photoelectric gondola is two axle two frame stability platforms.
The stabilized platform of a kind of airborne photoelectric gondola that the embodiment of the present invention provides, by arranging FPGA
Controller, IMU Inertial Measurement Unit and feedback regulation unit, stablize airborne photoelectric gondola
Platform is controlled, relative to using the gyroscope attitude to airborne photoelectric Towed bird system in prior art
Stably compare, can preferably realize stablizing of platform, it is ensured that the target image that carrier aircraft obtains
Definition.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to required in embodiment
Accompanying drawing to be used is briefly described, it will be appreciated that the following drawings illustrate only some of the present invention
Embodiment, is therefore not construed as the restriction to scope, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings relevant attached
Figure.
Fig. 1 shows the stabilized platform of a kind of airborne photoelectric gondola that the embodiment of the present invention provided
Structural representation；
In accompanying drawing 1, the list of parts representated by each label is as follows:
10:FPGA controller, 11:IMU Inertial Measurement Unit,
12: driving machine, 13: azimuth axis motor,
14: azimuth axis encoder, 15: pitch axis motor,
16: pitch axis encoder, 17: power supply,
18: host computer.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention,
Rather than whole embodiments.Generally herein described in accompanying drawing and the group of the embodiment of the present invention that illustrates
Part can be arranged with various different configurations and design.Therefore, below to the basis provided in the accompanying drawings
The detailed description of inventive embodiment is not intended to limit the scope of claimed invention, but only
Only represent the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not having
There is on the premise of making creative work the every other embodiment obtained, broadly fall into present invention protection
Scope.
In view of in correlation technique, photoelectric nacelle stability contorting platform is typically come by gyroscope and controller
Realizing stablizing of photoelectric nacelle stability contorting platform, gyroscope is by the azimuth information of stabilized platform and pitching
Passing controller at the beginning of information, controller realizes stable control by conditions such as the moments of regulation direct current generator
Stablizing of platform processed.In actual mechanical process, complicated and changeable due to external interference factor, cause
The gyroscope of stability contorting plateform system also exists during stable airborne photoelectric Towed bird system attitude
Can accurately not realize carrier aircraft location and the sensitive defect that platform is controlled, thus cause carrier aircraft
The target image obtained produces shake and the stability of sensor imaging and definition does not reaches asking of requirement
Topic.Based on this, embodiments provide the stabilized platform of a kind of airborne photoelectric gondola, logical below
Cross embodiment to be described.
Embodiment
In order to realize accurately carrier aircraft being carried out location and sensitive stabilized platform be entered emerging control, more preferably
The definition of target image that obtains of guarantee carrier aircraft.Seeing Fig. 1, the present embodiment provides a kind of airborne light
The stabilized platform of electricity gondola, including: FPGA controller 10, IMU Inertial Measurement Unit 11 and feedback
Regulation unit；
FPGA controller 10 is connected with IMU Inertial Measurement Unit 11 and feedback regulation unit respectively；
IMU Inertial Measurement Unit 11, for measuring angular velocity and the acceleration of photoelectric detection equipment；
FPGA controller 10, the photodetection sent for receiving IMU Inertial Measurement Unit 11 sets
The regulation feedback signal that standby angular velocity and acceleration and feedback regulation unit return, and according to connecing
The angular displacement pair of the feedback regulation unit comprised in the angular velocity, acceleration and the regulation feedback signal that receive
Feedback regulation unit sends control signal so that airborne photoelectric gondola is stablized flat by feedback regulation unit
Platform is adjusted；
Feedback regulation unit, for the control signal that sends according to FPGA controller 10 to airborne photoelectric
The angular displacement of the stabilized platform of gondola, velocity of displacement and acceleration are controlled, and to FPGA control
Device 10 returns the regulation feedback signal comprising feedback regulation cell corner displacement.
