Line-of-sight rate modeling and error analysis of inertial stabilized platforms by coordinate transformation

Abstract

Line-of-sight rate is the key parameter that enables inertial stabilized platforms to implement guidance laws successfully for target tracking or attacking. It is always obtained by experiments. In this article, a theoretical model of the line-of-sight rate is established for the first time, starting with the gimbal motion. The strategy to acquire line-of-sight rate is based on the servo control circuit. The measurement equations for line-of-sight rate are derived using a coordinate transformation. An error model is then obtained with the help of differentiation. The error of an inertial stabilized platform prototype is measured, showing that the line-of-sight rate error can be predicted accurately. Finally, a high-precision inertial stabilized platform is successfully designed and analyzed, with the accuracy of 0.06°/s and 0.37°/s when line-of-sight rates are set to 1.5°/s and 9°/s, respectively.

Gain Function-Based Visual Tracking Control for Inertial Stabilized Platform with Output Constraints and Disturbances

“…For outdoor UAS, the optical equipment installed on a mobile transporter is greatly affected by the vibration of the carrier, which reduces the imaging quality and aiming accuracy of the optical instrument. In order to overcome this problem, the inertial stabilized platform (ISP) is introduced to isolate the disturbance from the carrier and ensure the inertial stability of the optical equipment [6][7][8], which uses a gyroscope to measure the angular velocity of the optical instrument with respect to the Earth. Therefore, the visual tracking system based on an ISP has been investigated by many scholars [9][10][11][12].…”

Line-of-sight rate construction for a roll-pitch gimbal via a virtual pitch-yaw gimbal

“…Although, this paper is specific to a roll-pitch gimbals, studies which address LoS rate estimation for other gimbal configurations is also relevant. [12] address loS rate modeling and error analysis via coordinate transformations. In [13], LoS rates are analyzed for a pitch-yaw gimbal when the platform makes roll rotations.…”