Inertially Stabilized Platform Technology Concepts and Principles

IEEE Control Systems

Volumn 28, Issue 1, 2008, Pages 26-46

  Hilkert, J M ^a  

^a NONE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CAMERAS; CONTROL SYSTEM SYNTHESIS; SENSOR ARRAYS; STABILIZATION; TELESCOPES;

FIELD OF VIEW; INERTIALLY STABILIZED PLATFORMS; LINE OF SIGHT;

CONTROL SYSTEMS;

EID: 39649112875     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/MCS.2007.910256     Document Type: Article

References (91)

1. [S1] E. Rivin, Stiffness and Damping in Mechanical Design. New York: Marcel Dekker,1999.
2. [S2] J. Spanos, “Control-structure interaction in precision pointing servo oops,” AIAA J. Guid., vol. 12, no. 2, pp. 256-263,1988.
3. [S3] NASA Finite Element Modeling Continuous Improvement Website, www.femci.gsfc.nasa.gov/femcibook.html
4. [S4] G. Lang, “Experimental FEA,” Sound Vib., vol. 39, pp. 12–21, Jan. 2005.
5. [S5] P. Avitabile, J. Teutsch, K. Weech, D. Smith, G. Gwaltney, and M. Sheehan, “Modal and operating characterization of an optical telescope,” Sound Vib., vol. 35, pp. 20–28, June 2001.
6. [S6] K. Doyle, V. Genberg, and G. Michels, Integrated Optomechanical Analysis. Bellingham, WA: SPIE, 2002.
7. [S7] D. Redding and W. Breckenridge, “Optical modeling for dynamics and control analysis,” AIAA J. Guid., vol. 14, no. 5, pp. 1021–1032, 1991.
8. [S8] J. DeBruin and D. Johnson, “Derivation of structural influence coefficients for long-focus imaging optical systems,” Proc. SPIE, vol. 2263, pp. 341–368, 1994.
9. [S9] P. Dahl, “Inertial beam aignment sensor and a simplified application,” in Proc. AIAA Guidance, Navigation, Control Conf. Exhibit, Monterey, CA, AIAA paper 2002–5002, Aug. 2002.
10. [S10] E. Teague, J. How and B. Parkinson “Control of flexible structures using GPS: Methods and experimental results,” AIAA J. Guid., vol. 21, no. 5, pp. 673–683, 1998.
11. [S11] B. Wie, “Experimental demonstration of a classical approach to flexible structure control,” AIAA J. Guid. Control Dyn., vol. 15, no. 6, pp. 1327–1333, 1992.
12. [S12] E. Flint, M. Evert, E. Anderson, and P. Flannery, “Active/passive counter-force vibration control and isolation systems,” in Proc. IEEE 2000 Aerospace Conf., paper #432, Big Sky, MT, Mar. 2000, pp. 19–25.
13. [S13] C. Liu and R. Forward, “Electronic damping of resonance in gimbal structures,” in Proc. AIAA/ASME/ASCE/AHS 22nd Structures Structual Dynamics Materials Conf., paper #81-0556, Atlanta, GA, 1981.
14. [S14] J. Yocum and L. Slafer, “Control system design in the presence of severe structural dynamics interactions,” AIAA J. Guid. Control Dyn., vol. 1, no. 2, pp. 109–116, 1978.
15. [S15] G. Balas and P. Young, “Control design for variations in structural natural frequencies,” AIAA J.Guid. Control Dyn., vol. 18, no. 2, pp. 325-332,1995.
16. [S16] A. Butterfield and S. Woodard, “Measured spacecraft instrument and structural interactions,” AIAA J. Spacecraft Rockets, vol. 33, no. 4, pp. 556-562,1996.
17. [S17] D. Griffiths, A. Aubert, E. Green, and J. Ding, “A technique for relating vehicle structural modes to stiffness as determined in static determinate tests,” in Proc. SAE, Grand Traverse, Ml, 2003-01-1716, 2001.
18. [S18] M. Masten, “Inertially stabilized platforms for imaging optical systems” IEEE CSM, vol. 28, no. 1, pp. 47–64, 2008.
19. [S19] J. Wicker, T. Yang, J. Ly, R. Wong, P. Dahl, and R. Rogers, “Low Cost Spacecraft Disturbance Rejection via Sensor Matching for Off-Gimbal Precision Pointing System,” AIAA J. Guidance, 2003, AIAA-2003-5827.
20. [S20] J. Kuipers, Quaternions and Rotation Sequences, Princeton University Press, 1999.
21. [S21] G Minkler and J. Minkler, Aerospace Coordinate Systems and Transformations, Magellan, 1990.
