SPATIAL STABILIZATION DEVICE, SPATIAL STABILIZATION METHOD, AND STORAGE MEDIUM FOR SPATIAL STABILIZATION PROGRAM

摘要

Provided is a spatial stabilization apparatus that realizes high spatial stability with a single inertial sensor. The present invention includes: a first object that is rotatably connected to a moving body; a second object that is rotatably connected to the first object; means that measures angular velocity of either the moving body or the first object and outputs a first detected signal that includes one or more components of an orthogonal coordinate system that is fixed to either the moving body or the first object; means that outputs an estimated signal that is estimated or detected angular velocity with respect to a first angle of the first object in relation to the moving body: means that outputs a target angle signal of the first angle; means that outputs a target angle signal of a second angle of the second object in relation to the first object; means that outputs a second detected signal obtained by adding a signal based on the estimated signal and a signal based on the first detected signal; means that controls the first angle based on a signal based on the target angle signal of the first angle and a signal based on the first detected signal; and means that controls the second angle based on a signal based on the target angle signal of the second angle and a signal based on the second detected signal.

主权项

1. A spatial stabilization apparatus comprising:
a first controlled object that is connected to a moving body in a manner rotatable around a first rotation axis; a second controlled object that is connected to the first controlled object in a manner rotatable around a second rotation axis; inertial detection unit that measures angular velocity of either the moving body or the first controlled object and outputs a first detected angular velocity signal that includes one or more components out of three components of an orthogonal coordinate system that is fixed to either the moving body or the first controlled object; first angular velocity detection unit that outputs an angular velocity estimated signal that is estimated or detected angular velocity with respect to a first angle of the first controlled object in relation to the moving body; first command generation unit that outputs a target angle signal of the first angle; second command generation unit that outputs a target angle signal of a second angle of the second controlled object in relation to the first controlled object; first addition unit that adds a signal based on the angular velocity estimated signal and a signal based on the first detected angular velocity signal and outputs a second detected angular velocity signal; first control unit that controls the first angle based on a signal based on the target angle signal of the first angle and a signal based on the first detected angular velocity signal; and second control unit that controls the second angle based on a signal based on the target angle signal of the second angle and a signal based on the second detected angular velocity signal.