目前在三轴转台跟踪中缺乏对运动目标进行有效解算的实时方法, 而普遍应用的锁定横滚轴的地平式跟踪方法和锁定方位轴的水平式跟踪方法存在跟踪盲区问题, 为此提出了一种三轴角速度偏差最小方法。对三轴转台建立运动模型, 以各轴速度偏差平方和最小作为指标, 利用转台轴角位置、轴角速度和跟踪目标位移等参数, 建立运动模型的广义逆矩阵, 求解出唯一确定的三轴转角偏差, 将目标的空间指向变化平均分配到三个轴系, 实现对三轴转台的实时伺服控制。相比于地平式方法和水平式方法, 在跟踪越过盲区的目标时, MDTV方法可以大幅降低跟踪过程中转台的角速度和角加速度, 保证跟踪转台平稳运行。在跟踪旋转靶标时, MDTV方法的跟踪偏差最大值只有地平式方法的15.4%。试验证明该方法可以解决跟踪盲区问题, 能够提高设备的跟踪精度。

Few real-time methods exist for three-axis turntable tracking when attemping to solve the orientation change of targets. The alt-azimuth and alt-alt methods, which lock the roll and azimuth axes of the turntable, respectively, are mostly utilized. However, these two methods suffer from the problem of tracking in blind zones. In this study, a minimum deviation of triaxial velocity (MDTV) algorithm was proposed to improve the performance of three-axis turntable tracking. A motion model of a three-axis turntable was first established, and the minimum deviation of triaxial velocity was used as the index. The motion of the target, angular position, and angular velocity were then referenced. Finally, a general inverse matrix of the motion model was deduced. The results indicate that triaxial deflections are uniquely determined for distributing the orientation changes of a target into the triaxial tracking evenly, achieving a real-time servo in the three-axis turntable. Compared to the alt-azimuth and alt-alt tracking methods, the MDTV method significantly reduces the angular velocities and accelerations in the tracking process and ensured smooth running when tracking targets are in a blind zone. When a rotating target is tracked, the maximum pointing deviation with the MDTV method is only 15.4% of that with the alt-azimuth method. The study thus proves that the MDTV method can solve the problem of tracking in blind zones and improve the tracking accuracy of a three-axis turntable.