USING QUATERNION OPERATORS IN SOLVING THE LINE-OF-SIGHT STABILITY CONTROL PROBLEM FOR CAMERAS MOUNTED ON MOVING PLATFORMS

Abstract

In this paper, the line-of-sight stabilization control for camera pan-tilt on moving platform is concerned. Differ from other publications, in order to use one
common IMU for all system in moving platform, the control method is proposed. Quaternion operators are used in the study of the motion laws of the pan-tilt system
used in the platform stabilization system for a series of observatories on mobile vehicles. By using quaternion operators, the line of sight vector associated with the
pan-tilt system is located through quaternion multiplications. The IMU sensor will measure the angular velocity of the tilt angles on the platform, when the pantil
platform is stabilized, the angle and angular velocity of the pan-tilt system under the influence of the swaying motion of the mobile vehicle will move according to a
certain rule. They are desired parameters of tracking control system. The tracking control are synthesized by sliding mode control. In order to eliminate chattering
phenomenon, the discontinuous part of control is replaced by continuous nonlinear function. The speed drift caused by this replacement will be eliminate when the
inertial stabilization system and target tracking system are combined on one control system. The results of article are verified by simulation