全景航空相机动态分辨率检测系统关键技术研究
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摘要
全景航空相机是安装在飞机上对地面摄影的精密光学仪器,是侦察载体中的一种重要设备。在全景航空相机性能检测系统中,动态分辨率的检测是非常重要的。动态分辨率是衡量相机在随机飞行过程中拍照或者对动态景物拍照时成像质量的重要依据。本文,对全景航空相机的动态分辨率检测系统及其涉及到的关键技术进行具体的研究。
论文在详细分析了全景航空相机成像原理的基础上,提出了动态分辨率检测的总体方案。该检测系统由无限远动态目标发生系统、稳定平台及其机械、电控系统构成。由放置在相机扫描范围内的三组不同角度的无限远动态目标发生系统为相机提供无限远动态拍摄目标;稳定平台系统提供飞机姿态运动和前向运动的工作环境,来模仿航空相机在飞机上所处的各种姿态。整个系统涉及到的关键技术包括无限远动态目标发生技术、直线运动控制技术和稳定平台控制技术等。
文中,针对无限远动态目标发生系统的构建,设计了大视场平行光管(焦距1000mm,视场角5°)、尺形分辨率板(采用JB/T 9328-1999型标准图案复制拼接制作)和直线运动装置。在相机拍照曝光时间内,尺形分辨率板运动至平行光管的视场内,以模拟无限远动态目标。
无限远动态目标发生系统对无限远动态目标的速度均匀性和匀速段有较高的要求,而且速度覆盖范围很大(50mm/s～1500mm/s)。对此,文中研究了直线匀速运动的控制算法,将重复控制算法、非线性PID算法、摩擦前馈补偿算法和力矩前馈补偿算法进行复合,并将此复合控制算法移植到可编程多轴运动控制器(PMAC)之中,使匀速段达到了300mm,瞬时速度误差小于1.5mm/s。
文中,利用欧拉角的角位置描述,对三轴稳定平台的数学模型进行了研究,并分析了飞机姿态误差对像移补偿的影响。得出在满足工程应用的前提下,可采用双轴稳定平台予以实现的结论。在控制系统中,将贝叶斯概率引入到模糊RBF神经网络中,增强了系统的推理能力,提高了飞机各个航道位置的模拟伺服精度。从实验仿真结果可以看出,稳定平台的跟踪误差不大于±0.005°。
本文将分辨率的检测理论应用到全景航空相机的动态分辨率检测系统中,通过对无限远动态目标发生系统、直线运动系统和稳定平台系统的设计和实现,完成了动态分辨率的检测,为衡量全景航空相机的成像质量提供了重要的依据。
Panoramic aerial camera mounted on the aircraft is a fine optical instrument to photograph the ground scene. It is an important device in the reconnaissance carrier. The resolution detection is very important in its quality detection system. Dynamic resolution detection is an important judgment to evaluate the imaging quality when camera is in the flying situation or motion scene is imaged. The paper researched the panoramic aerial camera dynamic resolution detection system and its key technology in detail.
The paper analyzes the imaging principle of the panoramic aerial camera in detail and proposes the detection scheme of the dynamic resolution. The dynamic resolution detection system is composed of the infinity dynamic object generation system and stabilized turntable to simulate the flight attitude and their mechanical and control system. The infinity dynamic target was obtained by the infinity dynamic target generation system which was set in three degree. The stabilized turntable provides the camera with operation situation of the flying attitude and forward motion. The key technologies involved in the detection system are infinity dynamic target generation technology, linear motion control technology and stabilized turntable control technology.
In the paper, the infinity dynamic object generation system is constructed. The paper designed the large view field (5°) collimator (focal length is 1000mm), resolution power test target of special length (on the the standard of JB/T 9328-1999.) and uniform speed control of the linear motion system. The resolution test target is loaded on the linear motion device to get the dynamic object. The dynamic object should arrive at the view field of the collimator in the camera exposure time to simulate infinity object.
The infinity dynamic object generation system proposed high request with the uniform speed, long uniform distance and large speed range (50mm/s～1500mm/s). In the paper, linear uniform motion control algorithm is researched. The non-linear PID algorithm, repetition control algorithm, friction forward compensation and moment compensation are combined and the combined control algorithm is planted to the programmable multi-axis motion controller (PMAC). Its uniform distance is longer than 300 millimeters and the error of the instantaneous speed is less than 1.5mm/s.
In the stabilized turntable system, the mathematic model of the three-axis turntable is studied through the angular position description with the Euler angle. The factors affecting the image shift compensation are analyzed and dual axis stabilized turntable are employed which can meet the engineering requests. In the control system, Bayes probability is introduced in the fuzzy RBF neural network and it intensity the inference ability and increase the servo precision. The simulations show that the tracking error is less than±0.005°.
