根据滚转俯仰双框架导引头的结构特点, 对框架进行了运动学分析。基于Paden-Kahan子问题, 给出了封闭形式的滚仰角增量求解算法。通过将导引头的滚仰角增量求解分解为两个规范的Paden-Kahan子问题使运动学逆解由两个简单的刚体运动组成, 从而简化了滚仰角增量求解的复杂度。为避免运动学逆解不唯一, 应用最小角增量准则对运动学逆解进行了优化。数值仿真显示, 求解的角增量使光轴指向误差为零, 保证了光轴与视线的重合。最后, 采用角增量求解算法对圆周轨迹目标进行半实物跟踪实验, 结果表明, 提出的逆运动学算法可以有效求解滚仰式导引头滚仰角增量, 实现目标闭环跟踪。

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 inerement 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 demonstrates the effectiveness of the proposed inverse kinematics in solving the roll-pitch angle increment.