低空无人飞艇航测相机稳定平台控制方法

针对低空无人飞艇航空遥感系统平台姿态稳定问题，以及现有稳定平台用于无人飞艇航测系统存在的困难，提出了基于轻小型低精度GNSS/IMU系统和PID算法的三轴稳定平台控制方法。该系统结合双GPS轻小型组合GNSS/IMU系统，采用分离相机和GNSS/IMU系统控制方式，采用PID控制方法，利用STM32控制芯片电路实现稳定平台的控制，解决无人飞艇航测系统相机姿态稳定问题。最后通过飞行试验验证了该系统的稳定性。试验结果表明，该方法能够满足相机系统的俯仰和翻滚角度及航偏角度控制的要求，能够有效隔离无人飞艇姿态的不稳定对成像系统的影响，对于提高无人飞艇航测系统成图精度有重要意义。

Control method of stable platform for aerial photogrammetry system of low altitude unmanned airship

In this paper, a three-axis stabilized platform control method based on small and light-sized low-precision GNSS/IMU system and PID algorithm is proposed to solve the attitude stabilization problem of low altitude unmanned airship aerial remote sensing system. The system combines dual GPS light and small combination GNSS/IMU system, adopts separate camera and GNSS/IMU system control mode, adopts PID control method, uses STM32 control chip circuit to realize stable platform control. The stability of the system is verified by flight test, and the experimental results also show that the method can effectively isolate the influence of the instability of the unmanned airship attitude on the imaging system and effectively improve the imaging quality, which is of great significance for improving the accuracy of the unmanned airship aerial survey system.