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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 the optical axis pointing accuracy of the two-axis dual-frame seeker stable platform, a method of stable platform error modeling and parameter calibration is proposed. According to the structural characteristics of the light machine of the seeker stabilized platform, a kinematic model and a pointing error model of the stabilized platform are established by using the local exponential product (POE) formula. Through the error analysis of the mechanical structure, the deviation of the rotating shaft is attributed to the initial attitude error of the frame, which simplifies the pointing error model. In order to solve the calibration problem of steady platform error parameters, an improved genetic algorithm based on least square method is proposed. First, the least-squares solution generated by the least squares method is used as the initial population of genetic algorithm, and the general genetic algorithm is improved. Then, the optimized genetic algorithm is numerically simulated to get the optimal solution to meet the requirements. Simulation results show that the proposed algorithm has the advantages of fast convergence and good robustness.