Inertially stabilized platforms using dual-axis gyros: sensitivity analysis to unmodeled motion and an extension to visual tracking

نویسندگان

  • Andrei Battistel
  • Fernando Lizarralde
  • Liu Hsu
چکیده

Inertially stabilized platforms are subject of interest for different application, e.g. telecommunications, robotics and military systems. In this paper the objective is to maintain the line-of-sight constant despite the motion of a host vehicle. The platform stabilization problem is addressed using dual-axis gyroscopic sensors, where certain vehicle dynamic constraints are considered. Sensor positioning and sensitivity analysis to unmodeled motion are discussed. An extension to the visual tracking problem is presented using a class of algorithms for fast digital image registration.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

VISCOUS NUTATION DAMPER, MODELING AND ANALYSIS

In some aerospace vehicles, the tracking sensors which act in a tracking loop as stabilizer are mounted on a two degree of freedom gyro. The gyro must align its rotor axis with the line of sight in order to remove tracking errors. The tracking precision and sensitivity are functions of the gyros performance. One of the main factors in reducing the precision and producing instabilities is nutati...

متن کامل

Reliability of Measuring Lumbar Lordosis, Flexion and Extension Using Dual Inclinometer in Healthy Subjects and Patients with Non-Specific Chronic Low Back Pain

Objective: Accurate assessment of lumbar range of motion is of great value for both evaluating lumbar functions and monitoring treatment progress. Recent research indicates that there is no general consensus on the most valid and reliable method of measuring spinal range of motion. The purpose of this study was to determine the intra-rater reliability of lumbar flexion and extension measurement...

متن کامل

Visual Tracking using Learning Histogram of Oriented Gradients by SVM on Mobile Robot

The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...

متن کامل

Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

متن کامل

A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors (TECHNICAL NOTE)

This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and interna...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2011