Integrated design method of gyro stabilized platform and attitude datum

Abstract

The invention provides an integrated design method of a gyro stabilized platform and an attitude datum. According to the application requirement of independent design of imaging load in an aerial remote sensing system, with the integrated design of the gyro stabilized platform and the attitude datum, high-precision measurement of imaging load motion parameters can be accomplished and imaging loadis independently designed. The method comprises the steps: firstly, according to the motion relationship between frames of the gyro stabilized platform and the imaging load, an installation mode of inertial sensors on the three frames of the gyro stabilized platform is designed; then, inertial information measured by the inertial navigation of a flight carrier and the inertial sensors arranged onthe frames of the gyro stabilized platform is collected; then, the inertial measurement information is decomposed and transmitted to the imaging load by relative angle between the frames outputted bythe angle sensors at the self-rotation axes of the frames of the gyro stabilized platform; and finally, the inertial information transmitted to the imaging load is applied for solving the inertial navigation, and the motion parameters of the imaging load are measured.

Description

technical field [0001] The invention belongs to the technical field of aerial remote sensing, and in particular relates to an integrated design method of a gyro-stabilized platform and an attitude reference. Background technique [0002] Aerial remote sensing is an effective way and important means to conduct high-resolution earth observation and obtain high-quality images. It has been widely used in map surveying, land resource exploration, disaster monitoring and digital city construction. The traditional aerial remote sensing system is mainly composed of three parts: a gyro-stabilized platform, an imaging payload, and a position and attitude measurement system. The measurement system is usually installed on the imaging load so as to realize the direct measurement of the motion parameters of the imaging load. This system often needs to install additional rate gyros on the roll frame, pitch frame and azimuth frame of the gyro-stabilized platform for feed-forward control of...

AI Technical Summary

Problems solved by technology

This traditional aerial remote sensing system, which independently designs and assembles the gyro-stabilized platform, imaging payload, and position and attitude measurement system, requires an installation space for the position and attitude measurement system to be reserved on the imaging payload, which brings challenges to the independent design of the imaging payload. difficulty

In addition, when different types of position and attitude measurement systems are used, the imaging load carried by the azimuth frame of the gyro-stabilized platform and the center of gravity of the position and attitude measurement system will change and generate eccentric moments, which are not easily eliminated by means of counterweights, reducing the gyro stability. Control accuracy of the stable platform

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