CN204188800U - With the servo platform of motion compensation - Google Patents

With the servo platform of motion compensation Download PDF

Info

Publication number
CN204188800U
CN204188800U CN201420562824.3U CN201420562824U CN204188800U CN 204188800 U CN204188800 U CN 204188800U CN 201420562824 U CN201420562824 U CN 201420562824U CN 204188800 U CN204188800 U CN 204188800U
Authority
CN
China
Prior art keywords
azimuth
motor
rotating shaft
servo
axis
Prior art date
Application number
CN201420562824.3U
Other languages
Chinese (zh)
Inventor
卢永革
姚京萍
徐志明
Original Assignee
北京环境特性研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京环境特性研究所 filed Critical 北京环境特性研究所
Priority to CN201420562824.3U priority Critical patent/CN204188800U/en
Application granted granted Critical
Publication of CN204188800U publication Critical patent/CN204188800U/en

Links

Abstract

The utility model discloses a kind of servo platform with motion compensation, comprise roll elevation servo platform, azimuth pitch servo turntable and control system, roll elevation servo platform adopts diaxon slew gear, control system can read the attitude information of aircraft and the offset of the correspondence arranged according to the attitude information of aircraft in real time, and by corresponding aircraft roll, the offset of luffing sends to the first controller on roll elevation servo platform, the offset of corresponding aircraft yaw is sent to the second controller on azimuth pitch servo turntable, roll elevation servo platform can compensate aircraft roll according to the offset obtained, the kinematic error that luffing brings, the kinematic error that azimuth pitch servo turntable can bring according to the offset compensation aircraft yaw obtained.The servo platform of band motion compensation of the present utility model, while the airborne rcs measurement precision of guarantee and high-resolution imaging quality, reduces the development cost of platform greatly, reduces the installation dimension of platform.

Description

With the servo platform of motion compensation

Technical field

The present invention relates to airborne under look technical field of measurement and test, particularly relate to a kind of servo platform with motion compensation.

Background technology

Look in test under airborne, in order to ensure to test effect, need the sensing that airborne antenna remains correct, and affect the angular motion that can produce driftage, pitching, roll in an atmosphere by external disturbance as the aircraft of test macro carrier aircraft platform, cause antenna platform attitudes vibration, thus generation antenna pointing error, and this error can cause following consequence:

Airborne RCS (Radar Cross-section, RCS) measuring accuracy reduces greatly;

Make piecture geometry fault, even some areas resolution declines;

Compressed waveform main lobe broadening and minor level are increased, causes orientation to proportional error;

Integration minor level raises, and causes decoy, soft edge and ghost image;

Etc..

For this reason, develop motion compensation technique, motion compensation technique is the key that airborne RCS accurately tests and realizes high-resolution imaging, is also the key obtaining high-quality carried SAR (Synthetic Apertare Radar, synthetic-aperture radar) image.Traditional motion compensation process installs independently stable platform and servo platform at aircraft ventral, wherein, stable platform adopts independently three axle slew gears usually, to realize the compensation of the attitude error to the driftage of aircraft, pitching, roll, servo platform is then used for ensureing that the active of antenna is pointed to.Because the three axle slew gear movement parts adopted are many, relative motion is complicated, thus causes above-mentioned traditional motion compensation equipment development cost relatively high, and due to the volume of three axle slew gears larger, and aircraft ventral installing space is limited, the installation of motion compensation equipment is restricted.

Summary of the invention

The technical matters that the present invention solves be airborne under look the motion compensation in test macro and servo-drive system volume is large, development cost is high problem, and then provide the servo platform of a kind of volume is little, development cost is relatively low band motion compensation.

