| 低空遥感小型三轴陀螺稳定平台的设计与实现 |
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| 引用本文： | 张强,吴云东,张超.低空遥感小型三轴陀螺稳定平台的设计与实现[J].测绘科学技术学报,2012(4):276-280,284. |
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| 作者姓名： | 张强 吴云东 张超 |
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| 作者单位： | 信息工程大学测绘学院;信息工程大学训练部;集美大学理学院 |
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| 基金项目： | 福建省教育厅项目(JK2009017);厦门市科技计划项目(3502Z20093018);福建省高校服务海西重点建设项目(闽教高[2009]8号) |
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| 摘 要： | 按照测绘领域专用、性价匹配的思想,设计并实现了一套低成本的低空遥感小型三轴陀螺稳定平台。该系统以自主设计的三轴铝制云台为平台,以微电子机械三轴角速率陀螺、线加速度计和磁阻传感器为基础,配置ARM CortexTM-M3 32位核心微处理器,以数字钛合金舵机为驱动输出,具有体积小、精度高、成本低、自主稳定与罗差自检校等特点。实验表明,稳定平台的航向角测量精度可达1°,俯仰角和横滚角可达0.1°,机械控制精度优于0.1°,驱动响应时间小于20ms,可以满足小区域大比例尺地形图立体测绘对稳定平台的要求。
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| 关 键 词： | 无人机 低空遥感 三轴陀螺稳定平台 模糊PID控制 微电子机械系统 |
Design and Realization of Small Three-Axis Gyro Stabilized Platform in the Area of Low-Altitude Remote Sensing |
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| Institution: | ZHANG Qiang1,2,WU Yundong3,ZHNAG Chao2(1.Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450052,China; 2.Administrative Office of Training,Information Engineering University,Zhengzhou 450001,China; 3.Institute of Science,Jimei University,Xiamen 361021,China) |
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| Abstract: | A low-cost small 3-axis gyro-stabilized pan-tilt for low-altitude remote sensing was designed and realized.The system was based on a set of self-designed three-axis aluminum pan-tilt,which was integrated MEMS three-axis angular rate gyro,three-axis accelerometers and three-axis magnetic sensor with 32-bit Cortex TM-M3 ARM microprocessor,and three digital servos with titanium gears was as the drive output.This system has the advantages of small size,high precision,low-cost,self-stability and auto magnetic deviation correction.The result of the experiments showed that the accuracy of heading angle measurement,pitch angle and roll angle is up to 1°,0.1° and 0.1° respectively;the mechanical control accuracy is better than 0.1° and the responding time of the servos to the control instruction is within 20 ms.This system is basically met the requirements of larger scale stereo-plotting in small areas. |
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| Keywords: | UAV low-altitude remote sensing 3-axis gyro-stabilized pan-tilt fuzzy PID control MEMS |
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