High accuracy inertial stabilization via Kalman filter based disturbance observer

Stabilized control is one of the key technologies of the aerial photoelectric stabilization system. It is difficult for classical control method to further improve the inertial stabilization performance of the aerial photoelectric platform. Disturbance observer(DOB) is effective to estimate external disturbance and system uncertainties such as external friction torque, windage, inertia variation, to realize the compensation of such factors. However, in a practical application, as one of the key parts of the stabilized control system, the dynamic performance of measurement device directly impacts on the dynamic characteristic and reliability of the DOB. In this paper, firstly we analyse the impact on its dynamic performance if measurement sensors exist phase lag. Next, accoding to the analyzed results, putting forward a high accuracy inertial stabilization method combining Kalman filter and disturbance observer, and the algorithm can effectively improve the dynamic performance of control system.