In order to solve the problems of the technologies described above, the technical scheme that the application adopts is as follows:

The servo platform of band motion compensation of the present invention, comprise roll elevation servo platform, azimuth pitch servo turntable and control system, described azimuth pitch servo turntable can be fixedly connected on the below of described roll elevation servo platform, and described control system controls described roll elevation servo platform and the action of described azimuth pitch servo turntable;

Described roll elevation servo platform adopts diaxon slew gear, comprise the base for being connected with aircraft ventral, rotatingly on described base be provided with the first rotating shaft, described first rotating shaft is driven by the first motor, described first rotating shaft is connected and is provided with the first rotor, described first rotor is provided with the second rotating shaft rotationally, described second rotating shaft is driven by the second motor, described second rotating shaft is connected and is provided with the first web member, described first rotating shaft is with described second rotating shaft level and mutually vertical setting, described first motor and described second motor are controlled by the first controller,

Described azimuth pitch servo turntable comprises the second web member, described second web member can be fixedly connected with to realize being fixedly connected with of described azimuth pitch servo turntable and described roll elevation servo platform with described first web member, described second web member is vertically provided with azimuth axis rotationally, described azimuth axis is driven by azimuth-drive motor, described azimuth axis is connected and is provided with the second rotor, described second rotor is provided with pitch axis rotationally, described pitch axis is driven by pitching motor, described pitch axis is provided with the antenna connection that can be connected with antenna, described azimuth-drive motor and described pitching motor are controlled by second controller,

Described control system can read the attitude information of aircraft and the offset of the correspondence arranged according to the attitude information of aircraft in real time, and by corresponding aircraft roll, the described offset of luffing sends to described first controller, the described offset of corresponding aircraft yaw is sent to described second controller, to realize the control of described control system to described roll elevation servo platform and described azimuth pitch servo turntable, described first controller can according to the described offset obtained by described first motor, described second motor drives described first rotating shaft, described second axis of rotation compensates aircraft roll, the kinematic error that luffing brings, described second controller can drive described azimuth axis to rotate to compensate the kinematic error that aircraft yaw brings by described azimuth-drive motor according to the described offset obtained.

Preferably, described control system comprises computer for controlling and inertial navigation system, the attitude information of aircraft is sent to described computer for controlling by after described inertial navigation system reading, and described computer for controlling arranges corresponding offset according to this attitude information and sends to described first controller and described second controller.

Preferably, described first rotating shaft, described second rotating shaft, described azimuth axis and/or described pitch axis place are respectively arranged with angle displacement measurement device, and described azimuth axis place is provided with collector ring and azimuth rotary joint.

Preferably, described angle displacement measurement device is set to code-disc.

Preferably, described first rotating shaft, described second rotating shaft, described azimuth axis and/or described pitch axis place are provided with the fan-shaped turbine as final drive mechanism.

Preferably, the first speed reduction unit is provided with between described first motor and described first rotating shaft, described first motor and described first speed reduction unit are arranged on described base, the second speed reduction unit is provided with between described second motor and described second rotating shaft, described second motor and described second speed reduction unit are connected and are arranged on described first rotor, the 3rd speed reduction unit is provided with between described azimuth-drive motor and described azimuth axis, the 4th speed reduction unit is provided with between described pitching motor and described pitch axis, described azimuth-drive motor, described 3rd speed reduction unit, described pitching motor and described 4th speed reduction unit are all arranged on described second rotor.

Preferably, described first web member and described second web member can be bolted to connection.

Preferably, described pitch axis is provided with the video camera coupling shaft that can connect video camera.

Preferably, described second rotor comprises a circular base plate, described azimuth axis is arranged through the center of described circular base plate, the surrounding of described azimuth axis, described circular base plate are connected and are provided with at least one support column, described pitch axis, described antenna connection and described pitching motor are all connected and are arranged on top plan that all described support columns are formed.Further preferably, the quantity of described support column is 4, is evenly arranged in described circular base plate.

Beneficial effect of the present invention is as follows:

The diaxon slew gear that the servo platform of band motion compensation of the present invention is arranged separately by its top, compensate roll and the luffing of aircraft respectively, the kinematic error that yawing rotation brings is compensated by the azimuth axis in azimuth pitch servo turntable, thus guarantee the accurate sensing of antenna, while the airborne rcs measurement precision of guarantee and high-resolution imaging quality, greatly reduce the development cost of platform, reduce the installation dimension of platform.

