Aerophotography gyrostabilized platform with three freedom degrees and large load

Abstract

The invention relates to an aerophotography gyrostabilized platform with three freedom degrees and large load, comprising a platform body, a driving system, an inertia measurement unit, a relative turn angle measuring unit of a ring rack of the platform body, a high-frequency line vibration isolating unit and a platform control system, wherein the inertia measurement unit and the relative turn angle measuring unit of the ring rack of the platform body monitor the information of the angular movement of the platform body caused by the angular movement of the body of an airplane; the platform control system works out a control instruction applied by a relatively determined coordinate system of the platform when being stabilized relative to the driving system at real time according to the monitored information of the angular movement of the platform body by a certain control algorithm; the driving system drives the platform body according to the control instruction to rotate so as to realize the isolation of the angular movement of the body of the airplane; and the high-frequency line vibration isolating unit realizes the isolation of the high-frequency line vibration of the body of the airplane. The aerophotography gyrostabilized platform with three freedom degrees and large load effectively isolates the angular movement and the high-frequency line vibration of the body of the airplane and enhances the stability of a visual axis of an aerial photography camera, and the cost is cheaper.

Description

technical field [0001] The invention relates to a three-degree-of-freedom large-load aerial photography gyro stabilization platform installed inside the belly of the aircraft to isolate the vibration of the aircraft body and realize the visual axis of the aerial photography camera to track the local vertical line. Background technique [0002] Aerial photography is a modern high-tech means to obtain high-precision observation information of the earth's surface. When the aircraft is in flight, it will be affected by the aircraft and the airflow to generate body vibration, which makes it difficult for the airborne camera to take high-precision shots of the designated area. If the stable platform is not used to isolate the vibration of the airframe, the flight time of the aircraft must be extended, the number of shots taken, and the number of voyages must be increased, and the decline in the quality of shots will increase the difficulty of post-processing of the images. In ord...

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Problems solved by technology

[0004] The structure of the above-mentioned passive stable platform is simple, but its disadvantage is that since the platform realizes attitude stability by gyro torque, when the platform load is large, the gyro is required to have a large enough angular momentum moment, which means increasing the mass, volume and Its speed, so the quality and volume of the platform will be very large, for example, the carrying capacity of the stable platform described in Chinese patent CN2413266Y is only 10-50kg, but its overall size range has reached as high as 300-500mm long, 200-400mm wide, and 480mm high -700mm

[0005] The above-mentioned active stabilized platform uses sensors such as high-precision gyroscopes and accelerometers to reflect the attitude of the stabilized platform and its rate of change. The platform adopts the driving mode of the torque motor directly driving the platform body to rotate. This driving mode has high transmission precision and simple structure, but due to the limitation of the output torque of the motor, the bearing capacity of the gyro-stabilized platform is small

The gyro-stabilized platform described in Chinese patent CN2833306Y adopts an indirect drive mode in which the motor drives the platform body to rotate through a reducer, which solves the problem that the output torque of the motor cannot meet the requirements when the platform load is too large, but the gears of the reducer are complete gears. The mass and volume are large, and the gear pair is not processed for backlash elimination. The existence of backlash in the gear pair affects the transmission accuracy

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