22. [S22] R. Pio, “Error Analysis of Euler Angle Transformations,” AIAA J. Guidance, AIAA 0001–1452, vol. 11, no. 6, pp. 871–875, 1973.
23. [S23] J. Hilkert, “Kinematic Algorithms for Line-of-Sight Pointing and Scanning using INS/GPS Position and Velocity Information,” SPIE Proceedings, vol. 5810, pp. 11–22, Paper 5810–03, Mar. 2005.
24. [S24] J. Royalty, “Method to decouple mechanically coupled gimbal control systems,” SPIE Proceedings, vol. 5810, pp. 11–23, 2005.
25. [S25] W. Casey and D. Phinney, “Representative Pointed Optics and Associated Gimbal Characteristics,” SPIE Proceedings, vol. 887, pp. 116–123, 1988.
26. [S26] M. Masten and L. Stockum, Precision Stabilization and Tracking Systems for Acquisition, Pointing and Control Applications, SPIE Milestone Series, vol. 123, SPIE Optical Engineering Press, 1996.
27. [S27] G. Gerson and A. Rue, “Tracking systems” Chapter 22, The Infrared Handbook, Wolfe, W.L. and Zissis, G.J., Editors, Department of the Navy, Washington, D.C., 1989.
28. [S28] E. Flint and E. Anderson, “Multi-degree of freedom parallel actuation system architectures for motion control,” Proc. AIAA Space 2001 Conference, Albuquerque, NM, in 2001, AIAA 2001–4750.
29. G. Beals, R. Crum, H. Dougherty, D. Hegel, J. Kelley, and J. Rodden, “Hubble Space Telescope precision pointing control system,” AIAA J. Guid., vol. 11, no. 2, pp. 119–123, Mar.-Apr. 1988.
30. J. Wertz, Spacecraft Attitude Determination and Control. Norwell, MA: Kluwer, 1999.
31. S. Teare and S. Restaino, Introduction to Image Stabilization. Bellingham, WA: SPIE, 2006.
32. D. Titterton and J. Weston, Strapdown Inertial Technology, (AIAA Progress in Astronautics and Aeronautics Series 207), 2nd ed. Reston, VA: American Institute of Aeronautics and Astronautics, and Stevenage: U.K.: IET, 2004.
33. A. Lawrence, Modern Inertial Technology. New York: Springer-Verlag, 1998.
34. S. Merhav, Aerospace Sensors Systems and Applications. New York: Springer-Verlag, 1996.
35. M. Masten, “Inertially stabilized platforms for imaging optical systems,” IEEE Contr. Syst. Mag., vol. 28, no. 1, pp. 47-64,2008.
36. J. DeBruin, “Control systems for mobile satcom antennas,” IEEE Contr. Syst. Mag., vol. 28, no. 1, pp. 87–101, 2008.
37. M. Masten, and L. Stockum, Precision Stabilization and Tracking Systems for Acquisition, Pointing and Control Applications, (SPIE Milestone Series), vol. 123, Bellingham, WA: SPIE, 1996.
38. W. Casey and D. Phinney, “Representative pointed optics and associated gimbal characteristics,” Proc. SPIE, vol. 887, pp. 116-123,1988.
39. E. Flint and E. Anderson, “Multi-degree of freedom parallel actuation system architectures for motion control,” in Proc. AIAA Space Conf, Albuquerque, NM, 2001, AIAA Paper 2001-4750 pp. 1–16.
40. R. Laskin and S. Sirlin, “Future payload isolation and pointing system technology,” AIAA J. Guid. Control Dyn., vol. 9, no. 4, pp. 469-477,1986.
41. G. Gerson and A. Rue, “Tracking systems” in The Infrared Handbook, W. L. Wolf and G.J. Zissis, Eds. Dept. Navy: Washington, D.C., 1989, ch. 22.
42. M. Masten and J. Hilkert, “Electromechanical system configuration for pointing, tracking, and stabilization applications,” Proc. SPIE, vol. 779, pp 75-87,1987.
43. J. Ortega, “Gunfire performance of stabilized electro-optical sights,” Proc. SPIE, vol. 3692, pp 74–83, Apr. 1999.
44. L. Stockum, L.A., E. Burge, and G. Plunk, “Electro-mechanical design for precision pointing and tracking systems,” Proc. SPIE, vol. 779, pp. 66–74, 1987.
45. M. Algrain and R. Powers, “Line-of-sight pointing accuracy-stability analysis and computer simulation for small spacecraft,” Proc. SPIE, vol. 2739, pp 62-76,1996.
