两轴四框架光电稳定平台的稳定解算

光电稳定平台常采用两轴四框架的结构形式扩大稳定跟踪范围和提高跟踪精度，内外框架之间由于机械结构连接产生耦合，为建立稳定解算方程，分析两轴四框架光电稳定平台的工作原理，通过各框架转轴坐标旋转关系，利用转移矩阵，推导出稳定解算方程和甲板坐标系的角位移解算公式，在典型工程实际条件下，比较公式计算的理论值与直接利用测角量累加值...

Stabilized Equation to Four-Gimbal Two-Axis Electro-Optical Stabilized Platform

To extend target tracking rang and enhance the tracking precision in stabilized state,the electro-optical stabilized platform is often designed with four-gimbal two-axis structure.There is coupling between the inner and outer gimbals because of mechanical connection.In order to establish the stabilized equation,the work principle of four-gimbal two-axis electro -optical stabilized platform is analyzed.The stabilized equation is established and the calculating formula for angle displacement is deduced by the spin matrix and the relation of coordinate-rotating among muti-frames.The difference is compared between the value of angle displacement by calculation from formula and the sum of measure based on typical engineering application.The analytical results indicate the attitude of platform in carrier cooridnate is non-linearity function about the inner and outer gimbals’s angle measure.It is crucial to the servo control system design for the position closed loop.