| 一种快速三轴全方位光电跟踪策略 |
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| 引用本文： | 官伯林,贾建援,朱应敏.一种快速三轴全方位光电跟踪策略[J].西安交通大学学报,2012(2):76-82. |
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| 作者姓名： | 官伯林 贾建援 朱应敏 |
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| 作者单位： | 西安电子科技大学机电工程学院 |
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| 基金项目： | 国家自然科学基金联合资助项目(10476019) |
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| 摘 要： | 为了消除两轴光电跟踪系统的跟踪盲区,提出了一种存在冗余自由度的三轴光电跟踪系统.先运用四元数方法,建立三轴光电跟踪系统的运动学模型,然后在此基础上,应用极小范数最小二乘算法,设计出一种快速三轴全方位的光电跟踪策略.该跟踪策略针对方程系数求取Moore-Pen-rose广义逆矩阵,通过对三轴光电跟踪系统的运动方程进行三角变换,得到了三轴角增量组合的极小范数最小二乘解.仿真和实验结果表明,该跟踪策略不需要复杂的寻优过程,即可真正实现三轴联动全方位连续跟踪运动,与其他跟踪策略相比,该跟踪策略在跟踪运动过程中所需的各轴转动角度更小,因此跟踪性能更加优越.
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| 关 键 词： | 跟踪系统 跟踪策略 四元数 极小范数最小二乘解 |
High-Speed Tracking Strategy for Three-Axis Photoelectric Tracking System in Whole Space |
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| GUAN Bolin,JIA Jianyuan,ZHU Yingmin.High-Speed Tracking Strategy for Three-Axis Photoelectric Tracking System in Whole Space[J].Journal of Xi'an Jiaotong University,2012(2):76-82. |
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| Authors: | GUAN Bolin JIA Jianyuan ZHU Yingmin |
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| Institution: | (School of Electronic al and Mechanical Engineering,Xidian University,Xi′an 710071,China) |
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| Abstract: | A type of three-axis photoelectric tracking system with a redundant degree of freedom is designed for avoiding the spatial blind region of two-axis photoelectric tracking system.The kinematical model of three-axis photoelectric tracking system is constructed by quaternion,and a high-speed tracking strategy of three-axis photoelectric tracking system is proposed with minimum norm least squares solution.Via triangular transformation of three-axis kinematical function,the Moore-Penrose generalized inverse matrix of function is gained,and the minimum norm least squares solution of three-axis angular increments is solved.The results of simulation and experiment show that this tracking strategy does not need the complex optimization process,and the system enables to realize three-axis linkage continuous tracking movement in whole space,and the tracking angular increments of three axes get much smaller. |
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| Keywords: | tracking system tracking strategy quaternion minimum norm least squares solution |
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