信息与控制2016，Vol.45Issue(5)：537-543,7.DOI:10.13976/j.cnki.xk.2016.0537
面向搜索跟踪任务的小型无人机云台补偿控制
Compensation Control of Miniature UAV Gimbal Performing Searching and Tracking Tasks
关旭宁 1吕印晓 1张立鹏 2廖开俊 1辛公彩1
作者信息
- 1. 空军第一航空学院，河南信阳 464000
- 2. 空军西安飞行学院，陕西西安 710306
- 折叠
摘要
Abstract
With regards the ground target-searching issue,the coupling of unmanned aerial vehicles (UAVs)and camer-a,along with the 6-DOF motion of the UAV,result in the divergence of the detection path from the flight path.To deal with the negative effects brought about by coupling during searching task,vehicle attitude rates measured by platform sensors are introduced in this study to coordinate the flight path and the detection path.Moreover,for the ground target-tracking issue,which is aimed at counterbalancing negative effects brought about by real-time relative lacation changing,compensation control law for gimbal is designed,and is used to gaze at targets with extra stabili-ty and accuracy.The effectiveness of the gimbal contol method is validated by performing a series of simulations.关键词
无人机/搜索跟踪/云台控制补偿Key words
unmanned aerial vehicle (UAV)/searching and tracking/gimbal compensation control分类
信息技术与安全科学引用本文复制引用
关旭宁,吕印晓,张立鹏,廖开俊,辛公彩..面向搜索跟踪任务的小型无人机云台补偿控制[J].信息与控制,2016,45(5):537-543,7.
