In order to solve the problem of cooperative pose estimation in augmented reality systems, a newcooperative poseestimation method is proposed. Firstly, statistical analysis of the neighborhood of point cloud space is carriedout toimprove the precision of high point cloud segmentation. After point cloud processing, the collaborative pose estimationmodel is established by using centroid to obtain the collaborative pose estimation results. Experimental results showthat the proposed method can effectively obtain collaborative pose estimation results.
When the position and attitude of the moving platform change, the Los stability control technology can isolate the vibration of the moving platform, compensate the attitude change of the moving platform, ensure the stability of the front LOS, and realize the stable pointing in a specific direction and the scanning of the stable area in a specific direction. In the conventional system, the inertial navigation feedback loop is used to realize the self closing loop to suppress the carrier disturbance, but its disadvantage is that the application scenario is limited. We introduce inertial navigation into the control system for feedforward use, which requires bandwidth matching in the control method and stable loop in the control strategy. Aiming at this technical difficulty, this paper studies the Los stability control technology under the moving platform. Firstly, the working principle of LOS stabilization system is analyzed, then the control algorithm is modeled, and the position loop, velocity loop and acceleration loop are designed respectively. Then the LOS stabilization coordinate conversion model is established, and the conversion relationship from spatial coordinate system to moving platform coordinate system is obtained. On the basis of moving platform stability correction, encoder and inertial navigation are used to form a double closed loop to improve the control effect of LOS stabilization and to achieve the purpose of suppressing visual
A non-mechanical photoelectric tracking technology based on liquid crystal phased array was proposed. A mathematical model of a liquid crystal phased array photoelectric tracking closed-loop system was established. The laser emits incident light of a specified wavelength. Incident light enters the liquid crystal phased array through polarizers, waveplates and other optical devices. The difference between the deflected beam and the incident light is received with the camera after the liquid crystal phased array. The liquid crystal phased array adopts voltage control to achieve the deflection of the incident beam and achieve the purpose of accurate tracking. The motion state of the simulated target is analyzed and a modern control algorithm is designed. Subsequent simulations and experiments were conducted. Simulation results show that the dynamic tracking error of the liquid crystal photoelectric tracking system is better than 18μrad. Its closed-loop bandwidth exceeds 2.3HZ. On the basis of the above work, a desktop demonstration experiment platform was built. Experimental results show that the dynamic tracking error of the liquid crystal tracking control system is better than 20μrad, which has good robustness.
High-precision, stable tracking technology on a mobile platform is a key technology for realizing the integration of airborne search and tracking. In this study, coarse-fine compound technology based on gyrostabilization and miss tracking is applied. First, the working principle of the coarse and fine composite system is analyzed, and then the coarse and fine composite algorithm is modeled. Thereafter, the error of the coarse and fine composite axis is analyzed, and the precision tracking servo control algorithm is designed. Finally, using the model and algorithm designed to control the single reflector and galvanometer, the coarse tracking of the space target and the fine tracking of the source are completed under the condition that the equivalent sine amplitude is 5 deg and the frequency is 0.2 Hz. At the same time, a test system was built for performance verification. The algorithm achieved a coarse-tracking azimuth-axis tracking accuracy [root mean square (RMS)] of 26.3 μrad and a pitch-axis tracking accuracy (RMS) of 28.9 μrad. After composite tracking was switched on, precision tracking azimuth-axis tracking accuracy (RMS) improved to 7.9 μrad and pitch-axis tracking accuracy (RMS) improved to 6.3 μrad, both better than 10 μrad. This study provides new insights into the stability and precision tracking of single cameras on airborne platforms. At the end of this work, the outdoor experiment to verify the influence of random interference on the system performance under given conditions and the subsequent optimization direction of the system are given.
With the development of augmented reality technology in the future, its application environment is bound to be complex and diverse, and for some extreme weather scenarios, it is very important to solve the existing problems of optical transmission display system.In addition, solving the above problems is more conducive to improving the user's perception ability of scene information in the environment with low visibility. Therefore, by analyzing the problems existing in the augmented reality display system in extreme weather, this paper proposes a set of augmented reality display system for electric navigation. First, calibrate human eyes, tracking cameras and augmented reality display devices. Aiming at the distortion problem in the display process, a four-dimensional light field calibration theory was established to reduce the display error. The camera is used to obtain the scene information, and the 3D point cloud is obtained. By denoising the 3D point cloud, the instance segmentation algorithm is used to obtain the segmentation result of the scene target. Finally, the virtual image is displayed in the scene to display the navigation information in the power operation. The system can provide clear scene information for power operators in extreme weather conditions, effectively improving work efficiency and safety.
Stable gaze scanning control technology is the key to realize the integration of stable imaging, search, and tracking on airborne platforms. We investigate the control technology of stable gaze scanning on an airborne platform. The working principle of a stable staring scanning system is analyzed, and a servo system control algorithm is modeled. The position loop, velocity loop, and acceleration loop are designed. A stability model of the space with inclination angle is established. The coordinate transformation relationship between inertial coordinate system and airborne axis coordinate system is obtained. The designed control model and algorithm are used to control the single-lens reflex mirror mounted at an angle of 15 deg for spatial gaze pointing and step scanning. A test system is built for performance verification. Results show that the root-mean-square accuracy of the proposed algorithm is higher than 10 μrad in a dynamic staring step scan with ±30 deg and a step length of 2.16 deg. The single-step time is <52 ms, the stabilization time is >53 ms, and the servo system overshoot is small. The system step accuracy root mean square is better than 52 μrad. These findings confirm the effectiveness of the integrated search and follow technology under an airborne platform.
The fine tracking unit of composite axis of acquisition, pointing and tracking(APT) is a key component of space laser communication system. In order to prevent the principal axis in open-loop without proper input of control after started the tracking of auxiliary axis, which led to the target out of field. In a single detector composite shaft structure, we need to provide the accurate position of PZT volume feedback for the principle axis to control. This article has made an galvanometer position detective method of the single detector composite shaft structure. It provided the theory of circuit design and optimization plan. Researchers conducted a multiple sets of experiments. The experimental result shows that the galvanometer 1 "per deflection Angle, the detection circuit can retrieve 13 mV voltage change. At the same time, compared with the traditional camera calibration, we put forward a new calibration method which using optical autocollimator that the maximum error control within 1 ". Finally, the control formula is given and the error should be within 0.01mrad. So that the calibration precision of the detecting plate is improved.
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