| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent the deterioration of tracking performance without adding any additional sensor. <P>SOLUTION: An apparatus includes: a first-computation unit computing first-angular-velocity-instruction values for driving first-and-second-rotation units to track a moving object, using a detected angle and a detected tracking error, when the moving object exists in a first range separate from a zenith by at least a preset distance; an estimation unit estimating the traveling direction of the moving object, using the detected angle and the detected tracking error, when the moving object exists in a second range within the preset distance from the zenith; a second-computation unit computing second-angular-velocity-instruction values for driving the first-and-second-rotation units to track the moving object and avoid a zenith-singular point, using the detected angles, the detected tracking error and the estimated traveling direction; and a control unit controlling the first-and-second-rotation units to eliminate differences between the first-angular-velocity-instruction values and the angular velocities when the moving object exists in the first range, and controlling the first-and-second-rotation units to eliminate differences between the second-angular-velocity instruction values and the angular velocities when the moving object exists in the second range. <P>COPYRIGHT: (C)2011,JPO&INPIT |