In order to measure angular velocity and the acceleration of the stabilized platform of airborne photoelectric nacelle accurately.This enforcement
Example provides in the stabilized platform of a kind of airborne photoelectric gondola, and IMU Inertial Measurement Unit 11 includes: many
Individual single-axis accelerometer and multiple single axis gyroscope；
Multiple single-axis accelerometers, put down at the stable of airborne photoelectric gondola for detecting photoelectric detection equipment
The acceleration signal of platform coordinate system independent axes；
Multiple single axis gyroscopes, for detecting the stabilized platform of airborne photoelectric nacelle relative to navigation coordinate
The angular velocity signal of system.
By above example it can be seen that photoelectric detection equipment adding relative to coordinate system independent axes
Rate signal is measured by single-axis accelerometer, and angular velocity signal is measured by single axis gyroscope, wherein, and machine
Carry photoelectric nacelle stabilized platform coordinate system, refer to the coordinate set up on the basis of airborne photoelectric gondola
System；Navigational coordinate system, refers in satellite navigation and location system, under orbital data for ground heart is admittedly
Data, so can guarantee that final positioning result and orbital data belong to identical coordinate reference
System, carries out correlation computations to facilitate.Use the real-time control system of IMU Inertial Measurement Unit 11,
Real time location tracking is realized while realizing gondola platform high stability.
In order to realize effective regulation of the stabilized platform to airborne photoelectric gondola, airborne photoelectric is kept to hang
Stablizing of cabin stabilized platform.The present embodiment provides the stabilized platform of a kind of airborne photoelectric gondola, feedback to adjust
Joint unit includes: drive machine 12, azimuth axis motor 13, pitch axis motor 15, azimuth axis encoder
14 and pitch axis encoder 16；
Driving machine 12 respectively with FPGA controller 10, azimuth axis motor 13 and pitch axis motor 15
Connect；
Azimuth axis encoder 14 is connected with FPGA controller 10 and azimuth axis motor 13 respectively；
Pitch axis encoder 16 is connected with FPGA controller 10 and pitch axis motor 15 respectively；
Driving machine 12, for receiving the instruction of FPGA controller 10 and according to instruction control azimuth axle
Motor 13 and pitch axis motor 15 move；
Azimuth axis motor 13 and pitch axis motor 15, for the respectively axial movement in control azimuth and
The axial movement of pitching；
Azimuth axis encoder 14 and pitch axis encoder 16, for measuring azimuth axis motor 13 respectively
With pitch axis motor 15 relative bearing axle and the angular displacement of pitch axes, and will be raw according to angular displacement
The regulation feedback signal transmission become is to FPGA controller 10.
By above example it can be seen that azimuth axis encoder 14 and pitch axis encoder 16 are distinguished
Measure the angular displacement of azimuth axis motor 13 and the rotation of pitch axis motor 15 phase shaft also, position, angle
Move and transmit to FPGA controller 10, thus realize azimuth axis and the decoupling of pitch axis and position of platform
The closed loop of loop is servo-actuated.FPGA controller 10 can require and controlled device mould according to control performance
Suitable control decision made by type, and control signal is transferred to azimuth axis motor 13 and pitch axis electricity
Machine 15, it is achieved control stably, quickly and precisely.
In order to realize the actual control to airborne photoelectric gondola and real-time tracking.The present embodiment provides one
The stabilized platform of airborne photoelectric gondola, FPGA controller 10, by neural network algorithm, photoelectricity is hung
Cabin system is controlled.
By above example it can be seen that pass through FPGA controller 10 based on neutral net,
Use cuckoo searching algorithm to optimize, Towed bird system is controlled, effectively solve photoelectric nacelle at sky
In easily affected by aspect change, windage, mechanical vibration, load disturbance etc. and cause control system
Unstable problem, it is achieved the actual control of gondola and real-time tracking.
In order to realize stablizing of airborne photoelectric gondola, remote tracking.The present embodiment provides a kind of airborne
The stabilized platform of photoelectric nacelle, FPGA controller 10 combines PID ratio also by neural network algorithm
Example-Integrated Derivative control algolithm, is controlled Photoelectric pod system.
