Tilt-ball turret with gimbal lock avoidance
First Claim
1. An aircraft having a sensor for viewing at or below the ground horizon, the aircraft comprising:
- a fuselage; and
a turret assembly coupled to the fuselage, the turret assembly including;
a roll actuator including a drive shaft;
a yoke having a pair of prongs coupled to the drive shaft, the yoke being rotatable via the roll actuator and drive shaft along a roll axis oriented substantially parallel to a center axis of the aircraft;
a turret mounted on the prongs of the yoke for rotation along atilt axis perpendicular to the roll axis;
a tilt actuator operable to tilt the turret about the tilt axis; and
the sensor housed in the turret for tilting therewith about the tilt axis and rolling therewith about the roll axis; and
a wiring harness for delivery of electrical signals to and from the turret, the wiring harness including one or more wires having a first portion that extends through the drive shaft and a second portion that is mounted exteriorly of a first prong of the yoke, between the first prong and the turret,wherein when the aircraft is flying level, the roll axis extending forward of the aircraft is aimed at an angle above the ground horizon, such that gimbal lock is avoided when the field of view of the sensor is directed below the ground horizon.
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Accused Products
Abstract
A turret assembly for attachment on the undersurface of an aircraft that reduces performance limitations due to gimbal lock and reduces the cross section profile of the assembly. The assembly includes a roll actuator including a drive shaft. A yoke having a cross member is coupled to the drive shaft and a pair of prongs. The yoke is rotated via the roll actuator and drive shaft along a roll axis oriented substantially parallel to the body of the aircraft. A turret is mounted on the prongs of the yoke. A tilt actuator is contained within the turret. The tilt actuator tilts the turret on a tilt axis relative to the yoke. The tilt axis is perpendicular to the roll axis.
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Citations
18 Claims
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1. An aircraft having a sensor for viewing at or below the ground horizon, the aircraft comprising:
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a fuselage; and a turret assembly coupled to the fuselage, the turret assembly including; a roll actuator including a drive shaft; a yoke having a pair of prongs coupled to the drive shaft, the yoke being rotatable via the roll actuator and drive shaft along a roll axis oriented substantially parallel to a center axis of the aircraft; a turret mounted on the prongs of the yoke for rotation along atilt axis perpendicular to the roll axis; a tilt actuator operable to tilt the turret about the tilt axis; and the sensor housed in the turret for tilting therewith about the tilt axis and rolling therewith about the roll axis; and a wiring harness for delivery of electrical signals to and from the turret, the wiring harness including one or more wires having a first portion that extends through the drive shaft and a second portion that is mounted exteriorly of a first prong of the yoke, between the first prong and the turret, wherein when the aircraft is flying level, the roll axis extending forward of the aircraft is aimed at an angle above the ground horizon, such that gimbal lock is avoided when the field of view of the sensor is directed below the ground horizon. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An aircraft having a sensor for viewing at or below the ground horizon, the aircraft comprising:
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a fuselage; and a turret assembly coupled to the fuselage, the turret assembly including; a turret housing the first sensor; a roll actuator for imparting to the first sensor roll motion about a roll axis that is substantially parallel to a center axis of the aircraft; and a tilt actuator for imparting to the first sensor a tilt motion transverse to the roll axis; a wiring harness including one or more wires for delivery of electrical signals to and from the turret; and a yoke having first and second prongs coupled to a drive shaft through which the roll motion is imparted to the turret, wherein the one or more wires of the wiring harness extend through the drive shaft and pass exteriorly of the prong of the yoke, between the first prong and the turret, and wherein when the aircraft is flying level, the roll axis extending forward of the aircraft is aimed at an angle above the ground horizon, such that gimbal lock is avoided when the field of view of the sensor is directed below the ground horizon. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification