Research on image stabilization control algorithm of UAV Gm-APD lidar PID

Di Liu; Jianfeng Sun; Peng Jiang; Xin Zhou

doi:10.1117/12.2586047

2 December 2020 Research on image stabilization control algorithm of UAV Gm-APD lidar PID

Di Liu, Jianfeng Sun, Peng Jiang, Xin Zhou

Proceedings Volume 11717, 24th National Laser Conference & Fifteenth National Conference on Laser Technology and Optoelectronics; 1171711 (2020) https://doi.org/10.1117/12.2586047
Event: 24th National Laser Conference & Fifteenth National Conference on Laser Technology and Optoelectronics, 2020, Shanghai, China

Abstract

Gm-APD arrays lidar has the advantages of long imaging distance, small volume and low power consumption. Because of its unique high resolution three-dimensional range profile, it is expected to solve the problems of UAV safe flight, autonomous obstacle avoidance and so on. In this paper, according to the dynamic imaging requirements of UAV lidar, a joint image stabilization control algorithm of adaptive Kalman filter and PID is proposed to suppress the disturbance of UAV platform to lidar system and make the laser beam point to the target stably. The vibration test experiment of Gm- APD lidar system is made. Under the condition of horizontal amplitude 5mm and frequency 15Hz sine wave disturbance, the gyro drift is less than 1.7 °/ s, and the target drift is no more than 4 pixels. It is proved that Gm-APD lidar can be applied in the field of UAV safe flight.

Citation Download Citation

Di Liu, Jianfeng Sun, Peng Jiang, and Xin Zhou "Research on image stabilization control algorithm of UAV Gm-APD lidar PID", Proc. SPIE 11717, 24th National Laser Conference & Fifteenth National Conference on Laser Technology and Optoelectronics, 1171711 (2 December 2020); https://doi.org/10.1117/12.2586047

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