# US 9,435,520 B2 · Gimbal systems providing high-precision imaging capabilities in a compact form-factor

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- Number: US 9,435,520 B2
- Document ID: US9435520B2
- Status: Granted
- Kind: B2
- Application number: 13/964,060
- Filed: 2013-08-10
- Published: 2014-02-20
- Granted: 2016-09-06
- Earliest claimed: 2012-08-16
- Assignees: Ascendant Engineering Solutions
- Applicants: Eric Segerstrom; Greg Mooty; Rick Miller
- Inventors: Eric Segerstrom; Greg Mooty; Rick Miller
- Web page: https://patentgrep.com/patent/US9435520B2

## CPC

- F21V 21/30: Pivoted housings or frames
- B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals
- F21V 5/00: Refractors for light sources (characterised by cooling arrangements F21V29/504)
- F41G 3/145: {using a target illuminator}
- F41G 3/22: for vehicle-borne armament, e.g. on aircraft
- G01J 3/0202: {Mechanical elements; Supports for optical elements}
- G01J 3/0289: {Field-of-view determination; Aiming or pointing of a spectrometer; Adjusting alignment; Encoding angular position; Size of measurement area; Position tracking}
- G01J 3/2823: {Imaging spectrometer}
- G02B 27/644: {compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course}
- F21V: FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- F41G: WEAPON SIGHTS; AIMING (optical aspects thereof G02B)
- G01J: MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY (light sources F21, H01J, H01K, H05B; investigating properties of materials by optical means G01N)
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS

## Abstract

A small form-factor gimbal system that provides for stabilization of payload assets in a manner that provides improved stabilization capability. Such a small form-factor gimbal system provides for precision payload asset steering functionality through integration of an inertially stabilized two-axis gimbal in combination with a beam stabilization mechanism (BSM). In a preferred embodiment, such a small form-factor gimbal system has a gimbal diameter of about 5″ or less and employs a laser assembly having a Coudé path arrangement in which the laser beam passes from the azimuth subassembly to the elevation subassembly along the elevation subassembly rotational axis.

## Claims

### Claim 1

A two-axis gimbal system, comprising:
a gimbal assembly including a base subassembly, an azimuth subassembly having a rotatably mounted on the base subassembly in a manner enabling the azimuth subassembly to rotate about a first rotational axis, and an elevation subassembly rotatably mounted on the azimuth subassembly in a manner enabling the elevation subassembly to rotate about a second rotational axis, wherein the second rotational axis extends substantially perpendicular to the first rotational axis;
a laser mounted on the azimuth subassembly;
a first laser light beam steering device amounted on the azimuth subassembly, wherein the first laser light beam steering device redirects a laser light output of the laser from a first laser light beam travelling direction to a second laser light beam travelling direction and wherein the second laser light beam travelling direction is substantially along the second rotational axis;
a second laser light beam steering device mounted on the elevation subassembly for redirecting the laser light output from along the second laser light beam travelling direction to along a third laser light beam travelling direction, wherein the second laser light beam steering device includes a fast steering mirror (FSM); and
a micro-electro-mechanical system (MEMS) gyro mounted on the elevation subassembly.

### Claim 2 (depends on 1)

The two-axis gimbal system of claim 1, further comprising:
a laser light detecting device mounted on the elevation subassembly.

### Claim 3 (depends on 2)

The two-axis gimbal system of claim 2 wherein the first laser light detecting device includes a first camera configured to detect electromagnetic radiation within a specified infrared light wavelength range.

### Claim 4 (depends on 2)

The two-axis gimbal system of claim 2, further comprising:
a second camera mounted on the elevation subassembly, wherein the second camera is configured to detect electromagnetic radiation that is not detectable by the first camera.

### Claim 5 (depends on 3)

The two-axis gimbal system of claim 3, further comprising:
an infrared light illuminator mounted on the elevation subassembly, wherein the infrared light illuminator configured to emit electromagnetic radiation within the specified infrared light wavelength range.

