Orientation stabilization by software simulated stabilized platform
First Claim
1. A stabilization system, for mounting on a moving vehicle having vehicle reference axes, for stabilizing a pointing device, having center line, to point in controlled direction with respect to inertial reference axes irrespective of motions of said vehicle with respect to said inertial axes, said controlled direction being controlled by a pointing signal, said system being responsive to a stabilization data reference providing stabilization signals in accordance with said motions of said vehicle about said reference axes, said stabilization signals being referenced to said vehicle reference, said system comprisinga set of three gimbals interposed between said vehicle and said pointing device, said set of three gimbals having three gimbal axes and three gimbal drives one axis and one gimbal drive for each gimbal, said three gimbals constructed and arranged to rotate about said three gimbal axes, respectively, andcoordinate transformation means responsive to said stabilization signals and said pointing signal for performing a coordinate transformation on said stabilization signals and said pointing signal by converting said stabilization signals from said vehicle reference axes to said gimbal axes and combining said pointing signal therewith to provide respective gimbal drive signals in accordance therewith, so that said gimbal drive signals applied to said gimbal drives, respectively, rotate said gimbals of said set of three gimbals about said gimbal axes, respectively, so as to maintain said pointing device pointing in said controlled direction.
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Accused Products
Abstract
The line of sight of an airborne radar antenna is stabilized from the pitch and roll motions of the aircraft by mounting the antenna on a three degree of freedom gimbal system. The gimbal system is comprised of a first gimbal mounted for rotation about the aircraft Z axis (azimuth) for pointing the antenna along the intended line of sight, a second gimbal mounted on the first gimbal for rotating up and down with respect to the azimuth gimbal and a third gimbal mounted on the second gimbal to which the antenna is connected for providing rotation to align antenna polarization relative to inertial ground. A two degree of freedom stabilization gyro provides stabilizing signals representative of aircraft pitch and roll motions with respect to inertial reference axes. The stabilization signals, together with a line of sight pointing signal, are applied to coordinate transformation equations to generate drive signals for the respective gimbals so as to maintain the antenna pointing in the intended direction with correct polarization.
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Citations
17 Claims
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1. A stabilization system, for mounting on a moving vehicle having vehicle reference axes, for stabilizing a pointing device, having center line, to point in controlled direction with respect to inertial reference axes irrespective of motions of said vehicle with respect to said inertial axes, said controlled direction being controlled by a pointing signal, said system being responsive to a stabilization data reference providing stabilization signals in accordance with said motions of said vehicle about said reference axes, said stabilization signals being referenced to said vehicle reference, said system comprising
a set of three gimbals interposed between said vehicle and said pointing device, said set of three gimbals having three gimbal axes and three gimbal drives one axis and one gimbal drive for each gimbal, said three gimbals constructed and arranged to rotate about said three gimbal axes, respectively, and coordinate transformation means responsive to said stabilization signals and said pointing signal for performing a coordinate transformation on said stabilization signals and said pointing signal by converting said stabilization signals from said vehicle reference axes to said gimbal axes and combining said pointing signal therewith to provide respective gimbal drive signals in accordance therewith, so that said gimbal drive signals applied to said gimbal drives, respectively, rotate said gimbals of said set of three gimbals about said gimbal axes, respectively, so as to maintain said pointing device pointing in said controlled direction.
Specification