GB2311372A - A balancing mechanism for providing controlled leveling and stabilization of a gimballed platform on moving equipment - Google Patents
A balancing mechanism for providing controlled leveling and stabilization of a gimballed platform on moving equipment Download PDFInfo
- Publication number
- GB2311372A GB2311372A GB9606095A GB9606095A GB2311372A GB 2311372 A GB2311372 A GB 2311372A GB 9606095 A GB9606095 A GB 9606095A GB 9606095 A GB9606095 A GB 9606095A GB 2311372 A GB2311372 A GB 2311372A
- Authority
- GB
- United Kingdom
- Prior art keywords
- platform
- axis
- leveling
- balanced
- gimbal
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50046—Control of level, horizontal, inclination of workholder, slide
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Details Of Measuring And Other Instruments (AREA)
Abstract
The invention relates to a controlled single axis balancing technique for leveling and stabilizing a gimballed balanced platform (1) on moving equipment. The invention can be expanded for use with two axes by using two sets of gimbals and two balancing mechanisms at right angles to each other. The invention is capable of quickly leveling the balanced platform under both dynamic and stationary conditions and can maintain the platform level and insensitive to disturbing external effects such as roll or pitch changes and the effects of random horizontal and vertical accelerations. The object is accomplished in a single axis by a controlled balancing loop, which uses the information from a leveling accelerometer 5 and a stabilizing accelerometer 11 to control gravitational leveling torques on the platform 1 about a single gimbal bearing axis (4 Fig.2) by adjusting the position of a movable balancing weight 9. The invention shows also how the leveling accuracy of the balanced platform 1 with either one gimbal bearing axis (4) or two gimbal bearing axes (4) and (17) can be improved using two rotating leveling accelerometers (28) and (29). Two encoders (34) and (35) can provide measurements of roll and pitch angles of the vehicle relative to the horizontal heading-fixed platform 1.
Description
A Balancing Mechanism for Providing Controlled Leveling and
Stabilization of a Gimbal led Platform on Moving Equipment
The present invention relates to a device according to the preamble of claim 1.
On moving equipment especially at sea, it is useful in certain applications to have a means of leveling and horizontally stabilizing a platform. A simple two-axis balancing platform, which is for example, often used for supporting magnetic compasses on ships, can be designed by supporting the platform or instrument on two orthogonal gimbals with the centre of mass below the axes of the two gimbals. The force of gravity will then level the platform.
This simple platform leveling works well when stationary but is unstable when exposed to random horizontal accelerations.
It is the object of the present invention to devise a mechanism for leveling and stabilizing a gimbal led platform about a single axis using a controlled balancing technique.
The invention can be expanded for use with two axes by using two balancing mechanisms at right angles to each other. The balancing mechanism is capable of quickly leveling a platform under both dynamic and stationary conditions and can maintain the platform level and remain insensitive to disturbing external effects such as roll or pitch changes and the effects of random horizontal and vertical accelerations. The invention is also low in cost, consumes very little electrical power and is practically maintenance-free.
In accordance with the invention, this object is accomplished by a controlled balancing loop which uses the information from two accelerometers to control gravitational leveling torques on a platform about a single gimbal axis ky adjusting the position of a movable balancing weight.
One of the two accelerometers, a leveling accelerometer: which is mounted on the platform, provides filtered acceleration information to enable long-term leveling of the platform based on the reasonable assumption that when the platform is level the average long-term acceleration measured by the accelerometer will be zero.
The other accelerometer, the stabilizing accelerometer, is mounted on the movable balancing weight. It is used for measuring the gravitational force acting on the movable balancing weight so that the leveling torque on the platform via a magnetic coupling from the balancing weight can be accurately controlled. The stabilising accelerometer also senses short-term unwanted disturbing accelerations which would normally torque the balancing weight and subsequently the platform. This information enables the system to quickly react against the effect of a disturbing acceleration by moving the balancing weight relative to the platform to cancel the torquing effect of the disturbing acceleration. In this way, the platform remains stable about the balancing axis and does not get torqued or tilted by short term disturbing accelerations. Only controlled gravitational leveling torques act on the platform.
