Tracking Performance Evaluation For Opto-electric Theodolite TV Tracking Based On Servo System Simulation Model

The opto-electrical theodolite is an important device for opto-electrical tracking measurement,and the tracking performance is one of the most important evaluation indexes. In theoretical, thetracking performance of the photoelectric theodolite based on equivalent sine theory, but this kindof signal is hard to emit indoor. So in practice, we usually use opto-dynamic target to simulate theobject to complete the measurement. According to the theory analysis, we known that themovement that opto-dynamic tartget simulated projected to photoelectric theodolite's azimuthdirection and elevation direction are not pure equivalent sine, and it synthesized many high orderharmonic sine wave. If we use dynamic target to measure tracking performance of thephotoelectric theodolite, the input signal is not completly meeting requirement index. So it isunreasonable to use the opto-dynamic target to measure and evaluate and tracking performance ofthe photoelectric theodolite.In this paper, we focusd on this problem and did some researches on how to avoid theinfluence from opto-dynamic target high order harmonic and how to evaluate the photoelectrictheodolite tracking performance more reasonable and objective. The paper involved the followingpart:1. The paper analyzed the reason why it is unreasonable to use the opto-dynamic target tomeasure and evaluate and tracking performance of the photoelectric theodolite. It is also analysedthe dynamic characteristic, structure dynamic as well as nonlinear factors in the photoelectric theodolite. All of these revealed that it is hard to build the photoelectric theodolite model viatheoretical model method.2. The paper put forward a new kind of method that based on the real data as well as appliedthe computer simulation model to evaluate the theodolite's tracking performance. This methodmade full use of the tracking information from the TV system, and applied the proper equivalentsine signal which computed from the index requirement, which realized the input signal meet therequirement index and avoided the high harmonic from opto-dynamic target and reduce itsinfluence on photoelectric theodolite tracking performance evaluation.3. Built the tracking error model of the photoelectric theodolite by neural network method(RBF, GRNN) and machine learning method (SVM, ELM).Applied the real data from photoelectric theodolite tracking the dynamic target to train thenet, which can partly get over the nonlinear factor as well as hard build dynamic in the theodolite,and make sure that the model can fully near the actual system.Compared and verified different model method, and arrived conclusion that GRNN and ElMare more suitable for photoelectric theodolite model.4. Put the equivalent sine computed from index requirement to the built net model, and getthe tracking error that filter the high harmonic influence from opto-dynamic target and evaluatethe tracking performance of the theodolite more reasonable.5. Use two group of simulation data and two effective model method (GRNN, ELM) testifiedthe evaluation method putting forward from this paper.Use two group of visiable TV and one group of infrared TV real tracking data to do theexperiment and the result revealed that the method that put forward in this paper is useful andpractical.