混联自稳跟踪平台跟踪误差建模与补偿

Tracking Error Modeling and Compensating for Hybrid Stabilized Tracking Platform

为了提高3UPS/PU机构混联自稳跟踪平台的跟踪精度,通过分析GPS自主引导跟踪系统,建立了自主引导跟踪数学模型,得出俯仰、方位跟踪角度与测姿测向系统、GPS值及跟踪转台之间的映射关系;并由此推导出了跟踪误差数学模型和跟踪误差补偿数学模型。通过两次跟踪实验,结果表明跟踪数学模型的正确性,但是分别存在0.22°~0.45°和0.15°~0.44°的跟踪误差;采用误差补偿后,误差明显减小,分别降低了28.3%~36.8%和23.7%~40.3%,使自稳跟踪平台的跟踪精度获得了较大的提高。

In order to improve the tracking accuracy of the 3UPS/PU mechanism hybrid self-stabilizing tracking platform,by analyzing the GPS autonomous guidance and tracking system,a mathematical model for autonomous guidance and tracking is estab lished,and the pitch,azimuth tracking angle and attitude and orientation systems,GPS values,and tracking are derived.The map ping relationship between the turntables;the mathematical model of tracking error and the mathematical model of tracking error com pensation are derived from this.After two tracking experiments,the results show the correctness of the tracking mathematical model,but there are tracking errors of 0.22°~0.45°and 0.15°~0.44°,respectively.After the error compensation is adopted,the errors are significantly reduced,which are reduced by 28.3°~36.8°and 23.7°~40.3°,the tracking accuracy of the self-stable tracking platform has been greatly improved.