Vertical seeking aircrew escape system

A vertical seeking aircraft ejection seat comprising:

• a seat frame;
• a two axis gimbal system having a pitch axis gimbal and a roll axis gimbal attached to said seat frame;
• a spherical rocket motor for producing thrust mounted on said two axis gimbal system;
• a three axis rate gyro system for sensing the attitude of said aircraft ejection seat connected to said seat frame;
• a hydraulic accumulator including a predetermined quantity of hydraulic fluid attached to said seat frame;
• a power supply attached to said seat frame;
• a first and a second servo valve connected to said hudraulic accumulator for receiving said pressurized hydraulic fluid;
• at least two hydraulic actuators connected respectively between said servo valves and the pitch and roll axes of said two axis gimbal system for controlling said motor means;
• an attitude control processor comprising a digital microprocessor connected between said three axis rate gyro system and said hydraulic accumulator for receiving attitude inputs and directing said accumulator;
• an attitude control signal compensator connected to said microprocessor;
• an actuator loop compensator connected between said attitude control signal compensator and said first and second servo valves;
• a first position feedback circuit connected between said pitch axis hydraulic actuator and said actuator loop compensator;
• and
• a second position feedback circuit connected between said roll axis hydraulic actuator and said actuator loop compensator;
• and
• an attitude initialization circuit for providing a set of initial conditions to said microprocessor upon seat ejection.