Accompanying drawing explanation

Fig. 1 is the structural representation of the servo platform of the band motion compensation of the application;

Fig. 2 is the structural representation of roll elevation servo terrace part;

Fig. 3 is the structural representation of azimuth pitch servo turntable part;

Fig. 4 is the theory diagram of control system;

In figure:

1 roll elevation servo platform, 11 bases, 12 first rotating shafts, 13 first rotors, 14 second rotating shafts, 15 first web members, 16 fan-shaped turbines, 17 first motors and the first speed reduction unit, 18 second motors and the second speed reduction unit, 2 azimuth pitch servo turntables, 21 second web members, 22 azimuth axis, 23 second rotors, 231 circular base plate, 232 support columns, 24 pitch axis, 25 antenna connections, 26 video camera coupling shafts, 27 azimuth-drive motors and the 3rd speed reduction unit, 28 pitching motors and the 4th speed reduction unit, 3 control system, 31 computer for controlling, 32 inertial navigation systems, 4 antennas, 5 code-discs.

Embodiment

Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention and beneficial effect are described further.

In the present invention, so-called " vertically ", " level ", " below " etc. are the spatialities of the servo-drive system of band motion compensation of the present invention appropriate section when being in using state.

So-called in the present invention " first ", " second " etc. statement do not represent its modify structural member concrete structure have any difference, be only define to distinguish.

Inventor herein studies discovery, the angular motion of aircraft yaw is less on antenna direction impact, based on this, stable platform and servo platform are improved, cancel the mechanism of independently stable platform, and on traditional azimuth pitch servo platform, increase an X-Y diaxon slew gear, can make servo platform while adjustment antenna direction, compensate the kinematic error of aircraft, realize the function of traditional servo platform and stable platform simultaneously, concrete: see Fig. 1 to Fig. 4, the servo platform of band motion compensation of the present invention comprises roll elevation servo platform 1, azimuth pitch servo turntable 2 and control system 3, azimuth pitch servo turntable 2 can be fixedly connected on the below of roll elevation servo platform 1, control system 3 controls roll elevation servo platform 1 and azimuth pitch servo turntable 2 action,

Roll elevation servo platform 1 adopts diaxon slew gear, comprise the base 11 for being connected with aircraft ventral, rotatingly on the pedestal 11 be provided with the first rotating shaft 12, first rotating shaft 12 is driven by the first motor, first rotating shaft 12 is connected and is provided with the first rotor 13, first rotor 13 is provided with the second rotating shaft 14 rotationally, second rotating shaft 14 is driven by the second motor, second rotating shaft 14 is connected and is provided with the first web member 15, first rotating shaft 12 is with the second rotating shaft 14 level and mutually vertical setting, and the first motor and the second motor are controlled by the first controller, azimuth pitch servo turntable 2 comprises the second web member 21, second web member 21 can be fixedly connected with to realize being fixedly connected with of azimuth pitch servo turntable 2 and roll elevation servo platform 1 with the first web member 15, second web member 21 is vertically provided with azimuth axis 22 rotationally, azimuth axis 22 is driven by azimuth-drive motor, azimuth axis 22 is connected and is provided with the second rotor 23, second rotor 23 is provided with pitch axis 24 rotationally, pitch axis 24 is driven by pitching motor, pitch axis 24 is provided with the antenna connection 25 that can be connected with antenna 4, azimuth-drive motor and pitching motor are controlled by second controller, control system 3 can read the attitude information of aircraft and the offset of the correspondence arranged according to the attitude information of aircraft in real time, and by corresponding aircraft roll, the offset of luffing sends to the first controller, the offset of corresponding aircraft yaw is sent to second controller, to realize the control of described control system 3 to described roll elevation servo platform 1 and described azimuth pitch servo turntable 2, first controller can according to the offset obtained by the first motor, second motor drives the first rotating shaft, second axis of rotation compensates aircraft roll, the kinematic error that luffing brings, the kinematic error that second controller can drive azimuth axis 22 to rotate to compensate aircraft yaw to bring by azimuth-drive motor according to the offset obtained.