By above example it can be seen that neural network algorithm is combined with pid control algorithm and answers
Use in the stabilized platform of airborne photoelectric gondola, it is achieved that the stabilized platform of airborne photoelectric gondola steady
Fixed, remote control tenacious tracking.
It is capable of program can edit to realize FPGA controller 10.The present embodiment provides one
The stabilized platform of airborne photoelectric gondola, FPGA controller 10 uses NIOSII processor able to programme.
By above example it can be seen that use the CYCLONE that ALTERA company produces
Series FPGA is as core, it is possible to make designer build complete compiling within a very short time
Journey system.Utilize the self-defined a NIOSII processor of SOPC Builder software, wherein dominant frequency,
The equal flexibly configurable of peripheral interface, intervalometer, it is possible to meet design requirement.
In order to the control command of FPGA controller 10 is controlled.The present embodiment provides a kind of lane
Road anchor pole monitoring system, the stabilized platform of airborne photoelectric gondola, the stabilized platform of airborne photoelectric gondola is also
Including: host computer 18；
Host computer 18 is connected with FPGA controller 10；
Host computer 18, instructs for sending host computer 18 to FPGA controller 10 so that FPGA
Controller 10 sends control signal to feedback regulation unit.
By above example it can be seen that host computer 18 sends host computer to FPGA controller 10
18 instructions, FPGA controller 10 instructs according to host computer 18 and is controlled feedback regulation unit.
Angular displacement for the stabilized platform of sensitive airborne photoelectric gondola accurately.The present embodiment provides one
Planting the stabilized platform of airborne photoelectric gondola, gyroscope is fibre optic gyroscope.
Fibre optic gyroscope is the sensing element based on optical fibers coil, laser diode launch
The light gone out is propagated towards both direction along optical fibers, the change of propagation path of light, determines sensitive unit
The angular displacement of part.Fibre optic gyroscope is compared with traditional mechanical gyroscope, and advantage is all solid state, does not has
Rotary part and friction means, the life-span is long, and dynamic range is big, instantaneous starting, simple in construction, size
Little, lightweight；Compared with lasergyro, fibre optic gyroscope does not has latch-up problem, without at stone
English block Precision Machining goes out light path, low cost.
In order to power to FPGA controller 10, FPGA controller 10 is kept normally to work.This reality
Executing example and provide the stabilized platform of a kind of airborne photoelectric gondola, the stabilized platform of airborne photoelectric gondola also wraps
Include: power supply 17；Power supply 17 is connected with FPGA controller 10；Power supply 17, for FPGA
Controller 10 is powered.
Wherein, this power supply 17 is detachable secondary cell, is continuously FPGA controller 10 and powers,
Ensure that FPGA normally works, the stabilized platform of whole airborne photoelectric gondola is controlled.
In order to keep stablizing of the stabilized platform of airborne photoelectric gondola.The present embodiment provides a kind of airborne light
The stabilized platform of electricity gondola, the stabilized platform of airborne photoelectric gondola is two axle two frame stability platforms.
Wherein, orientation-pitching two axle two frame structure is the most ripe, in pitching frame is platform
Framework follows the motion of pitch axis system, and orientation framework is that platform outer gimbal follows azimuth axle rotation.
The control system of the stabilized platform of airborne photoelectric gondola mainly has following several mode of operation:
1, stable mode: the line of sight shake that isolation external disturbance causes, it is ensured that camera imaging is clear.
In this mode, system controlled volume is the angular velocity in relative inertness space, and reference input perseverance is 0,
Therefore platform loads optical axis angular velocity change in inertial space by optical fibre gyro sensitive optoelectronic, and
Controller as feedback signal transmission to platform.Controller is according to " at utmost isolating outside
Disturbance " criterion design, Negotiation speed circuit controls realizes the stabilization function of platform.
2, automatic tracing mode: the video information obtained according to video camera, it is achieved automatically searching of target
Rope and tracking.In such a mode, the problem that there is not optic central extract, system controlled volume is relative inertness
The miss distance in space, therefore platform by integral light fiber gyroscope sensitivity to magnitude of angular velocity obtain relatively
The variation in angular displacement of inertial space, and as the controller of feedback signal transmission to platform.Control
Device, according to the criterion design of " following the tracks of upper reference input with prestissimo ", controls real by position loop
The search and track function of existing platform.
