光学精密工程2011，Vol.19Issue(8)：1838-1844,7.DOI:10.3788/OPE.20111908.1838
基于Paden-Kahan子问题求解滚仰式导引头角增量
Solution of angle increments for roll-pitch seekers based on Paden-Kahan sub-problems
摘要
Abstract
The kinematic representation of a rool-pitch seeker was analyzed according to the special structure of the seeker. A geometrical closed-form angle increment solution was proposed based on the Paden-Kahan sub-problems. Using this method, the angle increment solution of the seeker was decomposed into two canonical Paden-Kahan subproblems, which led the solution of inverse kinematics to be two simple rigid motions. Therefore, the complexity of the inverse kinematics problem was reduced. Because the inverse kinematics of the seeker has not an exclusive solution, the minimum angle increment criteria was introduced to optimize the inverse kinematics problem. The numerical simulation shows that the obtained angle increment allows the pointing error of an optical axis into zero, and the optical axis can be coincident with the line of sight very well. Finally, the semi-physics tracking experiments using the angle increment algrithom for a circle track target were performed, which dem-onstrates the effectiveness of the proposed inverse kinematics in solving the roll-pitch angle increment.关键词
滚仰式导引头/角增量求解/Paden-Kahan子问题/逆运动学Key words
roll-pitch seeker/ solution of angle increment/ Paden-Kahan sub-problem/ inverse kinematics分类
军事科技引用本文复制引用
朱明超,贾宏光..基于Paden-Kahan子问题求解滚仰式导引头角增量[J].光学精密工程,2011,19(8):1838-1844,7.基金项目
中国科学院“三期创新”平台资助项目 （）