The servo platform of band motion compensation of the present invention is by arranging the roll elevation servo platform 1 that adopts diaxon slew gear at the top of traditional azimuth pitch servo turntable 2, utilize the azimuth axis 22 on azimuth pitch servo turntable 2 to complete the compensation of angular motion of roll to aircraft, pitching and driftage simultaneously, simplify system architecture, reduce development cost.

Above-mentioned base 11 in the present invention can be any shape that can realize connecting, such as, can be a square box as shown in the figure, also can be a circular frame, etc., the shape of the first same rotary body 13 can be selected as the case may be, as long as can conveniently install, such as it also can be a square box.

Illustrated first web member 15 and the second web member 21 are circle, as the embodiment that can convert, first web member 15 can adopt any shape that can realize being connected each other with the second web member 21, such as square, oval etc., and the first web member 15 need not be identical with the shape of the second web member 21.

Above-mentioned first controller in the present invention, concrete structure those skilled in the art of second controller can select to determine, as long as can realize function of the present invention according to known technology.

Control system 3 in the present invention can comprise computer for controlling 31 and inertial navigation system 32, be sent to computer for controlling 31 after the attitude information of aircraft is read by inertial navigation system 32, computer for controlling 31 arranges corresponding offset according to this attitude information and sends to the first controller and second controller.

The angle conveniently turned over individual rotating shaft is measured and is facilitated the transmission of signal, can be respectively arranged with angle displacement measurement device at the first rotating shaft 12, second rotating shaft 14, azimuth axis 22 and pitch axis 24 place, azimuth axis 22 place is provided with collector ring and azimuth rotary joint simultaneously.

This angle displacement measurement device can adopt any form, such as, can adopt code-disc 5.

The fan-shaped turbine 16 of final drive mechanism can be provided as respectively at the first rotating shaft 12, second rotating shaft 14, azimuth axis 22 and pitch axis 24 place.

The servo platform of band motion compensation of the present invention, during concrete enforcement, the first motor can be made to drive the first rotating shaft 12 through the first speed reduction unit, first motor and the first speed reduction unit are arranged on the pedestal 11, second motor drives the second rotating shaft 14 through the second speed reduction unit, second motor and the second speed reduction unit are connected and are arranged on the first rotor 13, azimuth-drive motor drives azimuth axis 22 through the 3rd speed reduction unit, pitching motor drives pitch axis 24 through the 4th speed reduction unit, and azimuth-drive motor, the 3rd speed reduction unit, pitching motor and the 4th speed reduction unit are all arranged on the second rotor 23.Make the layout of whole servo platform more rationally, structure is more compact.

The conveniently installation and removal of the servo-drive system of band motion compensation of the present invention, can make the first web member 15 and the second web member 21 be bolted to connection.

Can the video camera coupling shaft 26 being connected with video camera be set on pitch axis 24, thus second camera can be carried out in test process, facilitate analytical test result.

An instantiation of the second rotor 23 is given in the present invention, concrete, second rotor 23 is set and comprises a circular base plate 231, azimuth axis 22 is arranged through the center of circular base plate 231, the surrounding of azimuth axis 22, circular base plate 231 are connected and are provided with at least one support column 232, antenna connection, pitch axis, video camera coupling shaft, pitching motor and the 4th speed reduction unit are all arranged on the top plan that all support columns are formed.This structure makes servo platform structure of the present invention compacter, thus can save space further, easier for installation.As shown in the figure, the quantity that can arrange support column 232 is 4, is evenly arranged in circular base plate 231, thus can provide stable anchorage force for device disposed thereon.Certainly, the quantity of support column 232 can be 3, or less, also can be 5, or more.In addition, the second rotor 23 can also adopt other structure, as long as it can the dependency structure such as antenna web member, not by the restriction of the above-mentioned concrete structure provided.