If an uncompensated bias error were present on the signal from the stabilizing accelerometer, a permanent torquing of the platform about the balancing axis would result. However, since a tilting in the platform axes can be observed from the data received from the leveling accelerometer, the bias error on the stabilizing accelerometer signal can be quickly determined, even in harsh sea environments, by a computer using an optimised error estimation process so that the signal bias error can be compensated and the permanent torquing can be avoided.
If a bias error existed on the signal from the leveling accelerometer, a permanent tilt of the platform would result.
This can be avoided in several ways. One way would be to accurately calibrate the leveling accelerometer. Another way would be to have two leveling accelerometers at right angles to each other and rotate them together about an axis perpendicular to the plane of the platform so that varying sine and cosine components of the two leveling accelerometer signals could be used. This would then enable the effects of any bias errors to be observed by a computer with time. The bias errors could be determined by an estimation process in the computer and be compensated. This second method has the advantage in the case of a two-axis balancing platform that the information from the same two leveling accelerometers can be used for balancing both axes and no additional leveling accelerometers are needed for the second axis. It has the disadvantage that it requires additional moving parts.
As with the simple unstable balancing platform, previously described: the platform in the invention is also supported on gimbals, but unlike the simple platform, the centre of inertia of the platform about its balancing axis without the balancing weight, is coincident with the balancing axis so that the platform is insensitive to the effects of all accelerations including gravity about the axis. The platform uses low friction bearing gimbals and has a relatively high inertia which make it insensitive to equipment or vehicle rotational movements.
When the platform is exposed to long term accelerations or decelerations, as is the case when a ship or a vehicle changes speed or course, small temporary tilts of the platform could occur. This tilting could be avoided if external speed or position and rate-of-turn information were available so that each balancing control loop could determine the acceleration components and move its balancing weight to compensate for their effects.
The invention will now be described by way of example and with reference to the accompanying drawings in which:
Figure 1 illustrates the balancing mechanism for a single axis in accordance with the invention; and
Figure 2 illustrates a two axis gimbal arragement of a horizontally stabilized balanced platform with two rotating leveling accelerometers in accordance with the invention.
For a two-axis balanced platform the balancing mechanisms are similar for both axes. In Figure 1: two numbers are given for each reference: the numbers on the left refer to single axis components or to the inner axis components; the numbers on the right refer to the outer axis components.
The balanced platform 1 is supported by an outer pair of low friction bearing gimbals 16A, 16B and an inner pair of low friction bearing gimbals 3A,. 3B. The two pairs of bearing gimbals are separated by a gimbal support 15. The outer gimbal bearing axis 17 is normally aligned with the vehicle's roll axis so that the inner gimbal bearing axis 4, when level, would be aligned with the vehicles pitch axis. The two pairs of gimbals are orthogonal to each other and allow the platform to have a two-axis freedom of movement relative to the vehicle. When horizontal, the platform reference axis 2 would be aligned with, and parallel to the heading direction of the vehicle. The pair of outer gimbal bearings 16A and 16B are fixed on the outer sides of the gimbals to a chassis which is attached to the vehicle.
Mounted on the balanced platform 1 is a motor 34 with a gear arrangement 35, an indexing sensor 36 and a rotating platform 27. The motor 34 and gear arrangement 35 are used to slowly turn the rotating platform 27 at a constant angular rate relative to the balanced platform 1 about an axis 32 which is perpendicular to the plane of the balanced platform 1 and maintains the two platform planes parallel to each other. The indexing sensor 36 is used to mark a reference point for the rotating platform 27. The direction of rotation of the rotating platform 27 may be positive, negative or reversible, depending on the application.
Two rotating leveling accelerometers 28 and 29 are mounted on the rotating platform 27 with their sensitive measurement axes 30 and 31 parallel to the plane of the rotating platform and orthogonal to each other and to the axis of rotation of the platform 32. Also mounted on the rotating platform is a not shown electronics section 33 for reading the leveling accelerometers 28 and 29 and transmitting this information to the balanced platform 1.
The fully assembled rotating platform 27 is designed so that it is perfectly balanced about the rotating axis 32. This ensures that the rotating motion does not unbalance and disturb the horizontal states of the two platforms 1 and 27 when levelled.
