Error modeling and compensation for indirect stabilization electro-optical targeting system
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摘要: 为提高间接稳定式光电稳瞄系统的稳定精度,建立了系统的稳定误差模型.研究了基于旋转调制技术的陀螺消噪方法;设计了采用测速发电机和光电码盘组合的测速方法,用以消除码盘的量化噪声;分析了陀螺和摄像机安装偏角与视轴稳定误差之间的关系,提出了基于光电跟踪技术的安装偏角估计方法.实验及仿真结果与理论分析吻合较好.结果表明:对系统进行完整的误差补偿后,采用低精度MEMS(Micro Electronic Mechanical System)陀螺的间接稳定系统的稳定精度与中等精度光纤陀螺直接稳定系统的稳定精度相当.Abstract: In order to improve the precision of indirect stabilization electro-optical targeting system, the line-of-sight error model of the system was established. The rotation-modulation approach was studied for alleviating the drift error of the gyro. The speed measurement method by combining tachogenerator and photoelectric encoder was proposed for decreasing quantization noise of the photoelectric encoder. The relationship between the installation error of gyro & camera and line-of-sight stabilization error was analyzed, and the installation error was effectively estimated by using electro-optical tracking method. The theoretical analysis is consistent with the real experimental results. The simulation results show when the system error was completely compensated, the accuracy of indirect stabilization system based on low performance micro electronic mechanical system (MEMS) gyros was equal to the direct stabilization system based on medium performance fiber gyros.
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