Abstract
For getting clear images and overcoming shaking caused by various disturbances, real‐time compensation of pointing errors will improve the overall stability performance of photoelectric detection by unmanned aerial vehicle. However, the compensation will be greatly deteriorated by error‐causing sources, and the error correction process is of great importance. In this research, the problem of stability precision error correction is comprehensively studied. First, by modeling overall kinematics, error‐causing sources, and error compensation, the error correction process is mathematically modeled and simulated. Then, by using simulation data regression, error correction models including the global function model and parametric model are established. The models are validated by carrying out both simulations and validation experiments. At last, the performances of the error correction models are compared and analyzed, which concerns the factors of parameter identification, model simplicity, and final improvement effect. Results show that the final stability precision can be greatly improved over 20%, and the parametric model outperforms the global function model comprehensively. It can be concluded that, either in simulation environment or real application scenarios, the obtained models and related analysis results are effective in improving the system stability performance.
Highlights
To obtain clear images and overcome disturbances, stability precision is a key index for evaluating performances of photoelectric detection devices, especially for lightweight and small-sized carriers like unmanned aerial vehicle (UAV), for those are affected by various disturbances and errors [1, 2]
Zhou et al [4] presented the design of a mechatronic system for a two-axis inertial-stabilized platform in an unmanned helicopter- (UH-) based airborne power line inspection system
In the real application scenarios, the real-time correction of those errorcausing sources (ECS) effect will be realized by using extra servo control mechanism, including frames, motors, or more advanced structures, like multiaxis linkages, which are assembled on the outer side of AZ and PI
Summary
To obtain clear images and overcome disturbances, stability precision (hereinafter, the precision) is a key index for evaluating performances of photoelectric detection devices, especially for lightweight and small-sized carriers like unmanned aerial vehicle (UAV), for those are affected by various disturbances and errors [1, 2]. Liu et al [15] carried out a machining error analysis of freeform surface off-axis threemirror system based on optical performance evaluation These studies commonly adopt the methods of off-line modeling and precorrection before the real application. In the real application scenarios, the real-time correction of those ECS effect will be realized by using extra servo control mechanism, including frames, motors, or more advanced structures, like multiaxis linkages, which are assembled on the outer side of AZ and PI Those extra mechanisms will rotate according to the correction angles generated by using the algorithms above, so the deviations caused by ECS can be dissolved. There are plenty of researches concerning real-time error corrections using methods like collective morphing, PID algorithms, and lateral control [28,29,30] These studies typically focused on only one kind of error like that of beam axis, sensors, motors, or accelerators, without comprehensive modeling and analysis. The final index of stability precision RMS is set as the output
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