Loading patent…
AssigneeNorthrop Grumman Corporation
InventorsRandall K. Curey, Daniel A. Tazarles
Estimating the term…
A system and method for generating motion and trajectory data for a multi-gimbaled rotating platform. The system includes a motion generating unit for generating a set of motion equations for each degree of rotational freedom of the multi-gimbaled rotating platform, where each set of motion equations defines the rotational movement of the platform about a gimbal pivot axis between a starting position and an ending position. The movement characteristics of the gimbals are provided to the motion generating unit for generating a set of motion equations which define the movement of the gimbals between the starting position and the ending position of the rotating platform. The set of motion equations simulating movement of the rotating platform may be further utilized to generate trajectory data for the object being supported by the platform, so that the effect of the motion of the rotating platform on the object can be simulated without requiring the rotating platform to be actually moved in a field test.
A method of generating motion data for a gimbal which rotates about a gimbal pivot axis, comprising:
A method of generating motion data for a gimbal which rotates about a gimbal pivot axis, comprising:
A method of generating motion data for a gimbal which rotates about a gimbal pivot axis, comprising:
A method of generating motion data and trajectory data for an object on a rotatable platform. wherein said platform possesses at least one degree of angular rotation with each degree of angular rotation provided about a pivot axis of a respective gimbal, comprising:
A method of generating motion data and trajectory data for an object on a rotatable platform, wherein said platform possesses at least one degree of angular rotation with each degree of angular rotation provided about a pivot axis of a respective gimbal, comprising:
A method of generating motion data and trajectory data for an object on a rotatable platform, wherein said platform possesses at least one degree of angular rotation with each degree of angular rotation provided about a pivot axis of a respective gimbal, comprising:
A method of generating motion data and trajectory data for an object on a rotatable platform, wherein said platform possesses at least one degree of angular rotation with each degree of angular rotation provided about a pivot axis of a respective gimbal, comprising:
A method of generating motion data and trajectory data for an object launched from a rotatable platform, wherein said platform possesses at least one degree of angular rotation with each degree of angular rotation provided about a pivot axis of a respective gimbal, comprising:
Dependencies are inferred from the claim text.
Drawings are temporarily unavailable. Open the PDF at USPTO
From the US filing history. Foreign family members aren’t listed.
By integrating acceleration or speed, i.e. inertial navigation: stabilised platforms, e.g. by gyroscope
Details: pick-offs, i.e. devices for taking-off an indication of the displacement of the rotor axis
Measuring distances, levels or bearings
Term ended 14 Nov 2021 (estimated)
1. Field of the Invention
This invention relates to a motion and trajectory data generator for a platform having multiple degrees of rotational freedom, and more specifically pertains to a motion and trajectory data generator for a multi-gimbaled rotating platform supporting a projectile having an inertial navigation system.
2. Description of Related Art
The exact nature of this invention, as well as its objects and advantages, will be readily appreciated upon reference to the following detailed description when considered in conjunction with the accompanying drawings, in which like reference numerals designate like parts throughout the figures thereof, and wherein:
FIG. 1 is a functional block diagram of a motion and trajectory data generator for a multi-gimbaled rotating platform in accordance with a preferred embodiment of the present invention;
FIG. 2 is motion timeline exemplifying profiles of a set of motion equations as a function of time between the starting position and the ending position of a gimbal;
The following description is provided to enable any person skilled in the art to make and use the invention and sets forth the best modes contemplated by the inventors of carrying out their invention. Various modifications, however, will remain readily apparent to those skilled in the art, since the general principles of the present invention have been defined herein specifically to provide a motion and trajectory data generator for a multi-gimbaled rotating platform supporting a projectile having an inertial navigation system.
Referring now to FIG. 1, a functional block diagram of a system 10 embodying the principles of the present invention for generating motion and trajectory data for a multi-gimbaled rotating platform is illustrated. The system is preferably implemented as a software program executing in a computer, where the software is provided on a storage medium, such as RAM, ROM, CD-ROM, disk, or other computer medium, accessed by the computer. For the purposes of providing a non-limiting example, the system 10 is illustrated and will be described as having two gimbals defining two respective degrees of rotational freedom. It is understood that the teachings of the present invention can be extended to generate motion and trajectory data for a rotating platform having any number of gimbals. A gimbal is a rotary joint attachment between parts of a device that allows relative angular rotation of the parts about an axis. The gimbal may have a motor for commanding desired angular motions, a readout for measuring the relative angular position between the parts, or slip rings for transmitting electric power and data signals between the parts. A motion generating unit 12 is provided for generating a set of motion equations which define the rotational movement of the platform about the pivot axis of a first gimbal (not shown). In a preferred embodiment of the present invention, a second motion generating unit 14 is provided for generating a set of motion equations defining a second degree of rotational movement of the platform about the pivot axis of a second gimbal.
In order to generate motion data which accurately simulates the movement of a rotating platform, the starting and stopping characteristics of the motion of the platform must be accounted for in order to simulate realistic inertial data. Thus, movement characteristics 16 of the first gimbal are input into the motion generating unit 12, where the movement characteristics 16 include a maximum angular acceleration 18, a maximum angular deceleration 20, a maximum angular rate 22, a step angular jerk 24 of the first gimbal, a starting angle 26 representing the position of the gimbal at the beginning of its rotational movement, and an ending angle 28 representing the position of the gimbal at the end of its rotational movement. From these input values, the motion generating unit 12 generates a set of motion equations 30 which define the movement of the first gimbal between the starting angle 26 and the ending angle 28. The set of motion equations 30 define an angular acceleration 32, an angular rate 34, an angular displacement 36, and an angular jerk 38 for the first gimbal as a function of time through its movement.