Image-Based Pointing and Tracking for Inertially Stabilized Airborne Camera Platform


This paper describes a unique image-based pointing-tracking feedback control scheme for an inertially stabilized double-gimbal airborne camera platform combined with a computer vision system. The key idea is to boost the intuitive decoupled controller structure with measurements of the camera inertial angular rate around its optical axis. The resulting controller will additionally complete the apparent translation between the camera and also the observed object, but then the rate of this mutual translation should be measured or estimated. Even though the proposed controller is more sturdy against longer sampling periods of the pc-vision system then the decoupled controller, a sketch of a easy compensation of this delay is also given. Numerical simulations are amid laboratory experiments with a real benchmark system.

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