The present invention relates to the field of beam steering, and more specifically, to a method and a device that prevent gimbal-locking of gimbal mounts and related beam-steering devices.
In many fields it is necessary to mount a directional device on a platform so as to allow the directional device to be oriented independently of platform orientation. A device that has proven exceptionally useful for this task is the gimbal mount. A gimbal mount is basically a mounting frame having two orthogonal axes of rotation. In
One specific application where gimbal mounts are used is to mount a directional seeker (e.g. infrared, UV/vis) to the nose of a projectile (e.g. missile, smart-bomb, cannon/artillery shell and the such) or to track satellites using a radio-frequency antenna. In
A serious shortcoming of a gimbal mount such as 24 occurs when the directional device, such as seeker 26, needs be directed at or in proximity of a direction 30 which is close to colinear to gimbal roll axis 36, FIG. 2B. In order for seeker 26 to remain directed at moving target 32 passing at or near direction 30, gimbal roll axis 36 must rotate quickly requiring an extremely high, often unattainable, rotational acceleration. This problem is called gimbal locking or as the keyhole problem.
The nature of the problem of gimbal locking has been fully described in U.S. Pat. No. 6,285,338, which is incorporated by reference for all purposes as if fully set forth herein. Specifically, FIG. 13 of U.S. Pat. No. 6,285,338 and the accompanying description discuss the angular speed required to track a target moving near or through a direction which is colinear with the gimbal roll axis.
To change the orientation of the directional device at a given speed, the closer the gimbal roll axis is to colinearity with the direction vector the faster the gimbal roll axis must move. In FIG. 13 of U.S. Pat. No. 6,285,338, to track a given satellite using a gimbal mounted radar antenna (the directional device), a 5° divergence requires an angular rotation of 1° sec−1. To track the same satellite, a 1° divergence requires an angular rotation of 4° sec−1 and a 0.1° divergence requires an angular rotation of 12° sec−1.
One method to overcome the problem of gimbal locking is to provide a massive gimbal mount equipped with powerful motors. For projectiles, where weight and size allowances are at a premium and, due to the disposable nature of projectiles, price reduction an advantage, this is at best an academic solution. Further, it is generally preferred that high accuracy gimbal mounts be lightweight to avoid problems associated with large moments of rotation.
Another method to overcome the problem of gimbal locking is taught in U.S. Pat. No. 6,285,338. A device is provided to reorient, by tilting, the directional device relative to the gimbal mount when a gimbal locking situation is approached. In a situation where a standard gimbal mount would have to direct a directional device with, for example, a 0.1° divergence of the gimbal roll axis from the direction vector, a gimbal mount according to the teachings of U.S. Pat. No. 6,285,338 tilts the antenna by, for example, 0.9° in an appropriate direction. This tilting reduces the magnitude of angular rotation necessary for tracking threefold. Although effective, a mechanism such as taught by U.S. Pat. No. 6,285,338 adds a level of mechanical complexity, weight and expense to a gimbal mount that often makes such a mechanism unsuitable for use in a platform, such as a projectile, where space, weight and cost are important factors.
There is a need for a lightweight and simple method to avoid gimbal locking, especially for mounting a directional device in a projectile.
As is clear to one skilled in the art, gimbal locking is not a problem unique to actual gimbal mounts, but also to related beam steering devices. Other beam steering devices shall be discussed in more detail hereinbelow. It is important to note, however, that the term “gimbal-locking” is hereinafter used to refer to actual gimbal locking of a gimbal mount as well as to the analogous problem of related beam steering devices. The description and discussion of the present invention herein will refer primarily to an actual gimbal mount rather then the more general beam-steering device. This is done exclusively for purposes of clarity and is non-limiting to the scope of the description and of the claims herein. Perusal of the description of the present invention as herein set forth allows application of the present invention to beam-steering devices other than gimbal-mounts to one of average skill in the art.
According to the teachings of the present invention there is provided for a gimbal mount for aiming a directional device mounted on a platform, the platform having a platform roll axis including:
There is also provided according to the teachings of the present invention a device for steering a beam to or from a directional device mounted on a platform, the platform having a platform roll axis including:
There is also provided according to the teachings of the present invention a method of aiming a directional device, mounted on a platform having a platform roll axis, in a certain direction by:
As used herein, the term “directional device” refers to any device with a highly directed mode of action. Such devices include devices configured to detect electromagnetic radiation such as directional passive radar antennae, detectors, seekers and cameras operative in the IR, UV and visible spectrum range. Such devices also include devices configured to project a beam of electromagnetic radiation such as directional active radar antennae, spotlights and lasers. Such devices also include projectors of solid objects such as rocket launchers and machine guns. As the present invention is directed to solving the problem of gimbal locking, it is clear to one skilled in the art that the present invention is more useful for directional devices with a narrow field of view (or action) then for directional device with a wide field of view (or action).
