Space-referenced, rate-stabilized multiple-gimbal-platform system

摘要

A space-referenced, rate-stabilized gimbal platform system for use in a vehicle. The system includes a master gimbal mounted to the vehicle frame and having a master platform that is pivotable with respect to a first axis that is perpendicular to the longitudinal axis of the vehicle and pivotable with respect to a second axis that is perpendicular to the first axis; a two-axis rate gyroscope mounted to the master platform; and a slave gimbal having a slave platform for supporting directional apparatus, such as an antenna or sensor. The slave platform is pivotable with respect to a third axis that is parallel to the first axis and pivotable with respect to a fourth axis that is perpendicular to the third axis. The system further includes a pair of angular rate servo loop systems for rate stabilizing the master platform with respect to the first and second axes and a pair of angular position servo loop systems for stabilizing the slave platform with respect to the third and fourth axes in accordance with the position of the master platform with respect to the first and second axes respectively, to thereby cause the orientation of the directional apparatus to track the orientation of the gyroscope. The servo loop systems decouple the platforms from the motion of the frame of the vehicle at lower frequencies and the gimbals are directly driven to improve decoupling at high frequencies above the bandwidth of the servo loops.