嵌入式机载摄影稳定平台的设计

Design of embedded stabilized platform for aerial photography

为消除无人机或直升机飞行振动对航空摄影清晰度的影响,设计了安装摄像机的机载摄影稳定平台。该机载摄影稳定平台采用了嵌入式控制技术﹑多传感器融合技术等。以微处理器AT91RM9200和嵌入式操作系统μC/OS–Ⅱ为核心设计了控制系统;以微机械陀螺﹑加速度计和GPS等传感器组成航姿仪来测量稳定平台的速度与姿态信息。该稳定平台在实验室的摇摆平台上和无人飞机上分别进行了稳定测试,其姿态稳定精度达到0.4°,隔离度达到38dB,从而达到了高清晰度摄影的要求。同时,具有重量轻﹑功耗小﹑灵活度高等特点。

In order to eliminate the vibration effect of unmanned aerial vehicle or helicopter and to get high quality image, an aerial photography stabilized platform is designed. The stabilized platform is developed by means of embedded technology, multi-sensor fusion technology and so on. The control system is designed based on AT91RM9200 microcomputer and embedded μC/OS-Ⅱ operating system. The attitude and heading reference system apparatus is mainly composed of an MEMS-gyro, an accelerometer and a GPS （Global Positioning System）. Its aim is to measure the position and velocity of the stabilized platform and send data to the control system. The platform was tested on the wobbling platform in laboratory and an unmanned aerial vehicle. Test result indicates that the stabilized accuracy can achieve to 0.4 degree and the isolation can achieve to 38dB, which can satisfy the requirements of high definition aerial photography.