A not shown electronics section 26 including a microcomputer is also mounted on the balanced platform 1.
The fully assembled balanced platform 1 with the motor 34 and gear arrangement 35, the indexing sensor 36 and electronics components 26 and also including the rotating platform 27 with all its components 28, 29 and 33, but not including the inner axis balancing weight 9 is perfectly balanced about the inner gimbal bearing axis 4 so that it is, at all times: insensitive to any horizontal or vertical accelerations and will not pendle or be torqued about the inner gimbal bearing axis 4 by accelerations or by gravity. If either of the two platforms is to be used for supporting an instrument, the combined platforms with the instrument should be perfectly balanced.
Leveling of the balanced platform 1 is done using two similar balancing control loops: one about the inner gimbal bearing axis 4 using an inner axis balancing weight 9 which is supported on the balanced platform 1: and one about the outer gimbal bearing axis 17 using an outer axis balancing weight 21 which is supported on the gimbal support 15. The balancing control loops are each performed with the aid of a microcomputer.
Tonguing of the balanced platform 1 about the inner gimbal bearing axis 4 is accomplished by the combined force of gravity on the freely swinging inner axis balancing weight 9 and a magnetic couple between a permanent magnet 8 fixed to the inner axis balancing weight 9 and two inner axis variable current electrical coils 7A and 7B, which are part of the electronics section 14 mounted on the balanced platform 1.
The inner axis balancing weight 9 is supported on a shaft 13 which is part of the balanced platform 1. The inner axis balancing weight 9 can swing freely about this shaft. The shaft 13 is aligned with the inner gimbal bearing axis 4.
Fitted to the inner axis balancing weight 9 is an inner axis stabilizing accelerometer 11 which connects via flexible wires to the electronics section 14 of the balanced platform 1. The inner axis stabilizing accelerometer 11 is mounted at a point on the inner axis balancing weight 9 where its sensing element input axis 12 is directed radially towards the centre of the shaft 13 and is perpendicular to the pendulum axis 10 of the inner axis balancing weight 9. When mounted in this position: the acceleration measured by the inner axis stabilizing accelerometer 11 is exactly proportional to the torque present on the balanced platform 1 about the inner gimbal bearing axis 4 resulting from the effects of accelerations and gravity on the inner axis balancing weight 9 and the magnetic coupling between the balancing weight 9 and the electrical coils 7A, 7B.
Torquing of the balanced platform 1 about the outer gimbal bearing axis is accomplished in the same way by the combined force of gravity on the freely swinging outer axis balancing weight 21 and the magnetic couple between a permanent magnet 20 fixed to the outer axis balancing weight 21 and two outer axis electrical coils 19A and 19B, which are part of the not shown electronics section 26 mounted on the gimbal support 15.
The outer axis balancing weight 21 is attached to a shaft 25 which is part of the gimbal support 15. The outer axis balancing weight 21 can swing freely about this shaft. The shaft 25 is aligned with the outer gimbal bearing axis 17.
Fitted to the outer axis balancing weight 21 is an outer axis stabilizing accelerometer 23, which connects via flexible wires to the not shown electronics section 26 mounted on the gimbal support 15. The outer axis stabilizing accelerometer 23 is mounted at a point on the outer axis balancing weight 21 where its sensing element input axis 24 is directed radially towards the centre of the shaft 25 and is perpendicular to the pendulum axis 22 of the outer axis balancing weight 21.
The fully assembled gimbal support 15 with the assembled balanced platform 1 and the assembled rotating platform 27, but not including the outer axis balancing weight 21 is designed to be perfectly balanced about the outer gimbal bearing axis 17 so that it is, at all times: insensitive to any horizontal or vertical accelerations and will not pendle or be torqued about the outer gimbal bearing axis 17 by such accelerations or by gravity.
When leveling torques are applied about the inner and outer gimbal bearing axes 4 and 17, the amounts of torque to be applied are determined from filtered information received from the two rotating leveling accelerometers 28 and 29 and from change-in-speed and rate-of-turn information from the reference inputs. The leveling torques are controlled by varying the electrical currents in the inner and outer axis electrical coils 7A, 7B and 19A 19B: which adjust the positions of inner and outer axis balancing weights 9 and 21.
