Modeling and calibration of pointing errors using a semi-parametric regression method with applications in inertially stabilized platforms

Abstract

This article investigates modeling and calibration issues that are associated with inertially stabilized platforms to achieve accurate pointing. In modeling part, the Denavit–Hartenberg notation is used to perform an error analysis of the kinematics of inertially stabilized platforms. A physical model is then established to illustrate the effects of geometric errors that are caused by imprecision in the manufacturing and assembly processes on the pointing accuracy of inertially stabilized platforms. In the calibration part, an improved hybrid model denoted as the semi-parametric regression model is developed to compensate for remaining nonlinear errors. With applications to a two-degree-of-freedom miniature inertially stabilized platform, semi-parametric regression model is shown to outperform physical model substantially in all cases. The experimental results also indicate that the proposed semi-parametric regression model eliminates both the geometric and nonlinear errors, and that the pointing accuracy of miniature inertially stabilized platform significantly improves after compensation.