【摘要】：光電探測系統(tǒng)作為現(xiàn)代探測、成像系統(tǒng)的核心部件,主要作用是對目標(biāo)的識別、定位、測量、跟蹤。由于光機(jī)電一體化學(xué)科的快速發(fā)展,光電探測系統(tǒng)已普遍運(yùn)用于偵測、定位、瞄準(zhǔn)、跟蹤、導(dǎo)航等各領(lǐng)域。定位精度作為系統(tǒng)工作性能的決定性評價(jià)指標(biāo),對于實(shí)現(xiàn)定位、成像、跟蹤等工作具有重要意義,不僅關(guān)系圖像的觀測質(zhì)量,還會影響到后續(xù)跟蹤、瞄準(zhǔn)的準(zhǔn)確性。本文針對光電探測系統(tǒng)定位精度問題,分析了工作機(jī)理、總體結(jié)構(gòu)與誤差來源,對目標(biāo)定位誤差進(jìn)行分析、建模、評價(jià),并標(biāo)定指向誤差模型、修正指向誤差。論文主要研究內(nèi)容如下:一、總結(jié)了機(jī)載光電探測系統(tǒng)目標(biāo)定位過程的原理、結(jié)構(gòu)組成與綜合性能評價(jià)指標(biāo)。按照光電探測系統(tǒng)結(jié)構(gòu)特征與目標(biāo)定位流程,詳細(xì)分析了目標(biāo)定位誤差中各分項(xiàng)誤差的誤差來源與分布規(guī)律。二、在總體結(jié)構(gòu)與分項(xiàng)誤差來源分析的基礎(chǔ)上,需要建立關(guān)于機(jī)載光電探測系統(tǒng)目標(biāo)定位過程的運(yùn)動(dòng)學(xué)綜合模型。首先,將光電探測系統(tǒng)這個(gè)多軸復(fù)雜機(jī)械結(jié)構(gòu)抽象成一個(gè)多體系統(tǒng),利用多體系統(tǒng)理論,劃分連續(xù)坐標(biāo)系,按多體系統(tǒng)方法得到由若干齊次坐標(biāo)變換矩陣組成的相鄰坐標(biāo)系間D-H(Denavit-Hartenberg)變換模型,進(jìn)而推導(dǎo)出目標(biāo)定位坐標(biāo)的D-H基本參數(shù)模型。然后,若不考慮光電探測系統(tǒng)的具體結(jié)構(gòu),按照目標(biāo)定位的大概運(yùn)動(dòng)過程,建立以李群、旋量理論為理論基礎(chǔ)的局部指數(shù)積(Local POE)模型。同時(shí),根據(jù)分項(xiàng)誤差源分析和D-H基本參數(shù)模型,使用Monte Carlo方法與誤差靈敏度公式,計(jì)算各分項(xiàng)誤差靈敏度系數(shù),對系統(tǒng)設(shè)計(jì)、裝配與定位誤差算法修正起到指導(dǎo)作用。三、為了達(dá)到高精度目標(biāo)定位要求,需要修正定位誤差中占主導(dǎo)作用的指向誤差部分。首先,總結(jié)了光電探測系統(tǒng)指向誤差的修正原理、研究流程、技術(shù)問題、實(shí)際應(yīng)用領(lǐng)域。接著,基于傳統(tǒng)線性誤差因素的考慮,建立基本參數(shù)模型,使用最小二乘法標(biāo)定模型參數(shù)。然后,基于線性誤差因素與非線性誤差因素共存的情況,建立半?yún)?shù)模型,使用補(bǔ)償最小二乘法與雙三次樣條插值相結(jié)合的標(biāo)定算法標(biāo)定模型參數(shù)。最后,針對機(jī)載光電探測系統(tǒng)指向誤差Local POE模型,改進(jìn)現(xiàn)有智能算法,融合模擬退火與粒子群算法,并標(biāo)定Local POE模型。四、搭建實(shí)驗(yàn)平臺,針對某型光電探測系統(tǒng)進(jìn)行指向誤差分離、標(biāo)定與修正實(shí)驗(yàn),分離指向誤差得到樣本數(shù)據(jù)。分別使用最小二乘標(biāo)定算法、補(bǔ)償最小二乘法與雙三次樣條插值相結(jié)合的標(biāo)定算法、基于模擬退火的粒子群優(yōu)化算法分別標(biāo)定光電探測系統(tǒng)指向誤差基本參數(shù)模型、半?yún)?shù)模型與Local POE模型的待定參數(shù)。實(shí)驗(yàn)結(jié)果表明,各標(biāo)定算法都能顯著提高光電探測系統(tǒng)指向精度與穩(wěn)定性。
[Abstract]:As the core component of modern detection and imaging system, photoelectric detection system is mainly used to identify, locate, measure and track targets. With the rapid development of optical and mechanical integration, photoelectric detection system has been widely used in detection, positioning, aiming, tracking, navigation and other fields. As the decisive evaluation index of system performance, positioning accuracy is of great significance to the realization of positioning, imaging and tracking. It not only relates to the quality of image observation, but also affects the accuracy of follow-up tracking and aiming. In this paper, the working mechanism, the overall structure and the error source of the photoelectric detection system are analyzed. The target positioning error is analyzed, modeled, evaluated, and the pointing error model is calibrated and the pointing error is corrected. The main contents of this paper are as follows: firstly, the principle, structure composition and comprehensive performance evaluation index of airborne photoelectric detection system are summarized. According to the structural characteristics of photoelectric detection system and the flow chart of target location, the error source and distribution of the sub-errors in target positioning error are analyzed in detail. Secondly, based