Payload orientation control and stabilization
OwnerRaymond Hoheisel, Justin Lorentzeninventors
Life of this patent
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Abstract
Systems and methods for maintaining and stabilizing the position and orientation of a payload attached to a high-altitude balloon are provided. A payload may be attached to a powered gimbal. The powered gimbal may be configured to orient and position the payload in a plurality of directions corresponding to a first, second, and third rotational axis of the balloon-mounted payload system. After the payload is positioned by the powered gimbal, the position and orientation of the payload may be maintained and stabilized by one or more rotational stabilization devices. The stabilization by the one or more rotational stabilization devices can occur along any one, or combination of, the first, second, and third rotational axes.
Claims14
A balloon payload stabilization system comprising:
- a balloon envelope;
- and
- a gondola mechanically coupled to the balloon envelope, the gondola including:
- one or more rotational stabilization devices configured to stabilize the gondola around at least a first axis of rotation relative to an orientation of the balloon payload stabilization system;
- a powered gimbal configured to rotate around one or more axes relative to the orientation of the balloon payload stabilization system;
- and
- a payload coupled to the powered gimbal, the payload configured to be positioned by the powered gimbal;
- one or more processors;
- and
- memory storing computer-readable instructions that, when executed by the one or more processors, cause the balloon payload stabilization system to:
- determine a first position of the payload, wherein the first position corresponds to a current position of the payload;
- determine a second position of the payload, wherein the second position corresponds to a next position of the payload;
- in response to determining the first position and the second position, calculate powered gimbal rotational commands corresponding to positioning the payload by the powered gimbal to the second position from the first position;
- transmit first output signals to the powered gimbal, wherein the first output signals include the powered gimbal rotational commands;
- determine that the powered gimbal has positioned the payload to the second position;
- in response to determining that the payload has been positioned to the second position by the powered gimbal, calculate rotational stabilization device rotational commands corresponding to maintaining and stabilizing the second position of the payload;
- and
- transmit second output signals to the one or more rotational stabilization devices, wherein the second output signals include the rotational stabilization device rotational commands.
A method comprising:
- determining a first position of a payload, wherein the first position corresponds to a current position of the payload;
- determining a second position of the payload, wherein the second position corresponds to a next position of the payload;
- in response to determining the first position, calculating powered gimbal rotational commands corresponding to positioning the payload by a powered gimbal to the second position from the first position;
- transmitting first output signals to the powered gimbal, wherein the first output signals include the powered gimbal rotational commands;
- determining that the powered gimbal has positioned the payload to the second position;
- in response to determining that the payload has been positioned to the second position by the powered gimbal, calculating rotational stabilization device rotational commands corresponding to maintaining and stabilizing the second position of the payload;
- and
- transmitting second output signals to one or more rotational stabilization devices, wherein the second output signals include the rotational stabilization device rotational commands.
Dependencies are inferred from the claim text.