光学精密工程2026，Vol.34Issue(5)：756-768,13.DOI:10.37188/OPE.20263405.0756
双传感器切换的像移补偿控制
Image motion compensation control with dual sensor switching
摘要
Abstract
In high-speed,low-altitude remote sensing scenarios,the long exposure time of multimode ob-servation systems often leads to significant image motion.Compensation methods relying solely on gyro-scopes suffer from complex command profiles and view-axis deviation caused by accumulated gyro drift,making it difficult to satisfy the stringent requirements of remote sensing imaging for high overlap rates and high signal-to-noise ratios.To address these limitations,an image motion compensation control method based on dual-sensor switching and integrating a Linear Tracking Differentiator(LTD)with Iterative Learning Control(ILC)is proposed.Within a dual-sensor compensation framework combining a gyro-scope and an encoder,the gyroscope is employed for closed-loop velocity control to achieve real-time com-pensation during the exposure phase.After exposure,the control system switches to a high-precision en-coder for position closed-loop regulation,enabling rapid return-to-zero motion and eliminating drift accu-mulation.Meanwhile,LTD-generated commands are used to produce smooth velocity and position trajec-tories,thereby suppressing dynamic oscillations induced by step excitations.A PD-type ILC strategy is in-corporated into the tracking of periodic velocity commands,where historical tracking errors are utilized to construct feedforward compensation,further improving trajectory tracking accuracy.Experiments conduct-ed on a single-degree-of-freedom turntable platform demonstrate the effectiveness of the proposed method.Compared with conventional gyroscope-only compensation approaches,the proposed dual-sensor switch-ing strategy combined with LTD-based command smoothing effectively eliminates view-axis offset,achieves rapid return control without overshoot,and shortens the imaging interval.During the exposure period,the velocity error band is reduced from±0.241 0(°)/s to±0.086 7(°)/s,representing a 64%reduction and a substantial improvement in compensation accuracy.关键词
像移补偿/传感器切换/跟踪微分器/迭代学习Key words
image motion compensation/sensor switching/linear tracking differentiator/iterative learning分类
信息技术与安全科学引用本文复制引用
石绍岑,田大鹏,王治舒,王中石,王昱棠..双传感器切换的像移补偿控制[J].光学精密工程,2026,34(5):756-768,13.基金项目
国家自然科学基金资助项目(No.62475260) （No.62475260）
吉林省自然科学基金面上项目(No.20240101380JC) （No.20240101380JC）
中国科学院B类先导专项资助项目(No.XDB1050000) （No.XDB1050000）
