对地探测单轴摄像机位置指令的计算及其实现

The Position Command Calculation & Implementation of Single-axis Camera for Ground Target Observation

利用小型飞行器(MAV)探测地面目标活动时一般需采用双自由度光电稳定器。研究了利用机载单轴摄像机探测地面活动目标技术,给出了摄像机俯仰角调整指令以及飞行器航向角调整指令的计算办法。由于俯仰指令与航向指令响应速度的差异,捕获目标时两个方向很难协调同步,提出了动态位置指令的概念,并给出了具体的实现方案。仿真计算表明,在摄像机俯仰角连续调整的基础上,飞行器以一定的飞行轨迹完成航向角调整后,能完成对地面目标的有效探测。

In order to solve the problem of ground target detection, two degree of freedom electro-optical sensor control is necessary according to the traditional approach. The technique of ground target detection using sngle-axis camera mounted on micro air vehicle（MAV） was studied. The camera＇s pitch-angle-command ＆ MAV＇s heading-angle-command were calculated. Becange of the difference between two kinds of command, it is very difficult to make them syachronows. The concept of dynamic position command and its implementation solution were proposed. The calculation and the simulation results show that MAV can observe the ground target when the camera was controlled by dynamic pitch angle-command while the MAV achievde the heading angle adjustment following a certain path.