Stabilisation d'une Caméra sur UAV par Méthode des Gyroscopes


  1. Zoso, N.
  2. Wong, F.C.
Corporate Authors
Defence R&D Canada - Valcartier, Valcartier QUE (CAN);AEREX Avionics Inc, Breakeyville QUE (CAN)
Close surveillance of potential threats from an uninhabited aerial vehicle (UAV) on an intercept course requires stabilization of the gimbaled camera to obtain a clear image. The stabilization method used in this study is the type 'gyrostabilized', and is based on the rate gyros in a Micropilot MP2128 autopilot. The stabilization algorithm uses, as input, the UAV attitude measured by the autopilot and generates, as output, the necessary angular values to keep the target in the camera’s field of view. Once the algorithm was implemented in the MP2128, subsequent tests brought to light the flaws of the Roll and Yaw sensors in the MP2128. These flaws introduced errors, on the order of 10 degrees, to the commands sent to the Pan-Tilt gimbal system. The Microstrain 3DMGX1 orientation sensor was tested at the same time as the MP2128. It was found that the 3D MGX1 contained better performing sensors than the MP2128. If the 3DMGX1 sensors were used in place of the MP2128 sensors, an improvement in the level of stabilization of the camera would be observed. The stabilization system was modelled as first order transfer functions in a virtual environment based on the MP2128 autopilot. This environment allows the stabilization system to be evaluated in a large number of conditions without having to carry out flight testing.

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UAV stability and control
Report Number
DRDC-VALCARTIER-TR-2007-440 — Technical Report
Date of publication
01 Jul 2008
Number of Pages

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