### Claim 6

A two-axis gimbal system, comprising:
a gimbal assembly including a base subassembly, an azimuth subassembly having a rotatably mounted on the base subassembly in a manner enabling the azimuth subassembly to rotate about a first rotational axis, and an elevation subassembly rotatably mounted on the azimuth subassembly in a manner enabling the elevation subassembly to rotate about a second rotational axis, wherein the second rotational axis extends substantially perpendicular to the first rotational axis, wherein the gimbal subassembly movement apparatus of the azimuth subassembly and the gimbal subassembly movement apparatus of the elevation subassembly each include direct drive torque motors exerting rotational force on a respective one of the gimbal subassemblies;
a laser mounted on the azimuth subassembly;
a first laser light beam steering device amounted on the azimuth subassembly, wherein the first laser light beam steering device redirects a laser light output of the laser from a first laser light beam travelling direction to a second laser light beam travelling direction and wherein the second laser light beam travelling direction is substantially along the second rotational axis;
a second laser light beam steering device mounted on the elevation subassembly for redirecting the laser light output from along the second laser light beam travelling direction to along a third laser light beam travelling direction; and
a micro-electro-mechanical system (MEMS) gyro mounted on the elevation subassembly.

### Claim 7 (depends on 6)

The two-axis gimbal system of claim 6 wherein:
the azimuth subassembly includes an angular position sensor for sensing angular position about the azimuth subassembly rotational axis; and
the elevation subassembly includes an angular position sensor for sensing angular position about the elevation subassembly rotational axis.

### Claim 8

A gimbal system, comprising:
a gimbal assembly including a base subassembly, an azimuth subassembly having a rotatably mounted on the base subassembly in a manner enabling the azimuth subassembly to rotate about a first rotational axis, and an elevation subassembly rotatably mounted on the azimuth subassembly in a manner enabling the elevation subassembly to rotate about a second rotational axis, wherein the second rotational axis extends substantially perpendicular to the first rotational axis;
a laser mounted on the azimuth subassembly;
a first laser light beam steering device amounted on the azimuth subassembly, wherein the first laser light beam steering device redirects a laser light output of the laser from a first laser light beam travelling direction to a second laser light beam travelling direction and wherein the second laser light beam travelling direction is substantially along the second rotational axis;
a second laser light beam steering device mounted on the elevation subassembly for redirecting the laser light output from along the second laser light beam travelling direction to along a third laser light beam travelling direction;
a micro-electro-mechanical system (MEMS) gyro mounted on the elevation subassembly; and
a low-latency target tracker apparatus mounted on the gimbal assembly, wherein the low latency target tracker apparatus includes one or more target imaging cameras for generating target image information and wherein the one or more target imaging cameras are mounted on the elevation subassembly.

### Claim 9

A two-axis gimbal system, comprising:
a gimbal assembly including a base subassembly, an azimuth subassembly having a rotatably mounted on the base subassembly in a manner enabling the azimuth subassembly to rotate about a first rotational axis, and an elevation subassembly rotatably mounted on the azimuth subassembly in a manner enabling the elevation subassembly to rotate about a second rotational axis, wherein the second rotational axis extends substantially perpendicular to the first rotational axis;
a laser mounted on the azimuth subassembly;
a first laser light beam steering device amounted on the azimuth subassembly, wherein the first laser light beam steering device redirects a laser light output of the laser from a first laser light beam travelling direction to a second laser light beam travelling direction and wherein the second laser light beam travelling direction is substantially along the second rotational axis;
a second laser light beam steering device mounted on the elevation subassembly for redirecting the laser light output from along the second laser light beam travelling direction to along a third laser light beam travelling direction;
a micro-electro-mechanical system (MEMS) gyro mounted on the elevation subassembly; and
a beam stabilization mechanism mounted on the gimbal assembly, wherein the beam stabilization mechanism is coupled to an output signal of the MEMS gyro, to an input signal of a gimbal subassembly movement apparatus of the azimuth subassembly and to an input signal of a gimbal subassembly movement apparatus of the elevation subassembly.

### Claim 10 (depends on 9)

The two-axis gimbal system of claim 9 wherein:
the beam stabilization mechanism comprises a low-latency target tracker apparatus; and
the low latency target tracker apparatus includes one or more target imaging cameras for generating target image information; and
the one or more target imaging cameras are mounted on the elevation subassembly.

### Claim 11 (depends on 10)

The two-axis gimbal system of claim 10, further comprising:
an infrared camera mounted on the elevation subassembly; and
a visible light camera mounted on the elevation subassembly;
wherein the low-latency target tracker apparatus comprises at least one of the infrared camera and the visible light.

### Claim 12 (depends on 11)

The two-axis gimbal system of claim 11 wherein:
the beam stabilization mechanism comprises the second laser light beam steering device; and
the second laser light beam steering device includes a fast steering mirror (FSM).

### Claim 13 (depends on 12)

The two-axis gimbal system of claim 12 wherein:
the gimbal subassembly movement apparatus of the azimuth subassembly and the gimbal subassembly movement apparatus of the elevation subassembly each include direct drive torque motors exerting rotational force on a respective one of the gimbal subassemblies;
the azimuth subassembly includes an angular position sensor for sensing angular position about the azimuth subassembly rotational axis; and
the elevation subassembly includes an angular position sensor for sensing angular position about the elevation subassembly rotational axis.

### Claim 14

A two-axis gimbal system, comprising:
a gimbal assembly including a base subassembly, an azimuth subassembly having a rotatably mounted on the base subassembly in a manner enabling the azimuth subassembly to rotate about a first rotational axis, and an elevation subassembly rotatably mounted on the azimuth subassembly in a manner enabling the elevation subassembly to rotate about a second rotational axis, wherein the second rotational axis extends substantially perpendicular to the first rotational axis;
a laser assembly mounted on the azimuth subassembly, wherein the laser assembly includes a laser light beam steering device that redirects a laser light output of a laser of the laser assembly from a first laser light beam travelling direction to a second laser light beam travelling direction and wherein the second laser light beam travelling direction is substantially along the second rotational axis;
a first camera mounted on the elevation subassembly, wherein the infrared light detecting camera is configured to detect electromagnetic radiation within a specified infrared light wavelength range;
an infrared light illuminator mounted on the elevation subassembly, wherein the infrared light illuminator configured to emit electromagnetic radiation within the specified infrared light wavelength range;
a second camera mounted on the elevation subassembly, wherein the second camera is configured to detect electromagnetic radiation within a specified visible light wavelength range;
a micro-electro-mechanical system (MEMS) gyro mounted on the elevation subassembly; and
a beam stabilization mechanism mounted on the gimbal assembly, wherein the beam stabilization mechanism includes a fast steering mirror mounted on the elevation subassembly for redirecting the laser light output from along the second laser light beam travelling direction to along a third laser light beam travelling direction and wherein the beam stabilization mechanism is coupled to an output signal of the MEMS gyro, to an output signal of the SWIR camera, to an input signal of a gimbal subassembly movement apparatus of the azimuth subassembly and to an input signal of a gimbal subassembly movement apparatus of the elevation subassembly.

### Claim 15 (depends on 14)

The two-axis gimbal system of claim 14 wherein:
the beam stabilization mechanism includes a low-latency target tracker apparatus mounted on the gimbal assembly;
the low latency target tracker apparatus includes one or more target imaging cameras for generating target image information; and
the one or more target imaging cameras are mounted on the elevation subassembly.

### Claim 16 (depends on 15)

The two-axis gimbal system of claim 15 wherein:
the gimbal subassembly movement apparatus of the azimuth subassembly and the gimbal subassembly movement apparatus of the elevation subassembly each include direct drive torque motors exerting rotational force on a respective one of the gimbal subassemblies;
the azimuth subassembly includes an angular position sensor for sensing angular position about the azimuth subassembly rotational axis; and
the elevation subassembly includes an angular position sensor for sensing angular position about the elevation subassembly rotational axis.