无人机光电转台惯性态仿真建模方法

Simulation modeling method for inertial work-pattern of UAV optoelectronic gimbals

目前,对光电转台的仿真只有半实物仿真,不能满足无人机部队全数字模拟仿真训练需求。基于光电转台工作原理,建立了由内环组件、外环组件和支座组成的二自由度光电转台模型;基于方向余弦理论和拟牛顿数值迭代方法,针对光电转台惯性态提出了视轴线惯性稳定递推迭代算法(IWPSMA)来解算模型方位角和高低角,以实时控制所提出模型的视轴线,使其在惯性空间保持稳定。对模型及算法进行仿真,随着飞机做圆周运动,方位角呈360°周期性变化,高低角在0°~35°呈非线性变化,表明算法理论正确。将转台模型和算法加载到三维仿真场景,结果表明模型功能与实装逼真度高,模型视轴线保持惯性空间相对稳定,计算机资源占用率低,三维画面流畅稳定。

At present,the simulation of photoelectric gimbals is only semi-physical simulation,which can not meet the training requirements of full digital simulation.Based on working principle of the optoelectronic gimbals,a two-freedomdegree optoelectronic gimbal model composed of inner ring,outer ring and bracket was built.Based on direction cosine theory and quasi Newton numerical iterative method,for the actual equipment of the optoelectronic gimbals,an Inertial Work-Pattern Simulating&Modeling Algorithm(IWPSMA)of visual optical axis was proposed to calculate the model azimuth and elevation angle,so as to control the visual axis of the proposed model and keep the axis stable in the inertial space.The model and IWPSMA were simulated,with the Unmanned Aerial Vehicle(UAV)moving in a circle,which azimuth changed periodically in 360°,and the elevation angle changed nonlinearly in 0°-35°.The gimbal model and algorithm were loaded into the 3D simulation scene.Simulation results show that the proposed model has high fidelity with the real equipment,the visual axis of the model keeps relatively stable in the inertial space,the computer resource occupation rate is low,and the 3D picture is smooth and stable.