This article presents an automatic and efficient calibration method for multiaxis gimbal systems. The calibrated kinematic parameters consist of the axis orientation, the joint encoder nonlinearity map, and the endpoint gyro bias. The calibration of these parameters is conducted simultaneously by sequentially and independently moving one gimbal joint back and forth. With such straightforward intuition, the algorithm is formulated based on the product-of-exponential formula with an analytically derived error model. The key and unique contribution of this algorithm is that it produces a closed-form optimal solution, which is computation efficient and easy for embedded implementation. Both numerical and experimental tests are performed to validate the effectiveness of the proposed algorithm in calibrating the kinematic parameters of gimbal systems and compensating the gyro bias.

中文翻译：

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多轴云台系统的自动运动学标定

本文提出了一种自动高效的多轴云台系统校准方法。校准后的运动学参数包括轴方向，联合编码器非线性图和终点陀螺仪偏置。通过依次独立地前后移动一个万向节，可以同时进行这些参数的校准。凭着这种直观的直觉，该算法是基于指数乘积公式和解析得出的误差模型来制定的。该算法的关键和独特之处在于它产生了一种封闭形式的最佳解决方案，该解决方案计算效率高且易于嵌入式实现。