摘要
三轴光电跟踪系统由于存在一个冗余横倾轴,可以解决传统两轴光电跟踪系统存在的空间跟踪盲区,全方位跟踪空间目标。在详细分析三轴光电跟踪系统运动学特性的前提下,运用四元数方法建立了存在一个冗余自由度的运动学模型,并设计出一种新的基于自适应遗传算法的三轴跟踪策略。仿真及实验结果表明,基于自适应遗传算法的三轴跟踪策略不需要进行轴系间的运动切换即可避免跟踪盲区,真正实现了系统的三轴联动全方位连续跟踪运动;而且与现有两轴跟踪策略和三轴切换跟踪策略相比,各轴所需的转动角度减小了30%以上,因而提升了系统的跟踪性能,其跟踪快速性提高了30%以上。
With a redundant degree of freedom, three-axis photoelectric tracking system can solve the problem of spatial blind region existing in two-axis photoelectric tracking system, and it can track the target in the whole space. Based on the movement analysis of three-axis photoelectric tracking system, the kinematic model of the system with a redundant degree of freedom is built using quaternion method. Then, a new three-axis tracking strategy is designed based on adaptive genetic algorithm （AGA）. The simulation and experiment results indicate that AGA tracking strategy can avoid the spatial blind region without using the switching strategy of two different axes in three-axis system, and it can realize three-axis linkage continuous tracking movement rapidly and accurately in the whole space. Furthermore, compared with existing two-axis tracking strategy and three-axis switch tracking strategy, the AGA tracking strategy reduces the rotating angles by over 30% , improves the tracking performance of the system ; and the tracking capability is increased by more than 30% .
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2012年第8期1758-1764,共7页
Chinese Journal of Scientific Instrument
关键词
三轴
跟踪系统
跟踪性能
遗传算法
优化
three axes
tracking system
tracking performance
genetic algorithm
optimization
