Modeling and optimization of Electro-Optical dual axis Inertially Stabilized Platform

Abstract

A dual-axis Inertially Stabilized Platform (ISP) was designed to perform a continuous Yaw and Pitch rotations, about the Z and Y-axes respectively, to facilitate surveillance and tracking of a moving target from a moving platform. The Electro-Optical (EO) tracking and ranging system consists of a Laser Range Finder (LRF) and a Charge Coupled Device (CCD) camera. The ISP structure consists of the inner gimbal that carrying the EO devices and rotates in the Elevation direction about the Y-axis, and the outer gimbal that makes the cross elevation rotation (Azimuth) about the Z-axis. The Kinematics and dynamics models are discussed in details to facilitate understanding the precession of the ISP, as well as, to simulate the designed system to assure the ability of the system to act diligently according to the maximum designed requirements. This paper not only gives the mathematical model for the two-axis ISP, but the more important is that it gives the methodology to derive and analyze it, to direct the design toward optimality. Enhancement, optimization and performance estimation of the design was done based on this mathematical model as well as the 3D model.