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Method for estimating and compensating coupling torque of aerial remote sensing inertially stabilized platform

An inertial stabilization platform and aviation remote sensing technology, applied in the field of flight platforms, can solve problems such as insufficient suppression capabilities

Active Publication Date: 2015-04-08
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem to be solved in the present invention is: to overcome the deficiency of conventional feedback control on the coupling torque suppression ability between the carrier and the frame, and to provide a coupling torque estimation and compensation method for aerial remote sensing inertial stabilization platform to improve the stability accuracy of the system

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  • Method for estimating and compensating coupling torque of aerial remote sensing inertially stabilized platform

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Embodiment Construction

[0036] Such as figure 1 with image 3 Shown, the concrete implementation method of the present invention is as follows:

[0037] (1) The steps to establish a simplified dynamic model under the moving base are as follows:

[0038] (11) Based on the rigid body dynamics characteristics and space vector superposition principle, establish three-axis inertial stable platform coordinate system: base coordinate system, roll frame coordinate system, pitch frame coordinate system, azimuth frame coordinate system; Figure 4 Shown, where the base coordinate system Ox b the y b z b :x b 、y b ,z bPointing to the right, front and up of the flight carrier respectively; the roll frame coordinate system Ox r the y r z r : roll axis y r with y b Same direction, Ox r the y r z r Relative Ox b the y b z b tethered b shaft rotation, resulting in a roll angle θ r ; Pitch frame coordinate system Ox f the y f z f : Pitch axis x f with x r Same direction, Ox f the y f z f Re...

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Abstract

The invention discloses a method for estimating and compensating a coupling torque of an aerial remote sensing inertially stabilized platform. The method comprises the steps of: establishing a triaxial inertially stabilized platform dynamical model, estimating the coupling torque between a base and a framework according to information detected in real time by a POS (Polar Orbit Satellite), a roll / pitch gyroscope and an azimuth coded disc, then calculating a required torque motor current value for offsetting the coupling torque, and compensating the current value into a current given input value of a current loop, thus enabling a motor to output a torque which is equal to the coupling torque in magnitude and opposite in direction, compensating the coupling torque disturbance of the platform and improving the stability precision of the platform. By virtue of the method, the coupling torque is estimated and compensated in real time and the stability precision is improved; and the method is applicable to the aerial remote sensing inertially stabilized platform with the coupling torque between the base and the framework.

Description

technical field [0001] The invention relates to a method for estimating and compensating coupling moments of aerial remote sensing inertial stabilization platforms, which can be used for compensation of coupling moments between carriers and frames of various medium and high-precision aerial remote sensing inertial stabilization platforms, and is especially suitable for applications with relatively large and relatively high frequencies. A flying platform with attitude angular motion. 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 map mapping are guaranteed by aerial remote sensing systems. Hi...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C25/00
Inventor 周向阳张宏燕李建平房建成
Owner BEIHANG UNIV
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