摘要
针对新型无人机载光电平台内部载荷的安装特点及三轴万向节支撑结构,提出了一种使用高精度距离传感器进行平台内部载荷相对姿态的测量方法。首先,利用偏心旋转的基本原理建立了偏心测角的数学模型,导出了利用偏心法进行小角度测量时角度与距离变化的近线性关系;然后,结合机载光电平台内部载荷相对外框架运动的特点,通过巧妙的偏心结构设计建立载荷沿方位与俯仰方向上相对姿态测量方案;利用双偏心球面及多传感器组合有效地消除了系统径跳等误差对测量精度的影响;最后,使用高精度传感器与本文的测量方法对测量方案进行了验证。理论分析与实验结果表明,本文测量方法简单可行,测量精度优于15″,测量带宽达1.24kHz,完全满足某新型机载光电平台载荷内姿态的测量要求。具有很好的应用价值。
According to the characteristics of in stall ation and three-axes gimbal for sustaining payload of UAV airborne turret,this paper proposes a novel method that can be used for measuring relative attitude between inner payload and outer frame of airborne photoelectric turret with high precision sensor on eccentricity.First of all,the mathematical model for angular translation measuring is established,and at the same time,nearly linear relation between distance and ang le is produced based on eccentricity.Second,considering the characteristics of relative movement between payload and outer frame of airb orne turret,a reasonable method with unique eccentricity design is proposed for measuring angular translation both on pitch and yaw.In addition,the systemic error caused by radical ranout is eliminated by both bi-eccentric-sphere and multiple standalone capacitive sens ors.Finally,simulation and several experiments are conducted to verify the propo sed method with extraordinarily precise standalone capacitive sensors.Both the analysis and experimental results reveal that this proposed method can achieve angular measurement as precise as 15″ with maximum bandwidth of 1.24kHz.This designed measurement apparatus can satisfy the rigorous demand of relative attitude measurement between inner payl oad and outer frame of novel airborne photoelectric platform.
出处
《光电子．激光》
EI
CAS
CSCD
北大核心
2014年第2期317-322,共6页
Journal of Optoelectronics·Laser
基金
国家重点基础研究"973计划"(2009CB7240012A)
装备预先研究(402040203)
中国科学院航空光学成像与测量重点实验室开放基金(Y2HC1SR123)资助项目
关键词
测量
偏心法
机载光电平台
距离传感器
相对姿态角
measurement
eccentric method
airborne photoelectric platform
standalone capacitive sensor
relative attitude