46. M. Guelman, A. Kogan, A. Kazarian, A. Livine, M. Orenstien, H. Michalik, and S. Arnon, “Acquisition and pointing control for inter-satellite laser communications,” IEEE Trans. Aerosp. Electron. Syst., vol. 40, no. 4, pp. 1239–1249, Oct. 2004.
47. J. Medbery and L. Germann, “Specification of precision optical pointing systems,” Proc. SPIE, vol. 1489, pp 163-176,1991.
48. R. Driggers, M. Kelly, and P. Cox, “National imagery interpretation rating system (NIIRS) and the probabilities of detection, recognition and identification,” Proc. SPIE, vol. 2743, pp 349-360,1996.
49. J. Fisk and A. Rue, “Confidence limits for the pointing error of gimbaled sensors,” IEEE Trans. Aerosp. Electron. Syst., vol. AES-2, no. 6, pp. 648-654,1966.
50. J. Hilkert, M. Bowen, and J. Wang, “Specifications for image stabilization systems,” Proc. SPIE, vol. 1498, pp. 24-38,1991.
51. C. Chen and C. Gardner, “Impact of random pointing and tracking errors on the design of coherent and incoherent optical intersatellite communication links,” IEEE Trans. Commun., vol. 37, no. 3, pp. 252–260, Mar. 1989.
52. K. Gendreau, J. Leitner, L. Markley, W. Cash, and A. Shipley, “Requirements and options for a stable inertial reference frame for a 100 μarcsecond imaging telescope,” Proc. SPIE, vol. 4852,2003.
53. G. Downey, “Electro-optical tracking considerations II,” Proc. SPIE, vol 5082, pp. 139–153, 2003.
54. B. Lurie, A. Ghavimi, F. Hadaegh, and E. Mettler, “System architecture trades using Bode-step control design,” AIAA J. Guid. Control Dyn., vol. 25, no. 2, pp. 309–315, Mar.-Apr. 2002.
55. M. Algrain, “High-bandwidth attitude jitter determination for pointing and tracking systems,” SPIE Opt. Eng., vol. 36, no. 7, pp. 2092–2100, July 1997.
56. N. Goodzeit and M. Phan, “System and disturbance identification foi feedforward and feedback control applications,” AIAA J. Guid. Control Dyn., vol. 23, no. 2, pp. 260–268, 2000.
57. J. Hilkert and D. Hullender, “Adaptive control system techniques applied to inertial stabilization systems,” Proc. SPIE, vol. 1304, pp. 190-206,1990.
58. B. Li, D. Hullender, and M. Direnzo, “Nonlinear induced disturbance rejection in inertial stabilization systems,” IEEE Trans. Contr. Syst. Technol., vol. 6, no. 3, pp. 421–427, May 1998.
59. B. Li and D. Hullender, “A self-tuning controller for nonlinear inertia] stabilization systems,” IEEE J. Contr. Syst. Technol., vol. 6, no. 3, pp. 428–439, May 1998.
60. H. Olsson, K. Astrom, C. Canudas de Wit, M. Gafvert, and P. Lischinsky, “Friction models and friction compensation,” Eur. J. Control, vol 4, pp 176–195, Dec. 1998.
61. C. Johnson, “Disturbance-accommodating control: An overview,” in Proc. American Control Conf., Seattle, WA, 1986, pp. 527–536.
62. R. Broucke, “Equations of motion of a rotating rigid body,” AIAA J. Guid. Control Dyn., vol. 13, no. 6, pp. 1150-1152,1990.
63. J. Royalty, “Method to decouple mechanically coupled gimbal contro] systems,” Proc. SPIE, vol. 5810, pp. 11-23,2005.
64. W. Jerkovsky, “The structure of multibody dynamics equations,” AIAA J. Guid. Control Dyn., vol. 1, no. 3, pp. 173-182,1978.
65. J. DeBruin and D. Johnson, Line-of-sight reference frames: A unified approach to plane-mirror kinematics,” Proc. SPIE, vol. 1697, pp. 111-129,1992.
66. A. Or, R. Wong, R. Atmadja, and J. Ly, “Performance evaluation of a precision pointing payload,” in Proc. AIAA Guidance, Navigation, Control Conf. Exhibit, Monterey, CA, Aug. 5–8, 2002, AIAA Paper 2002–5000.
67. M. Sidi, Spacecraft Dynamics & Control. Cambridge, MA: Cambridge Univ. Press, 1997.
68. C. Heiberg, D. Bailey, and B. Wie, “Precision spacecraft pointing using single-Gimbal control moment gyroscopes with disturbance,” AIAA J. Guid. Control Dyn., vol. 23, no. 1, pp. 77-85,2000.
