导引头稳定平台指向误差建模与参数标定

Pointing error modeling and parameter calibration for seeker stabilized platform

为提高两轴双框架导引头稳定平台的视轴指向精度,提出了一种稳定平台误差建模与参数标定的方法。根据导引头稳定平台的光机结构特点,应用局部指数积(POE)公式建立了稳定平台的运动学模型与指向误差模型。并通过对机械结构的误差分析,将旋转轴偏差归结于框架的初始姿态误差,简化了指向误差模型。针对稳定平台误差参数标定问题,提出了一种基于最小二乘法的改进遗传算法。首先,将最小二乘法产生的次优解作为遗传算法的初始种群,并对一般遗传算法进行改进。然后,对优化的遗传算法进行数值仿真,得到满足要求的最优解。仿真结果表明:该算法具有收敛速度快、鲁棒性好等优点。

In order to improve LOS pointing precision of seeker stabilized platform, the modeling of pointing error and parameter calibration methods were researched. Based on the opto- mechanical structure feature of seeker stabilized platform, the kinematic model and the pointing error model of the system were established by local POE formula. Because of attributing the kinematic errors to the initial pose error by analyzing the error sources of structure, the pointing error model was significantly simplified. An improving genetic algorithm based on least square method was proposed to implement the parameter calibration of seeker stabilized platform. Firstly, the suboptimal parameter of the least square algorithm was regarded as the initial population of optimized genetic algorithm. Then, the improving genetic algorithm was used to calculate and simulate to obtain the optimal parameter. The simulation results demonstrate that the proposed algorithm has fast convergence speeds and good robustness.