Mathematical modelling of the stabilization system for a mobile base video camera using quaternions

Abstract

The purpose of this research is to develop a control system for spatial stabilization of a gimbal video camera platform with 2 degrees of freedom. The mathematical quaternion theory is applied, which allows to create a convenient and intuitive formalism that uses Rodrigues-Hamilton parameters to describe spatial orientation of a solid body. The method suggested in the research provides a solution for the task of stabilizing a suspended video camera control system. It has been shown as well that from the computational engineering standpoint, this method appears to be the most optimal. The originality of the method is explained by the application of the quaternion algebra transformations in order to determine orientation and to stabilize a video camera on a biaxial suspension. This method allows to utilize mechanical systems with various positions of camera drive units