Simultaneous Self-Calibration of Nonorthogonality and Nonlinearity of Cost-Effective Multiaxis Inertially Stabilized Gimbal Systems

Fu Zhang

RA-L 20188 citations

Simultaneous Self-Calibration of Nonorthogonality and Nonlinearity of Cost-Effective Multiaxis Inertially Stabilized Gimbal Systems

Abstract

This letter presents a simple yet efficient algorithm to calibrate the joint axis orientation and encoder nonlinearity of cost-effective multiaxis inertially stabilized gimbal systems that are used in unmanned aerial vehicles for imaging stabilization. The calibration algorithm is based on product-of-exponential formula and able to calibrate axes orientation and encoder nonlinearities simultaneously and autonomously. In addition, the algorithm yields a closed form optimal solution, so that any iteration on exponential map differentiation, normalization, and least square optimization in a conventional iterative least square algorithm can be eliminated. The closed-form solution is computationally cheap and suitable for embedded implementation. Simulation and experimental results show that the proposed algorithm can effectively calibrate the axis orientation and encoder nonlinearity and significantly improve the gimbal accuracy.

BibTeX

@inproceedings{ral2018_simultaneousself,
  title = {Simultaneous Self-Calibration of Nonorthogonality and Nonlinearity of Cost-Effective Multiaxis Inertially Stabilized Gimbal Systems},
  author = {Fu Zhang},
  booktitle = {RA-L 2018},
  year = {2018}
}