Stabilization loop modeling of three-axis inertial stabilized platform with a new gyro installing mode

摘要

Three-axis inertial stabilized platform (ISP) for aerial remote sensing has its unique characteristics among all kinds of ISPs. And how the gyro is mounted in the platform plays an important role in system performance. A new gyro installing mode was adopted in this paper, which saves size, reduces weight, and simplifies algorithm. Based on this, transfer functions of all platform components were built and stabilization loop model was established. The model was validated with reasonable model parameters which meet certain static and dynamic performances, and satisfy requirement for aerial remote sensing environment. The simulation results show that under different disturbances, errors of theoretical and simulation values are quite small, illuminating reliability of the model built.