on the analysis of the overall structure and the source of the sub-error, the kinematics synthesis model of the target location process of the airborne photoelectric detection system should be established. First of all, the photoelectric detection system, a multi-axis complex mechanical structure, is abstracted into a multi-body system, and the theory of multi-body system is used to divide the continuous coordinate system. The D-H (Denavit-Hartenberg) transformation model of adjacent coordinate system composed of several homogeneous coordinate transformation matrices is obtained according to the multi-body system method, and the D-H basic parameter model of target positioning coordinates is derived. Then, the local exponential product (Local POE) model based on Li Qun and spinor theory is established according to the general moving process of target location without considering the specific structure of the photoelectric detection system. At the same time, according to the error source analysis and D-H basic parameter model, Monte Carlo method and error sensitivity formula are used to calculate the sensitivity coefficient of each component error, which plays a guiding role in system design, assembly and positioning error algorithm correction. Third, in order to meet the requirement of high precision target positioning, we need to correct the pointing error which plays a leading role in the positioning error. Firstly, the correction principle, research flow, technical problems and practical application of the pointing error of photoelectric detection system are summarized. Then, based on the consideration of the traditional linear error factors, the basic parameter model is established, and the model parameters are calibrated by the least square method. Then, based on the coexistence of linear error factors and nonlinear error factors, a semi-parametric model is established, and the calibration model parameters are calibrated by using the method of compensating least square and bicubic spline interpolation. Finally, aiming at the pointing error Local POE model of airborne photoelectric detection system, the existing intelligent algorithm is improved, the simulated annealing and particle swarm optimization algorithm are fused, and the Local POE model is calibrated. Fourthly, the experiment platform is built to separate the pointing error for a certain photoelectric detection system, calibrate and correct the experiment, and separate the pointing error to get the sample data. Using least square calibration algorithm, compensating least square method and bicubic spline interpolation, particle swarm optimization algorithm based on simulated annealing is used to calibrate the basic parameter model of pointing error of photoelectric detection system, respectively. The undetermined parameters of semi-parametric model and Local POE model. The experimental results show that each calibration algorithm can significantly improve the pointing accuracy and stability of the photoelectric detection system.
【學(xué)位授予單位】：中國科學(xué)院研究生院(長春光學(xué)精密機(jī)械與物理研究所)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V241

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