Control and design of small aerial photography stabilized platform

Due to mechanic vibration, multi-frame coupled and gyro random drift and so on, the design and control of the aerial photography stabilized platform is a complicated process. To improve the existing problem of aerial photography stabilized platform, such as the heavy structure, the lacking of adaptability and so on, the small aerial photography stabilized platform is developed. This system consists of the AT91RM9200 microcomputer, the attitude and heading reference system apparatus being composed of the MEMS-gyro, the accelerometer and GPS (Global Positioning System), DC motor and the three frame structure. The dynamic equations of the three-axis frame were deduced based on the lagrange theorem. The control theory based on the system is introduced. A artificial immune feedback controller is designed. The test data prove that the design can obtain satisfactory control effects. The stabilized accuracy is reduced to about +/-0.2°. It can satisfy the requirements of high quality aerial photography.