一种多旋翼无人机三轴云台的陀螺解耦方法

Method of Gyro Decoupling for Multi-rotor UAV Three-axis Gimbal

机载三轴云台用于补偿载体姿态变化和振动等外界干扰,保持光学成像传感器视轴惯性空间稳定。本文提出了一种三轴陀螺空间解耦算法,实现了三轴陀螺与三轴电机空间的完全解耦,有效提升了云台的响应速度和稳定精度。通过实际挂载飞行证明,该方法在提升云台图像质量方面具有重要的工程应用价值。

The airborne three-axis gimbal is used to compensate for external disturbances such as carrier attitude changes and vibration to maintain the optical imaging sensor's boresight stable in the inertial space.In the paper,a three-axis gyro space decoupling algorithm is proposed,which realizes the complete decoupling of the three-axis gyro and the three-axis motor in space.The method effectively improves the response speed and the stability of the gimbal.This method has important engineering application value in improving the image quality of the gimbal by the actual flight.