针对微小型无人机光电吊舱对光轴稳定与目标跟踪的需求,研究了一种基于载体姿态测量的光学平台稳定技术。该技术利用吊舱基座上的速率陀螺测量机体三轴姿态运动,通过控制光学平台的俯仰和偏航两通道伺服系统实现对光轴的惯性空间稳定。该系统使用步进电机来当执行机构,根据步进电机的特性,可以推导得到控制量与转速的关系,由此省去了在一般捷联稳定技术中的微分测速环节,得出了一种新的基于前馈控制的不变性原理。设计了解耦指令分配算法,将一个两轴耦合系统,转换为两个独立的单轴系统。在单轴控制中,分别设计了比例控制及比例积分控制算法实现对光轴的稳定控制和跟踪。最后通过在Matlab/Simulink环境下的仿真,以及实际的摇摆台试验,证明了基于载体姿态测量的稳定技术能够实现微小型无人 Aiming at the requirement of micro-UAV photoelectric pod for optical axis stability and target tracking, an optical platform stabilization technique based on attitude measurement of carrier is studied. The technique uses the rate gyro on the pod base to measure the three-axis attitude movement of the body. The inertial space of the optical axis is stabilized by controlling the pitch and yaw servo system of the optical platform. The system uses a stepping motor as the actuator. According to the characteristics of the stepping motor, the relationship between the control amount and the speed can be deduced. Thus, the differential speed measurement in the general strapdown stabilization technology is omitted, and a New Principle of Invariance Based on Feedforward Control. A decoupled instruction assignment algorithm is designed to convert a two-axis coupled system into two independent uniaxial systems. In single-axis control, the proportional control and proportional-integral control algorithm are respectively designed to realize the stable control and tracking of the optical axis. Finally, through the simulation in Matlab / Simulink environment and the actual swing table test, it is proved that the stability technology based on the attitude measurement of the carrier can realize the miniature unmanned