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.
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.
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2012年第2期76-82,共7页
Journal of Xi'an Jiaotong University
基金
国家自然科学基金联合资助项目(10476019)
关键词
跟踪系统
跟踪策略
四元数
极小范数最小二乘解
tracking system
tracking strategy
quaternion
minimum norm least squares solution