The paper applied the resolution detection theory to the dynamic resolution detection system. The dynamic resolution detection is implemented by the stabilized turntable system, infinity target generation system and linear motion system. The detection of the resolution supplies important data to judge the imaging quality of the panoramic aerial camera.
论文在详细分析了全景航空相机成像原理的基础上,提出了动态分辨率检测的总体方案。该检测系统由无限远动态目标发生系统、稳定平台及其机械、电控系统构成。由放置在相机扫描范围内的三组不同角度的无限远动态目标发生系统为相机提供无限远动态拍摄目标;稳定平台系统提供飞机姿态运动和前向运动的工作环境,来模仿航空相机在飞机上所处的各种姿态。整个系统涉及到的关键技术包括无限远动态目标发生技术、直线运动控制技术和稳定平台控制技术等。
文中,针对无限远动态目标发生系统的构建,设计了大视场平行光管(焦距1000mm,视场角5°)、尺形分辨率板(采用JB/T 9328-1999型标准图案复制拼接制作)和直线运动装置。在相机拍照曝光时间内,尺形分辨率板运动至平行光管的视场内,以模拟无限远动态目标。
无限远动态目标发生系统对无限远动态目标的速度均匀性和匀速段有较高的要求,而且速度覆盖范围很大(50mm/s～1500mm/s)。对此,文中研究了直线匀速运动的控制算法,将重复控制算法、非线性PID算法、摩擦前馈补偿算法和力矩前馈补偿算法进行复合,并将此复合控制算法移植到可编程多轴运动控制器(PMAC)之中,使匀速段达到了300mm,瞬时速度误差小于1.5mm/s。
文中,利用欧拉角的角位置描述,对三轴稳定平台的数学模型进行了研究,并分析了飞机姿态误差对像移补偿的影响。得出在满足工程应用的前提下,可采用双轴稳定平台予以实现的结论。在控制系统中,将贝叶斯概率引入到模糊RBF神经网络中,增强了系统的推理能力,提高了飞机各个航道位置的模拟伺服精度。从实验仿真结果可以看出,稳定平台的跟踪误差不大于±0.005°。
本文将分辨率的检测理论应用到全景航空相机的动态分辨率检测系统中,通过对无限远动态目标发生系统、直线运动系统和稳定平台系统的设计和实现,完成了动态分辨率的检测,为衡量全景航空相机的成像质量提供了重要的依据。
Panoramic aerial camera mounted on the aircraft is a fine optical instrument to photograph the ground scene. It is an important device in the reconnaissance carrier. The resolution detection is very important in its quality detection system. Dynamic resolution detection is an important judgment to evaluate the imaging quality when camera is in the flying situation or motion scene is imaged. The paper researched the panoramic aerial camera dynamic resolution detection system and its key technology in detail.
The paper analyzes the imaging principle of the panoramic aerial camera in detail and proposes the detection scheme of the dynamic resolution. The dynamic resolution detection system is composed of the infinity dynamic object generation system and stabilized turntable to simulate the flight attitude and their mechanical and control system. The infinity dynamic target was obtained by the infinity dynamic target generation system which was set in three degree. The stabilized turntable provides the camera with operation situation of the flying attitude and forward motion. The key technologies involved in the detection system are infinity dynamic target generation technology, linear motion control technology and stabilized turntable control technology.
In the paper, the infinity dynamic object generation system is constructed. The paper designed the large view field (5°) collimator (focal length is 1000mm), resolution power test target of special length (on the the standard of JB/T 9328-1999.) and uniform speed control of the linear motion system. The resolution test target is loaded on the linear motion device to get the dynamic object. The dynamic object should arrive at the view field of the collimator in the camera exposure time to simulate infinity object.
The infinity dynamic object generation system proposed high request with the uniform speed, long uniform distance and large speed range (50mm/s～1500mm/s). In the paper, linear uniform motion control algorithm is researched. The non-linear PID algorithm, repetition control algorithm, friction forward compensation and moment compensation are combined and the combined control algorithm is planted to the programmable multi-axis motion controller (PMAC). Its uniform distance is longer than 300 millimeters and the error of the instantaneous speed is less than 1.5mm/s.
In the stabilized turntable system, the mathematic model of the three-axis turntable is studied through the angular position description with the Euler angle. The factors affecting the image shift compensation are analyzed and dual axis stabilized turntable are employed which can meet the engineering requests. In the control system, Bayes probability is introduced in the fuzzy RBF neural network and it intensity the inference ability and increase the servo precision. The simulations show that the tracking error is less than±0.005°.
The paper applied the resolution detection theory to the dynamic resolution detection system. The dynamic resolution detection is implemented by the stabilized turntable system, infinity target generation system and linear motion system. The detection of the resolution supplies important data to judge the imaging quality of the panoramic aerial camera.
引文
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