Application of nonlinear generalised minimum variance to the nadir problem in 2-axis gimbal pointing and stabilization

Petros Savvidis; David Anderson; Michael Grimble

doi:10.1117/12.849523

14 May 2010 Application of nonlinear generalised minimum variance to the nadir problem in 2-axis gimbal pointing and stabilization

Petros Savvidis, David Anderson, Michael Grimble

Author Affiliations +

Proceedings Volume 7696, Automatic Target Recognition XX; Acquisition, Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical Pattern Recognition XXI; 76961I (2010) https://doi.org/10.1117/12.849523
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

Precision tracking applications using two-axis gimbal or antenna actuation systems suffer from a singularity when the inner axis reaches +-90 degrees. This is known by various terms - the keyhole singularity, gimbal lock or the nadir problem. Practically, sightline control is degraded and often lost in a neighborhood of this singularity. In this paper, two nonlinear control algorithms are applied to sightline pointing and stabilization control in the neighborhood of the nadir; the traditional cosecant correction and the nonlinear generalized minimum variance technique. Both controllers were tested against a validated model of an Aeromech TigerEye turret.

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Petros Savvidis, David Anderson, and Michael Grimble "Application of nonlinear generalised minimum variance to the nadir problem in 2-axis gimbal pointing and stabilization", Proc. SPIE 7696, Automatic Target Recognition XX; Acquisition, Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical Pattern Recognition XXI, 76961I (14 May 2010); https://doi.org/10.1117/12.849523

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