为解决自动跟踪过程中目标被遮挡导致丢失的问题，提出一种光电观瞄系统抗目标遮挡的自动跟踪控制方法。在正常跟踪状态时记录当前跟踪控制命令，当目标被遮挡后控制系统进入记忆跟踪状态时，对记录的若干组控制命令进行二次曲线拟合，预测出目标遮挡过程中的控制命令，从而预测目标的运动轨迹，保证自动跟踪的稳定性和可靠性。在目标突然转向或作变加减速运动的情况下，二次曲线拟合的预测误差不大于6%，远小于线性拟合的预测误差73%。该方法已被某型光电观瞄系统挂飞试验进行了验证，结果表明：在目标被短暂遮挡时，观瞄系统自动跟踪过程平稳，瞄准线稳定。
Abstract
In order to solve the problem that the target is transiently occluded during the automatic tracking process, an automatic tracking control strategy on electro-optical targeting system (EOTS) was presented. In the normal tracking state, the current tracking control command is recorded, and when the target is partially or completely occluded, the control system enters the memory tracking state. The method can predict the trajectory of the target by conducting quadratic curve fitting for the recorded control command, so as to ensure the stability and reliability of automatic tracking.When the target suddenly changes the direction or speed, the prediction error of the quadratic curve fitting is no more than 6%, which is much smaller than the prediction error of linear fitting of 73%. This method was verified by flight test on a certain kind of EOTS. The result shows that when the target is occluded, the EOTS tracks the target smoothly, and the sight line has no obvious shaking.
关键词
运动预测 /
二次曲线拟合 /
记忆跟踪 /
目标遮挡
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Key words
target occlusion /
quadratic curve fitting /
motion prediction /
memory tracking
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脚注
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