Antenna positioning system
OwnerEyal Mironinventor
Life of this patent
Estimating the term…
Abstract
A pointing apparatus for pointing an object at a target along a pointing axis, including a joint enabling at least yaw and pitch of the object with respect to a base, at least one actuator operative to effect the yaw and pitch of the object by effecting at least one of rotating the object about a first axis perpendicular to the pointing axis to form a first rotation angle, and rotating the object about a second axis perpendicular to both the pointing axis and the first axis, effecting a second rotation angle, where, while effecting at least one of a yaw angle and a pitch angle of the object, the object is concurrently rotated about the pointing axis at a roll angle corresponding to the yaw angle.
Claims27
A pointing apparatus for pointing an object at a target along a pointing axis, said pointing apparatus comprising:
- a joint for coupling said object to a base, and for enabling rotation of said object with respect to said base;
- at least one actuator operative to effect said rotation by effecting at least one of:
- rotating said object about a first axis perpendicular to said pointing axis, effecting a first rotation angle, and
- rotating said object about a second axis perpendicular to said first axis, effecting a second rotation angle;
- wherein, while effecting at least one of said first rotation angle and said second rotation angle, said object is concurrently rotated about said pointing axis at a third angle, and
- wherein said third angle corresponds to at least one of said first rotation angle, said second rotation angle, and a combination of said first and second rotation angles.
A method for pointing an object at a target, said method comprising:
- yawing said object at a yaw angle to point an axis of said object at a point associated with said target;
- rolling said object about said axis at a roll angle corresponding to said yaw angle.
A method for pointing an object at a target, said object mounted on a pointing apparatus, said pointing apparatus operative to pitch, roll and yaw an axis of said object with respect to a base wherein said axis points at a point associated with said target, said method comprising:
- changing roll angle according to yaw angle.
A method for pointing an object at a target along a pointing axis associated with said target wherein said pointing axis is defined by an angle θ1 measured from the zenith and a yaw angle θ2;
- said object mounted on a pointing apparatus, said pointing apparatus comprising:
- a first arm connected to a base via a maneuverable first joint wherein said first arm is operative to rotate at an angle α in a vertical first plane about said first joint;
- a second arm connected to said first arm via a maneuverable second joint wherein said second arm is operative to rotate at an angle β in a second plane defined by said first arm and perpendicular to said first plane and;
- wherein said method comprises calculating said α and β angles from said θ1 and θ2 angles according to:
- β
- =
- arcsin
-
- (
- cos
-
-
- θ
- 2
-
- sin
-
-
- θ
- 1
- )
- ;
-
- and
-
-
- α
- =
- -
- arcsin
-
- (
- sin
-
-
- θ
- 1
-
- sin
-
-
- θ
- 2
- cos
-
-
- β
- )
- .
Dependencies are inferred from the claim text.