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A Method for Determining the Angle of Gyro Stabilized Mount Based on Information Fusion Filtering

A technology for gyro stabilization and determination method, which is applied in the field of aerial surveying and mapping, and can solve problems such as the inability of the gyro stabilization mount to work properly, and the distortion of angle information.

Active Publication Date: 2021-06-08
BEIJING AUTOMATION CONTROL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The angle sensor in the gyro-stabilized mount uses an inclination sensor, and the angle information output by the inclination sensor is distorted in a high-frequency working environment, which causes the gyro-stabilized mount to fail to work normally in a high-frequency environment

Method used

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  • A Method for Determining the Angle of Gyro Stabilized Mount Based on Information Fusion Filtering
  • A Method for Determining the Angle of Gyro Stabilized Mount Based on Information Fusion Filtering
  • A Method for Determining the Angle of Gyro Stabilized Mount Based on Information Fusion Filtering

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Experimental program
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Effect test

Embodiment Construction

[0028] The present invention will be described in further detail below in conjunction with specific embodiments.

[0029] 1) Determine the environmental frequency of the gyro stabilized mount

[0030] When the ambient frequency is equal to or less than a, the inclination sensor is in a sensitive and effective state;

[0031] When the environmental frequency is greater than a, the inclination sensor is in a state of sensitive information distortion;

[0032] Among them: a is the judgment frequency value, which is 2-2.5 Hz.

[0033] 2) When the inclination sensor is in a sensitive and effective state, use the following steps to determine the angle of the gyro-stabilized mount

[0034] a) Use the following formula to determine the angle A of the gyro-stabilized mount sensitive to the inclination sensor I (s)

[0035]

[0036] Where: τ is the time constant of the inclination sensor; s is the Laplace transform factor

[0037] b) Angle information processing using low-pass f...

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Abstract

The invention belongs to aerial surveying and mapping technology, and specifically discloses a method for determining the angle of a gyro-stabilized seat frame based on information fusion filtering. The method of information fusion is used to solve the problem of distortion of the angle information of the gyro-stabilized mount that the inclination sensor is sensitive to at high frequencies. When the gyro-stabilized mount is in a working environment that is not greater than a certain environmental frequency, the angle signal sensitive to the consulting sensor is used as the angle information of the gyro-stabilized mount after low-pass filtering; when the gyro-stabilized mount is less than a certain environmental frequency Under the working environment, the angular velocity signal sensed by the rate gyro is used as the angle information of the gyro-stabilized mount after being high-pass filtered, and the gyro-stabilized mount is used to accurately and sensitively stabilize the gyro with its own sensors (inclination sensor and rate gyro). Function for mount angle information.

Description

technical field [0001] The invention belongs to aerial surveying and mapping technology, in particular to a method for collecting angle data of a gyro-stabilized mount. Background technique [0002] The gyro-stabilized mount is a three-axis stable control platform designed for aerial surveying and mapping cameras. Its main function is to isolate the low-frequency swing of the carrier aircraft and keep the aerial surveying and mapping camera stable, so as to overcome the influence of airflow and other interference factors on aerial photography and improve the quality of aerial photography. and efficiency. The angle sensor in the gyro-stabilized mount uses an inclination sensor, and the angle information output by the inclination sensor is distorted in a high-frequency working environment, which causes the gyro-stabilized mount to fail to work normally in a high-frequency environment. Contents of the invention [0003] The purpose of the present invention is to provide a me...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C19/00B64D47/08
CPCB64D47/08G01C19/00
Inventor 扈光锋曲雪云张凌宇张丛巨林思刚张士钰刘垒刘崇亮周东灵林翰徐兴华
Owner BEIJING AUTOMATION CONTROL EQUIP INST