High-speed tracking strategy for three-axis photoelectric tracking system in whole space

A type of three-axis photoelectric tracking system with a redundant degree of freedom is designed for avoiding the spatial blind region of two-axis photoelectric tracking system. The kinematical model of three-axis photoelectric tracking system is constructed by quaternion, and a high-speed tracking strategy of three-axis photoelectric tracking system is proposed with minimum norm least squares solution. Via triangular transformation of three-axis kinematical function, the Moore-Penrose generalized inverse matrix of function is gained, and the minimum norm least squares solution of three-axis angular increments is solved. The results of simulation and experiment show that this tracking strategy does not need the complex optimization process, and the system enables to realize three-axis linkage continuous tracking movement in whole space, and the tracking angular increments of three axes get much smaller.