Study On The Self-stabilization Problem Of The Shipborne TV Tracker

The most apparent difference between measure on the sea and on the land is that the measure device is located on the deck of a ship, and the movement of the ship carrier disturbs the tracking measure. The ship will occur roll, pitch and yaw rotations influenced by the wind, wave and current. The TV tracker on the deck will generate swaying movement with the same range. This makes its line of sight (LOS) unstable and the TV image blur, even the TV tracker will lose its object. Stabilization measure must be adopted to isolating the ship-swaying disturbance to ensure the tracking measure precision on sea. The inertia navigation system is connected with the TV tracker and its self-stabilization problem becomes the key of the new project.In this thesis, the measure principle of outer trajectory of the TV tracker is introduced and the influence of the roll, pitch and yaw rotation to the LOS is analyzed in detail. The mathematical model of the ship-swaying self-stabilization is established based on the position data of the roll, pitch and yaw from inertia navigation system. A new rule -Rule of Left Multiplication is presented in the process of modeling by the method of the coordinate transformation . It's a guidance rule for the establishing and applying of the self-stabilization model. Feedforward control is adopted to isolating the velocity disturbance of the ship-swaying .The self-stabilization simulation is realized using tool of MATLAB6.5 and the degree of the isolation can reach 40 dB. This can improve the tracking precision of the shipborne TV tracker and makes the TV image clearer. By this way the problem of the LOS stabilization can be realized .