Solution of angle increments for roll-pitch seekers based on Paden-Kahan sub-problems

ZHU Ming-chao; JIA Hong-guang

doi:10.3788/OPE.20111908.1838

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Solution of angle increments for roll-pitch seekers based on Paden-Kahan sub-problems

Article | 更新时间：2020-08-12

- Solution of angle increments for roll-pitch seekers based on Paden-Kahan sub-problems
- Optics and Precision Engineering Vol. 19, Issue 8, Pages: 1838-1844(2011)
- 作者机构：
  
  中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20111908.1838
  CLC： TJ765.331;TP273
- Received：07 January 2011，
  
  Revised：18 March 2011，
  
  Published Online：25 August 2011，
  
  Published：25 August 2011
- 稿件说明：
移动端阅览
朱明超, 贾宏光. 基于Paden-Kahan子问题求解滚仰式导引头角增量[J]. 光学精密工程, 2011,19(8): 1838-1844

ZHU Ming-chao, JIA Hong-guang. Solution of angle increments for roll-pitch seekers based on Paden-Kahan sub-problems[J]. Editorial Office of Optics and Precision Engineering, 2011,19(8): 1838-1844
朱明超, 贾宏光. 基于Paden-Kahan子问题求解滚仰式导引头角增量[J]. 光学精密工程, 2011,19(8): 1838-1844 DOI： 10.3788/OPE.20111908.1838.

ZHU Ming-chao, JIA Hong-guang. Solution of angle increments for roll-pitch seekers based on Paden-Kahan sub-problems[J]. Editorial Office of Optics and Precision Engineering, 2011,19(8): 1838-1844 DOI： 10.3788/OPE.20111908.1838.

摘要

根据滚转俯仰双框架导引头的结构特点

对框架进行了运动学分析。基于Paden-Kahan子问题

给出了封闭形式的滚仰角增量求解算法。通过将导引头的滚仰角增量求解分解为两个规范的Paden-Kahan子问题使运动学逆解由两个简单的刚体运动组成

从而简化了滚仰角增量求解的复杂度。为避免运动学逆解不唯一

应用最小角增量准则对运动学逆解进行了优化。数值仿真显示

求解的角增量使光轴指向误差为零

保证了光轴与视线的重合。最后

采用角增量求解算法对圆周轨迹目标进行半实物跟踪实验

结果表明

提出的逆运动学算法可以有效求解滚仰式导引头滚仰角增量

实现目标闭环跟踪。

Abstract

The kinematic representation of a rool-pitch seeker was analyzed according to the special structure of the seeker. A geometrical closed-form angle increment solution was proposed based on the Paden-Kahan sub-problems. Using this method

the angle increment solution of the seeker was decomposed into two canonical Paden-Kahan subproblems

which led the solution of inverse kinematics to be two simple rigid motions.Therefore

the complexity of the inverse kinematics problem was reduced. Because the inverse kinematics of the seeker has not an exclusive solution

the minimum angle increment criteria was introduced to optimize the inverse kinematics problem. The numerical simulation shows that the obtained angle inerement allows the pointing error of an optical axis into zero

and the optical axis can be coincident with the line of sight very well. Finally

the semi-physics tracking experiments using the angle increment algrithom for a circle track target were performed

which demonstrates the effectiveness of the proposed inverse kinematics in solving the roll-pitch angle increment.

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references

王志伟, 祁载康, 王江. 滚-仰式导引头跟踪原理[J]. 红外与激光工程, 2008,37(2):274-277. WANG Z W, QI Z K, WANG J. Tracking principle for roll-pitch seeker[J]. Infrared and Laser Engineering, 2008,37(2):274-277. (in Chinese)[2] JACQUIES W. Line-of-sight rate estimation and linearizing control of an imaging seeker in a tactical missile guided by proportional navigation [J]. IEEE Transactions on Control System Technology, 2002,10(4):556-567. [3] SMITA S, GHOSHAL T K. Sight line rate estimation in missile seeker using disturbance observer-based technique[J]. IEEE Transactions on Control System Technology, 2011,19(2):449-454.[4] 林德福, 王志伟, 王江. 滚-仰式导引头奇异性分析与控制[J]. 北京理工大学学报, 2010, 30(11):1265-1269. LIN D F, WANG ZH W, WANG J. Singularity analysis of roll-pitch seeker and its control strategy[J]. Transactions of Beijing Institute of Technology, 2010,30(11):1265-1269. (in Chinese)[5] 董小萌, 张平. 极坐标红外成像导引头平台的跟踪指令优化 . 中国制导、导航与控制学术会议, 上海, 2010:387-390. DONG X M, ZHANG P. Tracking command optimization of polar coordinate frame gimbal for infrared imaging guidance . Proceedings of the Chinese Guidance, Navigation and Control Conference, shanghai, 2010:387-390. (in Chinese)[6] PETER H. Modeling and simulation of aerospace vehicle dynamics[M]. AIAA, 2007.[7] MURRAY R M, LI Z X, SASTRY S S. A Mathematical Introduction to Robotic Manipulation[M]. CRC, 1994.[8] CHEN I, YANG G, TAN C, et al.. Local POE model for robot kinematic calibration [J]. Mechanism and Machine Theory, 2001,36(11-12):1215-1239.[9] GAO Y, CHEN W H, LU Z. Kinematics analysis and experiment of a cockroach-like robot[J]. Journal of Shanghai Jiaotong University, 2011,16(1):71-77.[10] 钱东海, 王新峰, 赵伟, 等. 基于旋量理论和Paden-Kahan子问题的6自由度机器人逆解算法[J]. 机械工程学报, 2009, 45 (9): 72-81. QIAN D H, WANG X F, ZHAO W, et al.. Algorithm for the inverse kinematics calculation of 6-DOF robots based on screw theory and Paden-Kahan sub-problems[J]. Journal of Mechanical Engineering, 2009,45(9):72-81. (in Chinese)[11] 朱华征, 范大鹏, 马东玺, 等. 导引头伺服系统隔离度与测试[J]. 光学精密工程, 2009,17(8):1993-1998. ZHU H ZH, FAN D P, MA D X, et al.. Disturbance isolation index of seeker servo system and its test[J]. Opt. Precision Eng., 2009,17(8):1993-1998. (in Chinese)

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Optimization of angle increments in tracking loop for roll-pitch seekers

Angle increment solution for roll-pitch seeker based on Paden-Kahan sub-problems

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中科院长春光机所2. 中国科学院长春光学精密机械与物理研究所

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