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Proceedings Paper

Application of nonlinear generalised minimum variance to the nadir problem in 2-axis gimbal pointing and stabilization
Author(s): Petros Savvidis; David Anderson; Michael Grimble
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Paper Abstract

Precision tracking applications using two-axis gimbal or antenna actuation systems suffer from a singularity when the inner axis reaches +-90 degrees. This is known by various terms - the keyhole singularity, gimbal lock or the nadir problem. Practically, sightline control is degraded and often lost in a neighborhood of this singularity. In this paper, two nonlinear control algorithms are applied to sightline pointing and stabilization control in the neighborhood of the nadir; the traditional cosecant correction and the nonlinear generalized minimum variance technique. Both controllers were tested against a validated model of an Aeromech TigerEye turret.

Paper Details

Date Published: 15 May 2010
PDF: 12 pages
Proc. SPIE 7696, Automatic Target Recognition XX; Acquisition, Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical Pattern Recognition XXI, 76961I (15 May 2010); doi: 10.1117/12.849523
Show Author Affiliations
Petros Savvidis, Univ. of Glasgow (United Kingdom)
David Anderson, Univ. of Glasgow (United Kingdom)
Michael Grimble, Univ. of Strathclyde (United Kingdom)


Published in SPIE Proceedings Vol. 7696:
Automatic Target Recognition XX; Acquisition, Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical Pattern Recognition XXI
Firooz A. Sadjadi; David P. Casasent; Steven L. Chodos; Abhijit Mahalanobis; William E. Thompson; Tien-Hsin Chao, Editor(s)

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