The invention is herein described, by way of example only, with reference to the accompanying drawings, where:
According to the teachings of the present invention, a gimbal mount, as described in the prior art, is used to attach a directional device to a platform. In other embodiments of the present invention, a beam-steering device, as described in the prior art, is used to direct a beam to or from a directional device mounted on a platform. The platform is most often an aerial vehicle, especially a projectile. By projectile is meant a platform such as a missile, a rocket, a “smart-bomb”, barrel-launched shell and the like. Unlike in the prior art, the gimbal mount or beam-steering device is attached to the platform so that the roll axis of the gimbal mount or beam-steering device is not colinear, preferably not parallel, to the platform roll axis. Further, the control system of the gimbal mount or beam steering device, in addition to the prior art configuration of directing the nod and roll axes of the gimbal mount or beam steering device, is also configured to control rolling of the platform around the platform roll axis when necessary, as described hereinbelow. The combination of two ideas, a) lack of colinearity between the platform roll axis and the gimbal mount or beam steering roll axis and b) control of platform rotation around the platform roll axis by the gimbal mount or beam steering device control system, allows gimbal locking to be avoided.
The principles and operation of the present invention may be better understood with reference to the drawings and the accompanying description.
A first embodiment of the present invention is schematically depicted in
In
As a result of a 180° rotation of platform 52 around platform roll axis 68 relative to
In
A second embodiment of the present invention is schematically depicted in
In
When platform 76 is rotated 180° around platform roll axis 82 relative to
As is clear to one skilled in the art, there are four different fashions of implementing the method of the present invention as concerns the relationship between the roll axis of the gimbal mount or beam steering device and the platform roll axis.
In the first fashion, the two axes 64 and 68 are oblique (nonparallel) and intersect in the immediate vicinity of the gimbal mount or beam steering device, as depicted in
In the second fashion, the two axes 80 and 82 are parallel but not colinear,
In the third fashion, the two axes 88 and 90 are oblique (nonparallel), but intersect distant from the gimbal mount or beam steering device, FIG. 5.
In the fourth fashion, the two axes 92 and 94 are noncoplanar, oblique (nonparallel), and do not intersect at all, FIG. 6.
As is clear to one skilled in the art and as noted hereinabove, the present invention is applicable to a plethora of beam steering devices. Specifically, there exist beam-steering devices that, unlike gimbal mounts that orient a mounted directional device physically, direct only a beam to or from a directional device. Examples include a four-mirror beam steering device or a Risley prism beam steering device. Despite the differences between the various beam-steering devices, perusal of the description of the present invention as herein set forth allows application of the present invention to beam-steering devices other than gimbal-mounts to one of average skill in the art.
A third embodiment of the present invention is schematically depicted in
Four mirror beam steering device 96 is used to direct light from moving target 72 in direction 74 to camera 50. Four mirror beam steering device 96 has two independently moveable members, nod member 98 and roll member 100 to ensure that light from direction 74 is reflected to camera 50.
Activation of a first motor 62 moves nod member 98 to which mirror 102 is connected, varying beam steering nod axis 104. Activation of second motor 66 allows rotation of roll member 100 around beam steering roll axis 64. Four mirror beam steering device 96 is mounted on platform 52 so that beam steering roll axis 64 is 0.5° divergent from platform roll axis 68. As described hereinabove, control system 70 is configured to activate first motor 62 and second motor 66 so as to direct mirror 102 in a desired direction. Further, control system 70 is also configured to control rotation of platform 52 around platform roll axis 68.
In
As a result of a 180° rotation around platform roll axis 68 relative to
The design parameters of a specific implementation of the present invention and consequently the exact magnitude of divergence from parallel or the physical distance between the roll axis of a gimbal mount or beam steering device and the platform roll axis is clear to one skilled in the art, and is not a salient part of the present invention. It is clear to one skilled in the art, however, that by allowing the avoidance of a gimbal locking situation and the consequent reduced maximal angular velocity requirement, a gimbal mount or beam steering device can be made more compact and more light in weight. Further, tracking accuracy can be improved, as a lightweight mount will allow quick orientation with little momentum effects.
In the examples hereinabove, to avoid a gimbal locking situation, a platform rolled 180° around the platform roll axis. The value of 180° is arbitrary and chosen exclusively for exemplary purposes. As is clear to one skilled in the art, the magnitude of rolling to avoid a gimbal locking situation is dependent on many factors and is not limiting to the scope of the present invention.
The method of the present invention is applicable in any situation when a directional device is mounted on a rollable platform using a gimbal mount or beam steering device. It is clear that most often the directional device mounted is a receiver and/or transmitter of electromagnetic radiation of various frequencies, especially infrared, visible light, ultraviolet, microwave and radio frequencies.
The method of the present invention is applicable in a situation when the platform is rollable under direction of the gimbal mount or beam steering device control system. Thus it is exceptionally suitable for a guided missile, rocket or shell where rolling can be freely performed to orient the directional device or beam without other considerations.
There are many methods to control the rolling of a platform. Most commonly, rolling is controlled either by the use of impulse motors or by the movement and/or deformation of aerodynamic surfaces. The choice of the exact method for controlling platform rolling for any specific application is well within the abilities of one skilled in the art.
It is understood that the specification and examples are illustrative and do not limit the present invention. Other embodiments and variations not described herein understood to be within the scope and spirit of the invention.
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