Abstract
An algorithm for vibration compensation in long distance laser positioning applications on a vibrating vehicle is proposed in this paper. The vibration disturbance possesses multiple significant frequency allocating in wide bandwidth with 30 mu rad amplitude. Such vibration is typical in moving platform based laser positioning and introduces significant displacement at destinations. In this paper, the low and high frequency domain vibration is sensed using the camera and gyroscope accordingly to eliminate any infrastructure requirement. A pyramid based Lucas and Kanade algorithm extracts feature displacement using the camera and a zero-phase recursive least square based filter is proposed to remove drift of integrated gyroscope data. A proportional and derivative controller fuse the processed data from both sensors. The resultant data is then proceeded to a piezoelectric driven Fast Steering Mirror system for compensation. A Sliding Mode Controller with Uncertainty and Disturbance Estimator is applied for actuation control. Experiments are conducted and the result show improved accuracy comparing to existing methods.