Accelerometer error estimation and compensation for three-axis gyro-stabilized camera mount based on proportional multiple-integral observer

This paper deals with the problem of accelerometer error estimation and compensation for a three-axis gyro-stabilized camera mount. In a dynamic environment, the aircraft motion acceleration affects the accelerometer output and causes a degradation of attitude steady accuracy. In order to improve control accuracy, this paper proposes a proportional multiple-integral observer-based control strategy to estimate and compensate the accelerometer error. The basic idea of this paper is to approximate the error property by using a q-order polynomial function and extend the error and its derivatives as augmented states. Then a proportional multiple-integral observer is developed to estimate the error, with which the relationship between the error and the imbalance torque is formulated. The estimated value is compared to an angle threshold, the result of which is used to compensate the accelerometer output. Through static and vehicle-mounted experiments, it is demonstrated that compared with the traditional method, the proposed method can improve the attitude steady accuracy effectively.