Dynamic modeling and simulation of inertial stabilized platform for aerial remote sensing system

Due to the mechanical characteristics of inertial stabilized platform for aerial remote sensing system, the aeroplane's rotational environment is transmitted to the camera mounted on the platform, which has degraded the quality of image. Based on Lagrange mechanics and starting from analytical mechanics, a dynamic model of inertial stabilized platform is developed under the condition of considering the bearing friction, with the purpose of analyzing the complex coupling relation. Simulation results show that compared with coupling torque between frames, the base vibration has greater effect on the motion of camera relative to inertial coordinates. And higher frequency of base vibration has less effect on the motion of camera relative to inertial coordinates when the bearing friction is kinetic friction, which has been demonstrated to be valid by the theory in the paper. Results obtained will be a theoretical basis for the further study of the active vibration control of inertial stabilized platform.