Non-overshooting servo control method for aerial camera stabilization platform

Abstract

The invention discloses a non-overshooting servo control method for an aerial camera stabilization platform, and belongs to the technical field of automatic control. A position command of a rolling channel is planned, a curve in which transition to the position command angle from the initial gesture angle according to a 1 / 4 positive rotation curve is carried out is obtained, and thus the step position command given by a camera control system is converted into a smooth transition curve; and the gesture angle of an aiming line is calculated through gesture calculation algorithm, and thus the angle position of the stabilization platform at the geographic coordinates can be obtained. According to the method of the invention, the problem that overshooting happens during the known stabilization platform step process can be solved, and the efficiency of overhead shooting can be greatly improved; the sight line of the camera stabilization platform can be controlled to precisely point to the target channel at the geographic coordinates; and the curve planning algorithm and the gesture calculation algorithm used by the invention is simple, convenient to realize, and good to transplant, and thus, the method has wider application prospect.

Description

technical field [0001] The invention belongs to the field of control, and mainly relates to a servo control method for a stable platform, in particular to a non-overshoot servo control method suitable for a step-sweep type aerial camera stable platform. Background technique [0002] The aerial camera system is mainly used to obtain high-resolution visible light target image information from high altitude. The stable platform and the camera are important components of the aerial camera system. The camera generally adopts an area-array CCD digital camera and is fixed on the stable platform. And quickly acquire high-resolution target images. [0003] The Chinese patent application with the publication number CN1825203A discloses an airborne tilting camera photography device, which includes a stable platform and 2 to 5 high-resolution cameras with a field of view of 44°, and these cameras are installed at a certain angle On a stable platform, to obtain aerial images from 2 to ...

AI Technical Summary

Problems solved by technology

Due to the large load of the stabilized platform, that is, the mass of the camera, the rapid conversion of the stabilized platform between channels and no overshoot are a pair of contradictions that are difficult to balance

In addition, in order to ensure the imaging quality, it is also required that the stable platform should not only ensure the speed stability of the inertial space but also ensure the precise geographical coordinate pointing. At the same time, it is also required that the photos taken by the camera have a certain overlap rate. In this way, the stable platform needs to establish its own Geographic coordinate reference, while the traditional aviation stabilization platform does not have this function

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