A Target Pose Optimization Strategy for Shipborne Stabilizing Platforms in Complex Maritime Conditions

In shipborne stabilizing platform research, the significant cumulative error in position estimation resulting from accelerometer data integration presents a major challenge in achieving accurate real-time ship deck positions, impacting platform pose stability. This paper proposes a target pose optimization strategy for shipborne stabilizing platforms based on the Stewart configuration. Leveraging kinematic modeling of the double-actuated platform Stewart configuration, a real-time stability index is introduced based on the upper platform pose. Additionally, a penalty term based on active joint reference positions is integrated to address safety concerns associated with acceleration integration errors or fluctuating sea conditions, mitigating potential hazardous operational conditions. The proposed target pose optimization method effectively improves upper platform real-time stability and ensures safe operation of telescopic chains in various simulation scenarios, meeting the real-time stability and operational safety requirements in challenging maritime environments.