The Method Of Moving Projectile Tracking Photography And Study On The Key Technology

To solve the problem which can not take moving projectile pictures by tracking in the ammunition test field, this thesis used a rotatable reflector to take pictures of the high speed moving projectile. The system has the ability to track the flighting projectile and take pictures at the range of 40 meters to 300 meters. The study of this thesis can help to research the flight attitude of projectile, the flight stability and the measurement of the projectile parameters. It can record the process of nutation, empennage puff, and pulse ignition of projectile. The system can not only be used in the field of conventional weapon test but also can be used to the field of rocket, missile test field.It studied on the theory of the tracking photography by reflector reflection. By analysis the system combination form by the different way of estimate projectile trajectory such as the calculation estimate tracking photography system, the high speed linear CCD array estimate tracking photography system, the high speed area CCD estimate tracking photography system and the estimate fusion tracking photography system. The estimate fusion tracking photography system was picked as the standard system for the method of tracking photography The constitute of the whole system was designed.It studied on the rotation system structure and the structure of the single motor and double motor was analyzed. The azimuth tracking angle magistral system was chosen by compared the different type of double motor structure. It researched the parameter of the system; it also researched the variety law of the visual field and the projectile image. It designed the image scale factor and researched the effect of the system parameter with the image scale factor variety. It made a deduction about the formulation of tracking angle permissible error and made out the critical value of the tracking angle. It deduced the maximum angular velocity and the maximum angular acceleration of the reflector rotation system, which corresponding the projectile flight. It analyzed the relationship among the parameter when photography which takes the facility for the parameter choice. It simplified the projectile trajectory into uniform acceleration straight line movement and proved the feasibility.The way of detection and estimate the trajectory used the high speed linear CCD array, and it designed the way of measuring projectile velocity and the projectile trajectory offline by high speed linear CCD array system. The distributing of time determination error was analyzed and the distributing accords with normal distribution, the empirical formula was given out. It designed the method of time determination correction by projectile shape resumption. The CCD array position optimization design was researched by simulation, and draws the conclusion which extending the range of first and the last CCD can reduce the projectile position estimate error. The simulation of speed measurement accuracy indicates that the speed measurement accuracy is 0.01% without time determination correction the speed measurement accuracy is 0.005%in the case of time determination correction. The method of time determination correction by projectile shape resumption online was studied and the method is called model database matching.The thesis studied the method of projectile trajectory detection and estimate by using the high speed area CCD system, the projectile movement "current" statistical model of adaptive kalman filtering was founded. The observed quantity of coordinate and angle were given. After simulation and comparison the "current" statistical model of adaptive kalman filtering was confirmed as standard. It studied about how to compensate the observed quantity when detection absent in the case of projectile out of the picture. After simulation and comparison the method of using linear CCD array compensating was proved best. The method of the fusion of the estimate result of linear CCD and area CCD was compared by simulation, and the result indicates the averaging method is best.The typical input signal of reflector rotation system was designed and the tracking factor was defined. The principle prototype of reflector rotation system was built and the transfunction was given out. The control algorithm of PID combined with feed forward was simulated and the empirical formula of tracking angle maximum error and fluctuating error was given. In order to improve the control algorithm, the intelligence PID rules were designed as the time became one part of the rules and the simulation result indicates that the tracking accuracy improved distinct. The principle experiment of tracking photography was act with free fall and firing with zero angle, and the result was summarized.