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All Journal International Journal of Electrical and Computer Engineering
Moussa, Abdoul Latif Abdou
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Computer Science & IT Electrical & Electronics Engineering

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Modeling and enhancing inverse kinematics algorithms for real-time target tracking in inertial stabilization systems Kriouile, Abderahman; Hamida, Soufiane; Moussa, Abdoul Latif Abdou
International Journal of Electrical and Computer Engineering (IJECE) Vol 15, No 2: April 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v15i2.pp1544-1556

Abstract

This study develops a two-axis gimbal system designed to maintain a target within its field of view by compensating for motion of either the target or the platform. The focus is on inertial stabilization platforms (ISPs), where accurate, real-time tracking is essential for applications such as surveillance, navigation, and scientific observation. The research prioritizes the design and optimization of inverse kinematics algorithms to enhance system performance. A detailed analysis of mathematical models underpins the development, addressing challenges in real-time processing with advanced optimization techniques to minimize latency and maximize accuracy. The proposed algorithms achieve a mean tracking error of 0.002 m and a mean convergence time of 2.12 seconds, surpassing traditional methods in precision and efficiency. Performance is evaluated within a simulation framework using Simscape Multibody, testing the algorithms under various conditions. Validation extends to real-world scenarios to ensure robustness and practical applicability. The results demonstrate significant improvements in tracking accuracy and responsiveness, offering a reliable solution for dynamic environments. This work paves the way for more efficient gimbal systems, contributing to advancements in technologies requiring stable and precise tracking in dynamic and challenging settings.
Co-Authors Hamida, Soufiane Kriouile, Abderahman