一种快速三轴全方位光电跟踪策略

官伯林; 贾建援; 朱应敏

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一种快速三轴全方位光电跟踪策略

更新时间：2025-07-09

- 一种快速三轴全方位光电跟踪策略
- High-Speed Tracking Strategy for Three-Axis Photoelectric Tracking System in Whole Space
- 西安交通大学学报 2012年46卷第2期页码：76-82
- 作者机构：
  
  西安电子科技大学机电工程学院,西安,710071
- 作者简介：
- 基金信息：
  
  : 2011-06-29. 作者简介: 官伯林(1979-),男,博士生;贾建援(通信作者),教授,博士生导师. 基金项目: 国家自然科学基金联合资助项目(10476019)
- DOI：
  中图分类号： TP18
- 网络首发：2012-02-10，
  
  纸质出版：2012
- 稿件说明：
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官伯林, 贾建援, 朱应敏. 一种快速三轴全方位光电跟踪策略[J]. 西安交通大学学报, 2012,46(2):76-82.

High-Speed Tracking Strategy for Three-Axis Photoelectric Tracking System in Whole Space[J]. 2012, 46(2): 76-82.
官伯林, 贾建援, 朱应敏. 一种快速三轴全方位光电跟踪策略[J]. 西安交通大学学报, 2012,46(2):76-82. DOI：

High-Speed Tracking Strategy for Three-Axis Photoelectric Tracking System in Whole Space[J]. 2012, 46(2): 76-82. DOI：

摘要

为了消除两轴光电跟踪系统的跟踪盲区

提出了一种存在冗余自由度的三轴光电跟踪系统.先运用四元数方法

建立三轴光电跟踪系统的运动学模型

然后在此基础上

应用极小范数最小二乘算法

设计出一种快速三轴全方位的光电跟踪策略.该跟踪策略针对方程系数求取Moore-Penrose广义逆矩阵

通过对三轴光电跟踪系统的运动方程进行三角变换

得到了三轴角增量组合的极小范数最小二乘解.仿真和实验结果表明

该跟踪策略不需要复杂的寻优过程

即可真正实现三轴联动全方位连续跟踪运动

与其他跟踪策略相比

该跟踪策略在跟踪运动过程中所需的各轴转动角度更小

因此跟踪性能更加优越.

Abstract

A type of three-axis photoelectric tracking system with a redundant degree of freedom is designed for avoiding the spatial blind region of two-axis photoelectric tracking system. The kinematical model of three-axis photoelectric tracking system is constructed by quaternion

and a high-speed tracking strategy of three-axis photoelectric tracking system is proposed with minimum norm least squares solution. Via triangular transformation of three-axis kinematical function

the Moore-Penrose generalized inverse matrix of function is gained

and the minimum norm least squares solution of three-axis angular increments is solved. The results of simulation and experiment show that this tracking strategy does not need the complex optimization process

and the system enables to realize three-axis linkage continuous tracking movement in whole space

and the tracking angular increments of three axes get much smaller.

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references

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