3, camera scanning investigative mode: when photographing unit is after certain direction imaging, will rotate into next
Individual direction set in advance imaging, circulates sweeping the most successively, it is thus achieved that the image information of different azimuth.
Therefore this pattern includes optic central extract and two parts of position transfer.When optic central extract, control system
Work in stable mode, when platform smooth rotation, the position follower pattern of control system work.
4, stick follower model: the video information obtained according to video camera, by following action bars
Instruction, it is achieved the manual search of target and tracking.In such a mode, the problem that there is not optic central extract,
System controlled volume is the angular displacement in opposite base space, and therefore platform passes through photoelectric encoder measuring table
The angular velocity in opposite base space and variation in angular displacement, and as feedback signal transmission to platform
Controller.Controller designs according to the criterion of " instruction of floating servocontrol bar ", is returned by position
The manual search following function of road control realization platform.
In sum, by arranging FPGA controller, IMU Inertial Measurement Unit and feedback regulation
Unit, is controlled the stabilized platform of airborne photoelectric gondola, relative to using top in prior art
The attitude of airborne photoelectric Towed bird system is stably compared by spiral shell instrument, can preferably realize the steady of platform
Fixed, it is ensured that the definition of the target image that carrier aircraft obtains.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention not office
Being limited to this, any those familiar with the art, can in the technical scope that the invention discloses
Readily occur in change or replace, all should contain within protection scope of the present invention.Therefore, the present invention
Protection domain should described be as the criterion with scope of the claims.
Claims (10)
1. the stabilized platform of an airborne photoelectric gondola, it is characterised in that including: scene can be compiled
Journey gate array FPGA controller, IMU Inertial Measurement Unit and feedback regulation unit；
Described FPGA controller respectively with described IMU Inertial Measurement Unit and described feedback regulation list
Unit connects；
Described IMU Inertial Measurement Unit, for measuring angular velocity and the acceleration of photoelectric detection equipment；
Described FPGA controller, for receiving the described light that described IMU Inertial Measurement Unit sends
The regulation feedback letter that the angular velocity of electrical resistivity survey measurement equipment and acceleration and described feedback regulation unit return
Number, and comprise according in the described angular velocity received, described acceleration and described regulation feedback signal
The angular displacement of described feedback regulation unit described feedback regulation unit is sent control signal so that institute
State feedback regulation unit the stabilized platform of described airborne photoelectric gondola is adjusted；
Described feedback regulation unit, for the control signal that sends according to described FPGA controller to institute
State the angular displacement of the stabilized platform of airborne photoelectric gondola, velocity of displacement and acceleration to be controlled, and to
Described FPGA controller returns the described regulation feedback letter comprising described feedback regulation cell corner displacement
Number.
The stabilized platform of airborne photoelectric gondola the most according to claim 1, it is characterised in that institute
State IMU Inertial Measurement Unit to include: multiple single-axis accelerometers and multiple single axis gyroscope；
The plurality of single-axis accelerometer, is used for detecting described photoelectric detection equipment at described airborne photoelectric
The acceleration signal of the stabilized platform coordinate system independent axes of gondola；
The plurality of single axis gyroscope, for detect the stabilized platform of described airborne photoelectric gondola relative to
The angular velocity signal of navigational coordinate system.
The stabilized platform of airborne photoelectric gondola the most according to claim 1, it is characterised in that institute
State feedback regulation unit to include: drive machine, azimuth axis motor, pitch axis motor, azimuth axis encoder
With pitch axis encoder；
Described driving machine respectively with described FPGA controller, described azimuth axis motor and described pitch axis
Motor connects；
Described azimuth axis encoder is connected with described FPGA controller and described azimuth axis motor respectively；
Described pitch axis encoder is connected with described FPGA controller and described pitch axis motor respectively；
Described driving machine, for receiving the instruction of described FPGA controller and controlling according to instruction described
Azimuth axis motor and described pitch axis motor move；
Described azimuth axis motor and described pitch axis motor, for the axial movement in control azimuth respectively
Movement axial with pitching；
Described azimuth axis encoder and described pitch axis encoder, for measuring described azimuth axis respectively
Motor and described pitch axis motor relative bearing axle and the angular displacement of pitch axes, and will be according to described
The described regulation feedback signal transmission that angular displacement generates is to FPGA controller.
