Savvidis, P., Anderson, D. and Grimble, M.; (2010) Application of nonlinear generalised minimum variance to the nadir problem in 2-axis gimbal pointing and stabilization. In: SPIE Defence, Security & Sensing Conference, Orlando, USA, 5-9 Apr 2010, 76961I. (doi: 10.1117/12.849523)
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Publisher's URL: http://dx.doi.org/10.1117/12.849523
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.
| Item Type: | Conference Proceedings |
|---|---|
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Savvidis, Mr Petros and Anderson, Dr David |
| Authors: | Savvidis, P., Anderson, D., and Grimble, M.; |
| Subjects: | U Military Science > U Military Science (General) T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| College/School: | College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity |
| Research Group: | Aerospace Sciences |
| Journal Name: | Proceedings of SPIE Defence, Security and Sensing Conference |
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