光电稳定平台瞄准线漂移前馈补偿算法

Feed-forward Compensation Algorithm for Line of Sight Drift ofPhotoelectric Stabilized Platform

针对地球自转角速度在光电吊舱俯仰轴上的分量影响稳像模式下激光雷达成像质量问题,提出了一种基于机载惯导系统的前馈补偿算法,根据飞机姿态信息、纬度信息以及设备轴角信息,通过旋转矩阵解算出补偿量并前馈到速度环中,实现对光电稳定平台的瞄准线漂移的补偿。对所提出算法进行了仿真与实验验证,实验结果显示,当俯仰轴朝向南北时,引入该补偿算法后半小时内俯仰角度漂移量为0.231°,小于不加该补偿方法时的6.005°;当俯仰轴朝向北南时,引入该补偿算法后半小时内俯仰漂移量为-0.385°,小于不加该补偿方法时的-5.372°,证明该算法可有效补偿稳像模式下俯仰位置漂移。

To solve the problem that the component of the earth s rotational angular velocity on the pitch axis of the photoelectric pod affects the imaging quality of lidar in the image stabilization mode,a feed-forward compensation algorithm based on the airborne inertial guidance system is proposed,which calculates the compensation amount through the rotation matrix according to the attitude information,latitude information and equipment axis angle information of the aircraft and feeds forward it into the speed loop to compensate for the line of sight drift for the photoelectric stabilized platform.The simulation and experimental verification of the proposed algorithm are carried out,and the experimental results show that when the pitch axis is facing south-north,the pitch angle drift within half an hour after the introduction of the compensation algorithm is 0.231°,which is less than 6.005°without the compensation method.When the pitch axis is facing north-south,the pitch drift within half an hour after the introduction of the compensation algorithm is-0.385°,which is less than-5.372°without the compensation method,which proves that the algorithm can effectively compensate for the pitch position drift in the image stabilization mode.