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Title: A gimbal platform stabilization for topographic applications

Abstract

The aim of this work is the stabilization of a Gimbal platform for optical sensors acquisitions in topographic applications using mobile vehicles. The stabilization of the line of sight (LOS) consists in tracking the command velocity in presence of nonlinear noise due to the external environment. The hardware architecture is characterized by an Ardupilot platform that allows the control of both the mobile device and the Gimbal. Here we developed a new approach to stabilize the Gimbal platform, which is based on neural network. For the control system, we considered a plant that represents the transfer function of the servo system control model for an inertial stabilized Gimbal platform. The transductor used in the feed-back line control is characterized by the Rate Gyro transfer function installed onboard of Ardupilot. For the simulation and investigation of the system performance, we used the Simulink tool of Matlab. Results show that the hardware/software approach is efficient, reliable and cheap for direct photogrammetry, as well as for general purpose applications using mobile vehicles.

Authors:
;  [1]
  1. Dept. of Civil Engineering and Architecture, University of Catania, Catania (Italy)
Publication Date:
OSTI Identifier:
22391147
Resource Type:
Journal Article
Resource Relation:
Journal Name: AIP Conference Proceedings; Journal Volume: 1648; Journal Issue: 1; Conference: ICNAAM-2014: International Conference on Numerical Analysis and Applied Mathematics 2014, Rhodes (Greece), 22-28 Sep 2014; Other Information: (c) 2015 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA)
Country of Publication:
United States
Language:
English
Subject:
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSICS; COMPUTER CODES; COMPUTERIZED SIMULATION; CONTROL SYSTEMS; NEURAL NETWORKS; NOISE; NONLINEAR PROBLEMS; PERFORMANCE; SENSORS; STABILIZATION; TRANSFER FUNCTIONS; VELOCITY

Citation Formats

Michele, Mangiameli, E-mail: michele.mangiameli@dica.unict.it, and Giuseppe, Mussumeci. A gimbal platform stabilization for topographic applications. United States: N. p., 2015. Web. doi:10.1063/1.4912991.
Michele, Mangiameli, E-mail: michele.mangiameli@dica.unict.it, & Giuseppe, Mussumeci. A gimbal platform stabilization for topographic applications. United States. doi:10.1063/1.4912991.
Michele, Mangiameli, E-mail: michele.mangiameli@dica.unict.it, and Giuseppe, Mussumeci. Tue . "A gimbal platform stabilization for topographic applications". United States. doi:10.1063/1.4912991.
@article{osti_22391147,
title = {A gimbal platform stabilization for topographic applications},
author = {Michele, Mangiameli, E-mail: michele.mangiameli@dica.unict.it and Giuseppe, Mussumeci},
abstractNote = {The aim of this work is the stabilization of a Gimbal platform for optical sensors acquisitions in topographic applications using mobile vehicles. The stabilization of the line of sight (LOS) consists in tracking the command velocity in presence of nonlinear noise due to the external environment. The hardware architecture is characterized by an Ardupilot platform that allows the control of both the mobile device and the Gimbal. Here we developed a new approach to stabilize the Gimbal platform, which is based on neural network. For the control system, we considered a plant that represents the transfer function of the servo system control model for an inertial stabilized Gimbal platform. The transductor used in the feed-back line control is characterized by the Rate Gyro transfer function installed onboard of Ardupilot. For the simulation and investigation of the system performance, we used the Simulink tool of Matlab. Results show that the hardware/software approach is efficient, reliable and cheap for direct photogrammetry, as well as for general purpose applications using mobile vehicles.},
doi = {10.1063/1.4912991},
journal = {AIP Conference Proceedings},
number = 1,
volume = 1648,
place = {United States},
year = {Tue Mar 10 00:00:00 EDT 2015},
month = {Tue Mar 10 00:00:00 EDT 2015}
}