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

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)

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 > Aerospace Sciences
Research Group:Aerospace Sciences
Journal Name:Proceedings of SPIE Defence, Security and Sensing Conference

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
464201Nonlinear high performance real time control.David AndersonEngineering & Physical Sciences Research Council (EPSRC)EP/F031734/1Aerospace Sciences