CAJ | 학술논문

航空遥感三轴惯性稳定平台用于有效隔离飞行载体的偏航及姿态角运动，使成像载荷沿航向平稳飞行并保持载荷视轴对地垂直指向。通常情况下，稳定平台采用高精度位置姿态测量系统(Position and Orientation System, POS)作为姿态角传感器，一旦POS发生故障会导致平台失稳甚至危及载荷安全。为了提高平台运行可靠性并保证载荷安全，考虑了一种以加速度计作为姿态角冗余传感器的双工作模式，即POS组合工作模式和自主工作模式。当POS发生故障时平台切换到自主工作模式，依靠平台自身加速度计组件进行姿态控制。但与POS相比，加速度计测角易受载体扰动加速度影响从而导致测角误差较大，严重影响平台的稳定精度。针对这一问题，提出了一种基于比例多重积分（Proportional and Multiple-integral, PMI）观测器的加速度计测角误差估计方法，对平台系统建模及PMI观测器的设计过程进行了详细的论述，并利用真实飞行实验数据进行了性能测试。结果表明该方法对实际误差的估计精度达到0.0701°（RMS），可较好的估计出加速度计测角误差，为提高平台自主工作模式的稳定精度奠定基础。
항공요감삼축관성은정평태용우유효격리비행재체적편항급자태각운동，사성상재하연항향평은비행병보지재하시축대지수직지향。통상정황하，은정평태채용고정도위치자태측량계통(Position and Orientation System, POS)작위자태각전감기，일단POS발생고장회도치평태실은심지위급재하안전。위료제고평태운행가고성병보증재하안전，고필료일충이가속도계작위자태각용여전감기적쌍공작모식，즉POS조합공작모식화자주공작모식。당POS발생고장시평태절환도자주공작모식，의고평태자신가속도계조건진행자태공제。단여POS상비，가속도계측각역수재체우동가속도영향종이도치측각오차교대，엄중영향평태적은정정도。침대저일문제，제출료일충기우비례다중적분（Proportional and Multiple-integral, PMI）관측기적가속도계측각오차고계방법，대평태계통건모급PMI관측기적설계과정진행료상세적논술，병이용진실비행실험수거진행료성능측시。결과표명해방법대실제오차적고계정도체도0.0701°（RMS），가교호적고계출가속도계측각오차，위제고평태자주공작모식적은정정도전정기출。
Three-axis inertially stabilized platform for airborne remote sensing is used to isolate the impact of flight vehicle attitude angular motion to improve the image quality and operational efficiency. Normally, the stabilized platform uses a POS as attitude angle sensor. Once the POS has failure, it will lead to instability and even endanger the load platform security. In order to improve the operational reliability of the platform and the safety of the load, a kind of dual modes is proposed, that is, the POS combination mode and the independent mode. The platform switch to independent mode when the POS has failure, and the platform uses the accelerometer for attitude control. But compared with POS, an accelerometer has a larger angle measuring error which affects the stability precision of the platform seriously. In order to solve this problem, this paper proposes a method of accelerometer measuring error estimation based on PMI observer. Then a system modeling and the design process of the PMI observer is discussed. The performance tests are carried out by using real flight experiment data. The experimental results show that this method can effectively estimate the accelerometer angle measuring error to the accuracy of 0.0701°(RMS), which provides the basis for improving the accuracy of the platform.