The course of work of the servo platform of band motion compensation of the present invention is as follows:

See accompanying drawing 1, the servo platform of band motion compensation of the present invention in use, roll elevation servo platform 1 is arranged on aircraft ventral, and fixed by base 11 and aircraft ventral, azimuth pitch servo turntable 2 is arranged on below roll elevation servo platform 1, and antenna connection 25 place on azimuth pitch servo turntable 2 fixes up an aerial wire 4, in order to carry out auxiliary shooting, a video camera can be connected by video camera coupling shaft 26 again.During test, as shown in Figure 4, the offset that the aspect information setting that computer for controlling 21 transmits in real time according to inertial navigation system 22 is corresponding, and respectively by corresponding aircraft roll, the offset of luffing sends to the first controller, the offset of corresponding aircraft yaw is sent to second controller, first controller according to the offset obtained by the first motor, second motor drives the first rotating shaft 12, second rotating shaft 14 rotation compensation aircraft roll, the kinematic error that luffing brings, the kinematic error that second controller drives azimuth axis 22 to rotate to compensate aircraft yaw to bring by azimuth-drive motor according to the offset obtained, the code-disc 5 that each rotating shaft place is arranged can feed back the angle case of each axis of rotation to each controller, convenient control.

Claims (10)

1. the servo platform with motion compensation, it is characterized in that: comprise roll elevation servo platform (1), azimuth pitch servo turntable (2) and control system (3), described azimuth pitch servo turntable (2) can be fixedly connected on the below of described roll elevation servo platform (1), and described control system (3) controls described roll elevation servo platform (1) and described azimuth pitch servo turntable (2) action;
Described roll elevation servo platform (1) adopts diaxon slew gear, comprise the base (11) for being connected with aircraft ventral, rotatingly be provided with the first rotating shaft (12) described base (11) is upper, described first rotating shaft (12) is driven by the first motor, described first rotating shaft (12) is connected and is provided with the first rotor (13), described first rotor (13) is provided with the second rotating shaft (14) rotationally, described second rotating shaft (14) is driven by the second motor, described second rotating shaft (14) is connected and is provided with the first web member (15), described first rotating shaft (12) is with described second rotating shaft (14) level and mutually vertical setting, described first motor and described second motor are controlled by the first controller,
Described azimuth pitch servo turntable (2) comprises the second web member (21), described second web member (21) can be fixedly connected with to realize being fixedly connected with of described azimuth pitch servo turntable (2) and described roll elevation servo platform (1) with described first web member (15), described second web member (21) is vertically provided with azimuth axis (22) rotationally, described azimuth axis (22) is driven by azimuth-drive motor, described azimuth axis (22) is connected and is provided with the second rotor (23), described second rotor (23) is provided with pitch axis (24) rotationally, described pitch axis (24) is driven by pitching motor, described pitch axis (24) is provided with the antenna connection (25) that can be connected with antenna (4), described azimuth-drive motor and described pitching motor are controlled by second controller,
Described control system (3) can read the attitude information of aircraft in real time, according to the offset of the correspondence that the attitude information of aircraft is arranged, and by corresponding aircraft roll, the described offset of luffing sends to described first controller, the described offset of corresponding aircraft yaw is sent to described second controller, to realize the control of described control system (3) to described roll elevation servo platform (1) and described azimuth pitch servo turntable (2), described first controller can according to the described offset obtained by described first motor, described second motor drives described first rotating shaft, described second axis of rotation compensates aircraft roll, the kinematic error that luffing brings, described second controller can drive described azimuth axis (22) to rotate to compensate the kinematic error that aircraft yaw brings by described azimuth-drive motor according to the described offset obtained.
2. the servo platform as claimed in claim 1 with motion compensation, it is characterized in that: described control system (3) comprises computer for controlling (31) and inertial navigation system (32), the attitude information of aircraft is sent to described computer for controlling (31) by after described inertial navigation system (32) reading, and described computer for controlling (31) arranges corresponding offset according to this attitude information and sends to described first controller and described second controller.
3. the servo platform as claimed in claim 1 with motion compensation, it is characterized in that: described first rotating shaft (12), described second rotating shaft (14), described azimuth axis (22) and/or described pitch axis (24) place are respectively arranged with angle displacement measurement device, and described azimuth axis (22) place is provided with collector ring and azimuth rotary joint.
4. the servo platform as claimed in claim 3 with motion compensation, is characterized in that: described angle displacement measurement device is set to code-disc (5).
5. the servo platform as claimed in claim 1 with motion compensation, is characterized in that: described first rotating shaft (12), described second rotating shaft (14), described azimuth axis (22) and/or described pitch axis (24) place are provided with the fan-shaped turbine (16) as final drive mechanism.
6. the servo platform as claimed in claim 1 with motion compensation, it is characterized in that: between described first motor and described first rotating shaft (12), be provided with the first speed reduction unit, described first motor and described first speed reduction unit are arranged on described base (11), the second speed reduction unit is provided with between described second motor warp and described second rotating shaft (14), described second motor and described second speed reduction unit are connected and are arranged on described first rotor (13), the 3rd speed reduction unit is provided with between described azimuth-drive motor and described azimuth axis (22), the 4th speed reduction unit is provided with between described pitching motor and described pitch axis (24), described azimuth-drive motor, described 3rd speed reduction unit, described pitching motor and described 4th speed reduction unit are all arranged on described second rotor (23).
7. the servo platform as claimed in claim 1 with motion compensation, is characterized in that: described first web member (15) and described second web member (21) can be bolted to connection.
8. the servo platform as claimed in claim 1 with motion compensation, is characterized in that: on described pitch axis (24), be provided with the video camera coupling shaft (26) that can connect video camera.
9. the servo platform with motion compensation according to any one of claim 1 to 8, it is characterized in that: described second rotor (23) comprises a circular base plate (231), described azimuth axis (22) is arranged through the center of described circular base plate (231), the surrounding of described azimuth axis (22), described circular base plate (231) is connected and is provided with at least one support column (232), described pitch axis (24), described antenna connection (25) and described pitching motor are all connected and are arranged on top plan that all described support columns (232) are formed.
10. the servo platform as claimed in claim 9 with motion compensation, is characterized in that: the quantity of described support column (232) is 4, is evenly arranged in described circular base plate (231).
CN201420562824.3U 2014-09-28 2014-09-28 With the servo platform of motion compensation CN204188800U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420562824.3U CN204188800U (en) 2014-09-28 2014-09-28 With the servo platform of motion compensation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420562824.3U CN204188800U (en) 2014-09-28 2014-09-28 With the servo platform of motion compensation

