Gimbal pointing vector stabilization control system and method

A hybrid stabilization system for isolating a pointing vector of a gimbal from the motion of a measurable disturbance, comprising:

• a relative rate sensor measuring a rate difference between a pointing vector rate of motion and a disturbance rate of motion;
• a rate feedback loop generating a rate feedback compensation value in response to the rate difference;
• an inertial rate sensor measuring an inertial disturbance rate of motion;
• a rate feedforward loop generating a rate feedforward compensation value in response to the inertial disturbance rate;
• a relative angular position sensor measuring a position difference between a pointing vector angular position and a disturbance angular position;
• a position feedback loop generating a position feedback compensation value in response to the position difference;
• an inertial angular position sensor measuring an inertial disturbance angular position;
• a position feedforward loop generating a position feedforward compensation value in response to the inertial disturbance angular position;
• and
• a controller receiving a pointing vector position command and generating a gimbal control signal in response to the rate feedback compensation value, rate feedforward compensation value, position feedback compensation value, and position feedforward compensation value.

A hybrid stabilization method for isolating a pointing vector of a gimbal from the motion of a vehicle base, comprising:

• generating a rate feedback compensation value in response to a measured rate difference between a pointing vector rate of motion and a vehicle base rate of motion;
• generating a rate feedforward compensation value in response to a measured inertial vehicle base rate of motion;
• generating a position feedback compensation value in response to a measured position difference between a pointing vector angular position and a vehicle base angular position;
• generating a position feedforward compensation value in response to a measured inertial vehicle angular position;
• and
• receiving a pointing vector position command and generating a gimbal control signal in response to the rate feedback compensation value, rate feedforward compensation value, position feedback compensation value, and position feedforward compensation value.

A hybrid stabilization method for isolating a pointing vector of a gimbal from the motion of a vehicle base, comprising:

• measuring a rate difference between a pointing vector rate of motion and a vehicle base rate of motion;
• generating a rate feedback compensation value in response to the rate difference;
• measuring an inertial vehicle base rate of motion;
• generating a rate feedforward compensation value in response to the inertial vehicle base rate;
• measuring a position difference between a pointing vector angular position and a vehicle base angular position;
• generating a position feedback compensation value in response to the position difference;
• measuring an inertial vehicle base angular position;
• generating a position feedforward compensation value in response to the inertial vehicle angular position;
• and
• receiving a pointing vector position command and generating a gimbal control signal in response to the rate feedback compensation value, rate feedforward compensation value, position feedback compensation value, and position feedforward compensation value.