Gyroless platform stabilization techniques

A method for stabilizing an object around at least first and second object axes of rotation with respect to an inertial frame of reference, said object being carried by a vehicle subjected to rotational movement around at least first and second vehicle axes of rotation corresponding to said at least first and second object axes of rotation, said method comprising the steps of:

• generating vehicle rotation signals corresponding to the rotational movement of said vehicle around at least said first and second vehicle axes of rotation with respect to said inertial frame of reference;
• generating feedback signals corresponding to the movement of said object around at least said first and second object axes of rotation independent of said inertial frame of reference;
• generating movement signals responsive to said one or more vehicle rotation signals and responsive to said feedback signals;
• and
• rotatably moving said object around at least said first and second object axes responsive to said movement signals, whereby said object is stabilized around at least said first and second object axes with respect to said inertial frame of reference without the use of a gyroscope as said vehicle undergoes rotation relative to said inertial frame of reference.

Apparatus for stabilizing an object capable of being rotated in three degrees of freedom with respect to an inertial frame of reference, said object being carried in a vehicle subject to rotational movement around first, second and third vehicle axes of rotation with respect to said inertial frame of reference, said object defining three object axes corresponding to said first, second and third vehicle axes of rotation, said apparatus comprising in combination:

• linear accelerometer means carried by said object for measuring the net linear accelerations of said object and said vehicle in said three degrees of freedom;
• processor means for calculating the net angular accelerations of said object and said vehicle in said three degrees of freedom in response to said linear accelerometer means;
• control system means responsive to said calculating of said net angular accelerations by said processor means for generating movement signals;
• and
• movement means responsive to said movement signals for rotatably moving said object in said three degrees of freedom, whereby said object is stabilized in said three degrees of freedom with respect to said inertial frame of reference without the use of a gyroscope as said vehicle undergoes rotation relative to said inertial frame of reference.

A method of stabilizing an object capable of being rotated in three degrees of freedom with respect to an inertial frame of reference, said object being carried in a vehicle subject to rotational movement around first, second and third vehicle axes of rotation with respect to said inertial frame of reference, said object defining three object axes corresponding to said first, second and third vehicle axes of rotation, said method comprising the steps of:

• measuring the net linear accelerations of said object and said vehicle in said three degrees of freedom;
• calculating the net angular accelerations of said object and said vehicle in said three degrees of freedom in response to said measurement of net linear accelerations;
• generating movement signals responsive to said calculating of said net angular accelerations;
• and
• rotatably moving said object in said three degrees of freedom responsive to said movement signals, whereby said object is stabilized in said three degrees of freedom with respect to said inertial frame of reference without the use of a gyroscope as said vehicle undergoes rotation relative to said inertial frame of reference.