A Novel Separated Position and Orientation System Integrated with Inertially Stabilized Platform

摘要

Considering the application requirements of independent imaging payloads design, a novel scheme of separated position and orientation system (POS) is proposed, in which the high-precision inertial sensors of traditional centralized POS fixed on the imaging payloads are mounted on three gimbals of the inertially stabilized platform (ISP), respectively, and make them integrated. Then, the kinematics model of the ISP system is built to transmit the inertial information measured by separated inertial sensors mounted on ISP gimbals and flight body to the imaging payloads, calculating the position and attitude of the imaging payloads to achieve the function of separated POS. Based on the model, a series of simulations indicate that the precision difference between separated system and centralized system is ignorable under the condition of angular motion and variable velocity motion. Besides the effective function equal to traditional centralized system, the separated POS enhances the integration with the ISP. Moreover, it improves the design independence of the imaging payloads significantly.