69. B. Waggoner, “A comparison of gyroscope digital models for an electro-optical/infrared guided missile simulation,” Naval Surface Warfare Center, Crane, IN, NSWCCR/RDTR-03/12, Feb. 2003 [Online], Available: http://stinet.dtic.mil/
70. J. DeBruin, J. Royalty, M. Wand, and E. Allen, “Feedforward stabilization testbed,” Proc. SPIE, vol. 2739, pp. 204-214,1996.
71. J. Wicker, T. Yang, J. Ly, R. Wong, P. Dahl, and R. Rogers, “Low cosi spacecraft disturbance rejection via sensor matching for off-gimbal precision pointing system,” in Proc. AIAA Guidance, Control, Dynamics Conf. Exhibit, Austin, Texas, 2003, AIAA Paper 2003–5827.
72. J. Polasek “Matrix analysis of gimbaled mirrors and prisms,” J. Opt. Soc. Amer., vol. 57, no. 10, Oct. 1967.
73. D.C. Redding and W.G. Breckenridge, “Optical modeling for dynamics and control analysis,” AIAA J. Guid. Control Dyn., vol. 14, no. 5, pp, 1021-1032,1991.
74. J.C. DeBruin, “Derivation of line-of-sight stabilization equations for gimbaled-mirror optical systems,” Proc. SPIE, vol. 1543, pp. 236-247,1992.
75. R. Galetti, S. Baugh, D. Gonzales, E. Herman, and M. Nixon, “The implementation of an incremental encoder for sub-microradian measurement of gimbal pointing angles,” Proc. SPIE, vol. 3706, pp. 274-287,1999.
76. J. Royalty, “Development of kinematics for gimballed mirror systems,” Proc. SPIE, vol. 1304, pp. 262-274,1990.
77. J. Hilkert, “A comparison of inertial line-of-sight stabilization techniques using mirrors,” Proc. SPIE, paper 5403–02, pp. 13–22, Mar. 2004.
78. J. Zaremba, “A biaxial fast steering mirror for precision optical pointing systems,” in Proc. AIAA Control Conf., paper AIAA-1988-4108, 1988, pp. 471–478.
79. S. Jenkins and J. Hilkert, “Line-of-sight stabilization using image motion compensation,” Proc. SPIE, Acquisition, Tracking, and Pointing III, vol. 1111, pp. 98-115,1989.
80. J. Medbery and L. Germann, “The 6 degree-of-freedom (DOF) magnetically-suspended fine-steering mirror,” Proc. SPIE, vol. 1482, pp. 397–405, 1991.
81. D. Droege, “Electronic image stabilization based on the spatial intensity gradient,” Proc. SPIE, vol. 6238, pp. 1-11,2006.
82. A. Litvin, J. Konrad, and W. Karl, “Probabilistic video stabilization using Kalman filtering and mosaicking,” Proc. SPIE, vol. 5022, pp. 663–674, 2003.
83. J. Schuler, D. Scribner, J. Howard, and P. Warren, “TARID—Super resolution imagery from multi-frame sequences with random motion,” Proc. SPIE, vol. 4719, 2003.
84. S. Balakirsky and R. Chellappa, “Performance characterization of image stabilization algorithms,” Real-Time Imaging, vol. 2, no. 5, pp. 297-313,1996.
85. D. Wehner, High-Resolution Radar, 2nd ed. Norwood, MA: Artech House, 1994.
86. J. Hilkert, “Kinematic algorithms for line-of-sight pointing and scanning using INS/GPS position and velocity information,” Proc. SPIE, vol. 5810, pp. 11–22, paper 5810–03, Mar. 2005.
87. D. Crabtree, “Velocity profiling in linear and rotational systems,” Proc. SPIE, vol. 1482, pp. 458-472,1991.
88. J. Kimbrell and D. Greenwald, “Deterministic errors in pointing and tracking systems II—Identification and correlation of dynamic errors,” Proc. SPIE, vol. 1482, pp. 415-424,1991.
89. J. Fisk and A. Rue, “Confidence limits for the pointing error of gimbaled sensors,” IEEE Trans. Aerosp. Electron. Syst., vol. AES-2, no. 6, pp. 648–654, 1966.
90. Z. Ren and L. Stephens, “Laser pointing and tracking using a completely electromagnetically suspended precision actuator,” AIAA J. Guid. Control Dyn., vol. 29, no. 5, pp. 1235–1239, 2006.
91. S. Joshi, “Analysis of a magnetically suspended, high-performance instrument pointing system,” AIAA J. Guid. Control Dyn., vol. 1, no. 2, pp. 150-158,1978.