基于粒子群算法三轴跟瞄装置跟踪策略的研究.docVIP

基于粒子群算法的三轴跟瞄装置跟踪策略研究 张大兴，贾建援，张爱梅，郭永献 （西安电子科技大学机电工程学院　西安　710071） 摘　要：三轴跟瞄装置可以解决方位俯仰两轴跟瞄装置存在的盲区问题，能够实现全方位跟踪空间目标。然而三轴跟瞄装置测量值与空间位置多对一的特性决定了跟踪策略的多样性和系统引导的复杂性，传统的切换控制方法制约了三轴跟瞄装置跟瞄精度的进一步提高。通过详细分析三轴跟瞄装置运动过程，在给定当前位置角、探测器误差角的条件下，将求解三轴执行角增量的计算方法转化为求最优值问题。采用粒子群算法求得了不同初始条件下满足目标要求的角增量组合，分析比较了三轴跟瞄装置和方位俯仰两轴跟瞄装置跟瞄性能的差异，结果验证了三轴跟瞄装置运动过程分析方法以及用粒子群算法求解角增量组合的有效性。 关键词：粒子群算法；三轴；跟瞄装置 中图分类号：TP18　　文献标识码：A　　国家标准学科分类代码：510.802 Investigation on tracking strategy of three-axis tacking equipmentbased on particle swarm optimization Zhang Daxing, Jia Jianyuan, Zhang Aimei, Guo Yongxian (School of Mechano-Electronic Engineering, Xidian University, Xi′an 710071, China) Abstract：Three-axis tracking equipment can solve the problem of blind region existing in azimuth -elevation tracking equipment. And it can track the target in whole-space. However, the relationship between measurement value and space position is many-to-one, which leads to the variety of the tracking strategy and the complexity of the pilot system. Existing switching strategy restricts the improvement of tracking precision of three-axis tracking equipment. If the current angles and the detecting errors are known, the solution of the angle increment can be transformed into a problem of optimization based on the movement analysis of three-axis tracking equipment. And the angle increment under different initial conditions can be solved using particle swarm optimization. The difference between three-axis tracking equipment and azimuth-elevation tracking equipment is analyzed. The validity of this tracking strategy and analytic method is validated by simulation results. Key words：particle swarm optimization; three-axis; tracking equipment 1　引　　言 三轴跟踪架结构的跟瞄装置由于存在一个冗余的自由度，可以解决两轴结构跟瞄装置存在的盲区问题，实现全方位跟踪空间目标。然而三轴跟瞄装置测量值与空间位置多对一的特性决定了跟踪策略的多样性和系统引导的复杂性。传统的跟踪策略是依靠切换方法：在方位俯仰两轴跟瞄装置的跟踪盲区之外，采用方位俯仰两轴跟踪策略；在方位俯仰两轴跟瞄装置的跟踪盲区之内，采用俯仰和横倾两轴跟踪策略。系统虽然是三轴跟踪架装置结构，但在跟踪过程中仍然采用两轴形式的跟踪策略。这样虽然简化了跟踪控制方法，但是存在的不可避免的切换问题是制约跟瞄精度的主要因素之一。要想实现全空间连续的跟踪目标，必须研究三轴无切换的跟踪策略[1-2]。 本