Publications (1)

Publication Number Publication Date
CN204188800U true CN204188800U (en) 2015-03-04

Family

ID=52620783

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420562824.3U CN204188800U (en) 2014-09-28 2014-09-28 With the servo platform of motion compensation

Country Status (1)

Country Link
CN (1) CN204188800U (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106602263A (en) * 2016-11-17 2017-04-26 上海无线电设备研究所 Strapdown-type high-precision stabilized platform system built based on integrated navigation
CN106594073A (en) * 2017-01-04 2017-04-26 北京环境特性研究所 Rough-precise two-stage two-shaft stabilizing mechanism based on magnetic bearing
CN106771388A (en) * 2016-12-06 2017-05-31 中国航空工业集团公司北京长城航空测控技术研究所 A kind of electromagnetic window is tested with eight axle turntables
CN106772286A (en) * 2016-12-06 2017-05-31 中国航空工业集团公司北京航空精密机械研究所 A kind of small size antenna turntable
CN106896820A (en) * 2017-02-27 2017-06-27 北京星网卫通科技开发有限公司 Inertially stabilized platform and its control method
CN107054703A (en) * 2017-03-31 2017-08-18 北京环境特性研究所 A kind of target track motion simulator
CN107656548A (en) * 2017-08-11 2018-02-02 安徽聚合自动化工程有限公司 A kind of frame stability platform structure of two axle four
CN107678325A (en) * 2017-08-21 2018-02-09 北京航天控制仪器研究所 A kind of table servo control method based on real time operating system and FPGA