The stabilized platform of airborne photoelectric gondola the most according to claim 1, it is characterised in that institute
State FPGA controller, by neural network algorithm, described Photoelectric pod system is controlled.
The stabilized platform of airborne photoelectric gondola the most according to claim 4, it is characterised in that institute
State FPGA controller and combine the calculation of PID proportional integral differential control also by described neural network algorithm
Method, is controlled described Photoelectric pod system.
The stabilized platform of airborne photoelectric gondola the most according to claim 1, it is characterised in that
Described FPGA controller uses NIOSII processor able to programme.
The stabilized platform of airborne photoelectric gondola the most according to claim 1, it is characterised in that
The stabilized platform of described airborne photoelectric gondola also includes: host computer；
Described host computer is connected with described FPGA controller；
Described host computer, for sending host computer instruction to described FPGA controller so that described
FPGA controller sends control signal to described feedback regulation unit.
The stabilized platform of airborne photoelectric gondola the most according to claim 2, it is characterised in that
Described gyroscope is fibre optic gyroscope.
The stabilized platform of airborne photoelectric gondola the most according to claim 7, it is characterised in that
The stabilized platform of described airborne photoelectric gondola also includes: power supply；
Described power supply is connected with described FPGA controller；
Described power supply, for powering to described FPGA controller.
The stabilized platform of airborne photoelectric gondola the most according to claim 1, it is characterised in that
The stabilized platform of described airborne photoelectric gondola is two axle two frame stability platforms.
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| CN201610362914.1A CN105947227A (en) | 2016-05-26 | 2016-05-26 | Stabilizing platform of airborne optoelectronic pod |
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| CN201610362914.1A CN105947227A (en) | 2016-05-26 | 2016-05-26 | Stabilizing platform of airborne optoelectronic pod |
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| CN106352739A (en) * | 2016-09-26 | 2017-01-25 | 西安应用光学研究所 | Adaptive refrigeration device of airborne photoelectric sight stabilization turret |
| CN106502259A (en) * | 2016-11-21 | 2017-03-15 | 国网山东省电力公司电力科学研究院 | Electric inspection process low profile photovoltaic gondola control device, gondola, unmanned plane and method |
| CN107920196A (en) * | 2016-10-08 | 2018-04-17 | 哈尔滨新光光电科技有限公司 | A kind of three closed loop servo systems stabilisations for gondola camera lens |
| CN108248879A (en) * | 2018-01-26 | 2018-07-06 | 广东容祺智能科技有限公司 | A kind of two-dimentional distance measuring sensor autostabiliazer unit of unmanned plane |
| CN108519087A (en) * | 2018-03-22 | 2018-09-11 | 湖北三江航天万峰科技发展有限公司 | Tracking platform device based on MEMS gyro and tracking |
| CN108919836A (en) * | 2018-07-05 | 2018-11-30 | 中国科学院光电技术研究所 | Full-band disturbance decoupling method for photoelectric tracking system of motion platform |
| CN109298630A (en) * | 2018-09-05 | 2019-02-01 | 哈尔滨工程大学 | Optical-assisted image stabilization technology for a low-cost photoelectric pod for unmanned ships |
| CN109358656A (en) * | 2018-09-11 | 2019-02-19 | 西安应用光学研究所 | A kind of target acquistion method suitable for airborne lidar for fluorescence |
