Stable gaze scanning control technology is the key to realize the integration of stable imaging, search, and tracking on airborne platforms. We investigate the control technology of stable gaze scanning on an airborne platform. The working principle of a stable staring scanning system is analyzed, and a servo system control algorithm is modeled. The position loop, velocity loop, and acceleration loop are designed. A stability model of the space with inclination angle is established. The coordinate transformation relationship between inertial coordinate system and airborne axis coordinate system is obtained. The designed control model and algorithm are used to control the single-lens reflex mirror mounted at an angle of 15 deg for spatial gaze pointing and step scanning. A test system is built for performance verification. Results show that the root-mean-square accuracy of the proposed algorithm is higher than 10 μrad in a dynamic staring step scan with ±30 deg and a step length of 2.16 deg. The single-step time is <52 ms, the stabilization time is >53 ms, and the servo system overshoot is small. The system step accuracy root mean square is better than 52 μrad. These findings confirm the effectiveness of the integrated search and follow technology under an airborne platform.

中文翻译：

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基于机载平台的稳定视线扫描控制技术

稳定凝视扫描控制技术是实现机载平台稳定成像、搜索、跟踪一体化的关键。我们研究了机载平台上稳定凝视扫描的控制技术。分析了稳定凝视扫描系统的工作原理，并对伺服系统控制算法进行了建模。设计了位置环、速度环和加速度环。建立了倾斜角空间的稳定性模型。得到惯性坐标系与机载轴坐标系的坐标变换关系。设计的控制模型和算法用于控制以15度角安装的单透镜反射镜进行空间凝视指向和步进扫描。测试系统是为性能验证而构建的。结果表明，在±30度和2.16度步长的动态起始步进扫描中，所提算法的均方根精度高于10 μrad。单步时间<52ms，稳定时间>53ms，伺服系统超调小。系统步进精度均方根优于52 μrad。这些发现证实了机载平台下集成搜索和跟踪技术的有效性。