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1 August 1991 Accelerometer-based platform stabilization
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This paper discloses the new stabilization approach (patent pending) where miniature, low-cost, linear accelerometers are used (instead of gyros) to sense three-dimensional angular motion. The platform-control system uses the measured angular accelerations to generate movement commands for the gimbal servo motors. This counter-rotates the sensing device to stabilize its Line- of-Sight (LOS). Two control strategies are presented: one for the case where the accelerometers are placed on the stabilized element; the other for the case where the accelerometers measure vehicle motion. In the second case, gimbal motion is governed by counter-rotation setpoints. Setpoint generation is based on a stabilization criteria that projects the angular acceleration vectors of the platform and the vehicle onto a common reference frame and equates the resultant to zero. This provides a system of equations that can be solved to calculate the necessary gimbal motion (setpoints) to counteract vehicle motion. Test results for a proof-of-concept unit are also provided, demonstrating the feasibility of stabilizing sensor LOS with linear accelerometers. The technique to extract angular information from the output of linear accelerometers is also discussed.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Marcelo C. Algrain "Accelerometer-based platform stabilization", Proc. SPIE 1482, Acquisition, Tracking, and Pointing V, (1 August 1991);

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