High-Precision Control of Aviation Photoelectric-Stabilized Platform Using Extended State Observer-Based Kalman Filter

Abstract

The accuracy of the line-of-sight of aviation photoelectric optoelectronic stabilization platforms is limited by two factors: external disturbance and sensor noise. An extended state observer (ESO) can effectively improve their anti-interference ability. However, due to the serious problem of gyroscope noise, further improvement of an ESO’s disturbance suppression effect is limited. This article proposes a control structure that combines a Kalman filter (KF) and ESO, effectively improving upon the interference suppression ability of a traditional ESO under the influence of noise. Firstly, an ESO was used to observe the lumped disturbance of the system, and then, the observed disturbance was compensated for in the control loop. Secondly, based on the compensation servo control system, the state equation of the system was reconstructed using a Kalman filter. Finally, the reconstructed filtered state variables were iterated onto the universal state observer, achieving the observation of disturbances while filtering out sensor noise. Under the conditions of a laboratory flight simulation turntable, the line-of-sight stability accuracy level was improved under disturbance excitation. It can be seen that the combination of a Kalman filter and extended disturbance observer proposed in this project improves the ESO’s anti-interference ability under the influence of noise.

Keywords

• extended state observer (ESO)
• Kalman filter (KF)
• gyro noise
• disturbance rejection