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106602263A (en) * 2016-11-17 2017-04-26 上海无线电设备研究所 Strapdown-type high-precision stabilized platform system built based on integrated navigation
CN106771388A (en) * 2016-12-06 2017-05-31 中国航空工业集团公司北京长城航空测控技术研究所 A kind of electromagnetic window is tested with eight axle turntables
CN106772286A (en) * 2016-12-06 2017-05-31 中国航空工业集团公司北京航空精密机械研究所 A kind of small size antenna turntable
CN106771388B (en) * 2016-12-06 2019-08-16 中国航空工业集团公司北京长城航空测控技术研究所 A kind of eight axis turntables of electromagnetic window test
CN106594073A (en) * 2017-01-04 2017-04-26 北京环境特性研究所 Rough-precise two-stage two-shaft stabilizing mechanism based on magnetic bearing
CN106896820A (en) * 2017-02-27 2017-06-27 北京星网卫通科技开发有限公司 Inertially stabilized platform and its control method
CN106896820B (en) * 2017-02-27 2020-05-29 北京星网卫通科技开发有限公司 Inertially stabilized platform
CN107054703A (en) * 2017-03-31 2017-08-18 北京环境特性研究所 A kind of target track motion simulator
CN107656548A (en) * 2017-08-11 2018-02-02 安徽聚合自动化工程有限公司 A kind of frame stability platform structure of two axle four
CN107678325A (en) * 2017-08-21 2018-02-09 北京航天控制仪器研究所 A kind of table servo control method based on real time operating system and FPGA

Similar Documents

Publication Publication Date Title
US7795568B2 (en) Solar tracking for terrestrial solar arrays
CN101445156B (en) Technology for integrating intelligent aerial robotic system
CN101865996B (en) Airborne laser radar pitch angle deviation real-time compensation method and device
CN105928467B (en) Large Spacecraft malformation measures pilot system under vacuum low-temperature environment
CN102627151B (en) Moment distribution method for rapid maneuvering satellite based on mixed actuating mechanism
CN103837126B (en) Using position of heavenly body as the three-dimensional space direction angle measuring device of calibration benchmark and method
CN102538598B (en) A kind of motion simulation analogue system of infrared target
WO2015188409A1 (en) Method and system for controlling antenna of mobile communication application system based on double quaternions in mems inertial navigation
CN101124455B (en) Compensated measurement of angular displacement
CN103197669B (en) Satellite multiple attitude control mode test system based on double gimbal control moment gyroscope (DGCMG) structure
CN101462599B (en) Novel terrestrial globe simulator for static state infrared horizon ground detection
CN104614726B (en) Telescopic array type portable MIMO-SAR (multiple-input multiple-output synthetic aperture radar) measurement radar system and imaging method thereof
CN101865655B (en) Six-dimensional position and orientation precision test method of space mechanical arm based on air flotation system
CN101660966B (en) Device for simulating dynamic imaging of TDI CCD camera
CN102620892B (en) Dynamic balance testing method for rotatable part
CN204118262U (en) A kind of Radar Servo turntable
CN101794523A (en) Aircraft hardware-in-the-loop simulation device
TWI537542B (en) Calibration system and apparatus and method for calibrating transducers
CN100364857C (en) Earth simulator for earth's surface detection suitable for double cone scanning type infrared horizon instrument
CN102955251B (en) Coarse and fine scanning rotating prism device
CN101493526B (en) Lunar vehicle high speed three-dimensional laser imaging radar system and imaging method
CN102313885A (en) Multi-dimensional microwave imaging system and method
CN103292127B (en) Measurement control system of multi-shaft support air floatation platform
WO2012088924A1 (en) Positioning device for wing-body docking
CN107416228B (en) Automatic testing arrangement of unmanned aerial vehicle

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model