| CN109445470A (en) * | 2018-11-28 | 2019-03-08 | 中国科学院光电技术研究所 | Carrier attitude angle information feedforward-based visual axis stabilization method for photoelectric system |
| CN110296688A (en) * | 2019-05-16 | 2019-10-01 | 武汉新瑞通达信息技术有限公司 | A kind of detecting one inclination aerial survey gondola based on passive geographic positioning technology |
| CN110881107A (en) * | 2019-11-26 | 2020-03-13 | 电子科技大学 | A Neural Network-Based Stability Augmentation PTZ Control Method |
| CN111152931A (en) * | 2020-04-08 | 2020-05-15 | 北京中星时代科技有限公司 | Small-size triaxial photoelectric pod control system |
| CN111338391A (en) * | 2020-05-19 | 2020-06-26 | 北京中星时代科技有限公司 | Two-axis four-frame photoelectric turntable control system |
| CN111506118A (en) * | 2020-04-27 | 2020-08-07 | 中国科学院光电技术研究所 | A three-degree-of-freedom optoelectronic pod driven by quadrature decoupling torque |
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| CN106352739A (en) * | 2016-09-26 | 2017-01-25 | 西安应用光学研究所 | Adaptive refrigeration device of airborne photoelectric sight stabilization turret |
| CN107920196A (en) * | 2016-10-08 | 2018-04-17 | 哈尔滨新光光电科技有限公司 | A kind of three closed loop servo systems stabilisations for gondola camera lens |
| CN106502259A (en) * | 2016-11-21 | 2017-03-15 | 国网山东省电力公司电力科学研究院 | Electric inspection process low profile photovoltaic gondola control device, gondola, unmanned plane and method |
| CN108248879A (en) * | 2018-01-26 | 2018-07-06 | 广东容祺智能科技有限公司 | A kind of two-dimentional distance measuring sensor autostabiliazer unit of unmanned plane |
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| CN108919836B (en) * | 2018-07-05 | 2021-08-13 | 中国科学院光电技术研究所 | A full-band disturbance decoupling method for optoelectronic tracking system of motion platform |
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| CN109445470A (en) * | 2018-11-28 | 2019-03-08 | 中国科学院光电技术研究所 | Carrier attitude angle information feedforward-based visual axis stabilization method for photoelectric system |
| CN110296688A (en) * | 2019-05-16 | 2019-10-01 | 武汉新瑞通达信息技术有限公司 | A kind of detecting one inclination aerial survey gondola based on passive geographic positioning technology |
| CN110881107A (en) * | 2019-11-26 | 2020-03-13 | 电子科技大学 | A Neural Network-Based Stability Augmentation PTZ Control Method |
| CN111152931A (en) * | 2020-04-08 | 2020-05-15 | 北京中星时代科技有限公司 | Small-size triaxial photoelectric pod control system |
| CN111506118A (en) * | 2020-04-27 | 2020-08-07 | 中国科学院光电技术研究所 | A three-degree-of-freedom optoelectronic pod driven by quadrature decoupling torque |
| CN111338391A (en) * | 2020-05-19 | 2020-06-26 | 北京中星时代科技有限公司 | Two-axis four-frame photoelectric turntable control system |
| CN111338391B (en) * | 2020-05-19 | 2020-12-11 | 北京中星时代科技有限公司 | Two-axis four-frame photoelectric turntable control system |
| CN112485832A (en) * | 2020-12-16 | 2021-03-12 | 深圳市广域鹏翔研究开发有限公司 | Suspension type active stabilization platform |
| CN113296447A (en) * | 2021-06-07 | 2021-08-24 | 玉环天润航空机械制造有限公司 | Vehicle-mounted detection instrument control system |
| CN113296447B (en) * | 2021-06-07 | 2023-03-07 | 玉环天润航空机械制造有限公司 | Vehicle-mounted detection instrument control system |
| CN113985778A (en) * | 2021-10-28 | 2022-01-28 | 北京环境特性研究所 | Control system and method of vehicle-mounted photoelectric sensor |
| CN113985778B (en) * | 2021-10-28 | 2024-01-19 | 北京环境特性研究所 | Control system and method for vehicle-mounted photoelectric sensor |
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