Gyroscopically stabilized sensor positioning system
OwnerRonald C. Goodmaninventor
Life of this patent
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Abstract
A stabilized platform for mounting a camera or other sensor is suspended from a support post by a universal or Cardan joint with two torque motors powering its axes. Below this universal joint is a rotational joint also powered by a torque motor. A gyro stabilizer assembly comprising three orthogonally arranged gyroscopes is mounted on the platform. Position sensors detect the precession angles of the three gyroscopes and provide inputs to servo control loops which deliver drive signals to the torque motors. The platform including the gyro stabilizer assembly and the payload of camera or other sensor is configured such that the center of gravity is precisely located at the intersection of the three motor driven axes so as to eliminate unwanted torquing moments as a result of vehicle accelerations.
Claims28
A gyroscopically stabilized system for pointing a sensor comprising:
- a support;
- a universal joint coupled to said support and having rotational freedom about first and second perpendicular axes;
- a platform for mounting said sensor;
- bearing means for coupling said platform to said universal joint so that said platform is rotatable about a third axis perpendicular to both of aid first and second axes;
- first and second torque motor means coupled to said universal joint for applying torquing moments about said first and second axes respectively;
- third torque motor means coupled to said bearing means for applying a torquing moment about said third axis;
- a gyrostabilizer assembly coupled to said platform and including at least three orthogonally oriented gyroscopes, each of said gyroscopes having means for sensing a precession angle thereof and generating an output signal proportional thereto;
- servo control means for receiving said output signals of said precession angle sensing means, developing torque command signals therefrom and applying said torque command signals to said first, second and third torque motor means so as to maintain said platform n a space stabilized orientation;
- wherein the center of gravity of said system is coincident with the intersection of said first, second and third axes.
A gyroscopically stabilized system for pointing a sensor comprising:
- a support;
- a universal joint coupled to said support and having rotational freedom about first and second perpendicular axes;
- a platform for mounting said sensor;
- bearing means for coupling said platform to said universal joint so that said platform is rotatable about a third axis perpendicular to both of said first and second axes;
- positioning means for rotating said platform about said first, second and third axes;
- a gyrostabilizer assembly coupled to said platform and including at least three orthogonally oriented gyroscopes, each of said gyroscopes having means for sensing a precession angle thereof and generating an output signal proportional thereto;
- servo control means for receiving said output signals of said precession angle sensing means, developing command signals therefrom and applying said command signals to said positioning means so as to maintain said platform in a space stabilized orientation;
- said system having a center of gravity coincident with the intersection of said first, second and third axes.
Dependencies are inferred from the claim text.