Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform

A technology of inertial stabilization platform and balancing moment, which is applied in the field of aerial remote sensing inertial stabilization platform, can solve the problems of insufficient ability to restrain unbalanced moment, reduce the requirements of platform moment stiffness, etc., so as to improve stability accuracy and stability margin, and reduce moment stiffness. requirements, improve the effect of stable accuracy

Inactive Publication Date: 2010-05-19
BEIHANG UNIV
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Problems solved by technology

[0005] The technical problem of the present invention is: to overcome the defect that the conventional feedback control has insufficient ability to suppress the unbalanced moment with a large amplitude

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  • Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform
  • Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform
  • Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform

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Embodiment Construction

[0034] The inertial stabilized platform works with POS (position and attitude measurement system), which can be regarded as an angular position servo system. The POS is installed on the platform to calculate and output the attitude information. The attitude error angle can be regarded as the feedback information of the platform attitude. Such as figure 2 As shown, the aerial remote sensing inertial stabilization platform is a roll frame, a pitch frame, and an azimuth frame from outside to inside. The roll frame rotates around the X axis, the pitch frame rotates around the Y axis, and the azimuth frame rotates around the Z axis. The roll frame and pitch frame track the local geographic level, the azimuth frame tracks the aircraft heading, and the control systems of the three frames are relatively independent. The present invention is only applicable to the roll frame and the pitch frame, not the azimuth frame. The remote sensing load and POS are installed on the azimuth fram...

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Abstract

The invention relates to an estimation and compensation method for unbalanced moment of an aerial remote sensing inertially stabilized platform, which comprises the following steps: estimating the unbalanced moment of the platform according to the acceleration of the platform and the current information of a moment motor measured in real time; then calculating the current value of the moment motor required for offsetting the unbalanced moment; and compensating the current value on current setting of a current loop of the moment motor, so that the moment motor outputs resisting moment which is of equal size and in opposite direction to the unbalanced moment to inhibit the disturbance of the unbalanced moment of the stable platform, reduce the requirement for the moment rigidity of the stabilized platform and increase the stabilization accuracy of the stabilized platform. The invention has the characteristics of good stability and high precision and is suitable for aerial remote sensing inertially stabilized platforms with unbalanced moment for tracking the local geographical level.

Description

technical field [0001] The invention relates to a method for estimating and compensating the unbalanced moment of an inertial stable platform for aerial remote sensing, which can be used for compensating the unbalanced moment of various medium and high-precision inertial stable platforms for aerial remote sensing, and is especially suitable for those with mass imbalance and tracking local geography Horizontal aviation remote sensing inertial stabilization platform. Background technique [0002] The aerial remote sensing system has unique advantages in many aspects such as mobility, real-time performance, repeatable observation, replaceability of remote sensing equipment, ability to obtain high-resolution remote sensing data, economic cost, and stereoscopic observation. Therefore, in western developed countries, more than 65% of the high-resolution spatial data used for urban planning and basic mapping are guaranteed by aerial remote sensing systems. High-resolution earth ob...

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Application Information

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IPC IPC(8): G01C21/18
Inventor 房建成戚自辉钟麦英穆全起张延顺周向阳
Owner BEIHANG UNIV
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