The torques applied to the balanced platform 1 about the two axes are purely gravitational resulting from the gravitational torquin of the two balancing weights and are controlled by the microcomputer using the information from the respective inner axis and outer axis stabilizing accelerometers 11 and 23. If, for each axis: the ratio between the torque and the stabilizing accelerometer signal is known, then the torques can be accurately measured and controlled.
Dynamic stabilization of the levelled platform against shortterm acceleration effects is done by moving the balancing weights 9 and 21 to oppose and cancel any unwanted accelerations measured by the respective stabilizing accelerometers 11 and 23. This is achieved by positioning the stabilizing accelerometer input axes 12 and 24 perpendicular to the resultant acceleration components. The control loops do this by forcing the directions of the pendulum axes 10 and 22 of the balancing weights 9 and 21 parallel to the directions of the resultant acceleration component vectors.
These acceleration components result from the combined effects of gravitational, horizontal and vertical accelerations. By maintaining the directions of the pendulum axes 10 and 22 parallel to the directions of the resultant acceleration components, no torguing of the balanced platform 1 occurs and thus the platform remains stable.
Dynamic stabilization and leveling can be performed together continuously as one process so that instead of nulling the signals from the stabilizing accelerometers 11 and 23, their values could be maintained at the torque values determined by the leveling process. These signal values would only then be nulled when the leveling process sets the toying values to zero.
Optionally, a roll encoder 37 and a pitch encoder 38 can be fitted to one outer bearing gimbal 16A or 16B and one inner bearing gimbal 3A or 3B respectively to enable the vehicle's roll and pitch angles relative to the horizontal balanced platform 1 to be read by the not shown electronics section 26.
If some errors in the leveling accuracy of the balanced platform 1, as a result of bias errors in the leveling accelerometers, could be tolerated the rotating leveling accelerometers 28 and 29 could be replaced by non-rotating leveling accelerometers 5 and 18. This would then avoid the need for the rotating platform 27, the electronics section 33, the indexing sensor 36 and the motor 34 with the gear arrangement 35. The leveling accelerometer 5 would be mounted on the balanced platform 1 with its input axis 6 aligned with the platform reference axis 2 and would be used in the balancing control loop for leveling the balanced platform 1 about the inner gimbal bearing axis 4. The leveling accelerometer 18 would be mounted on the gimbal support 15 with its input axis 39 aligned with the inner gimbal bearing axis 4 and would be used in the balancing control loop for leveling the balanced platform 1 and the gimbal support 15 about the outer gimbal bearing axis 17.
Claims (4)
1. A balancing mechanism for providing controlled leveling and stabilization of a gimbal led platform on moving equipment comprising: a balanced platform (1) having a platform reference axis (2) supported on low friction bearing gimbals (3A, 3B) aligned with a gimbal bearing axis (4) which is at right angles to the said platform reference axis (2); a leveling accelerometer (5) which is mounted on the said balanced platform (1) and has a sensitive input axis (6) which is parallel to the said platform reference axis (2); a pair of variable current electrical coils (7A; 7B) for applying controlled gravitational torque to the said balanced platform (1) about the said gimbal bearing axis (4) via a magnetic couple between the said electrical coils (7A, 7B) and a permanent magnet (8) fixed to a movable balancing weight (9) with a pendulum axis (10); a stabilizing accelerometer (ll? mounted on the said balancing weight (9) with a sensitive input axis (12) directed radially towards the centre axis of a shaft (13) which forms part of the balanced platform (1) and has its axis parallel and aligned with the said gimbal bearing axis (4) and supports the said movable balancing weight (9) about the said gimbal bearing axis (4); an electronics section (14) including a microcomputer, for reading the signals of the said leveling and stabilizing accelerometers (5) and (11 and performing all the necessary software and control functions for leveling and stabilizing the said balanced platform (1) about the said gimbal bearing axis (4).
2. Device according to claim 1 characterised by the said balanced platform (1) supported on the two said low friction bearing gimbals (3A, 3B) which are attached to a gimbal support (15? supported by a second outer pair of low friction bearing gimbals (16A, 16B) about a gimbal bearing axis (17) at right angles to the said gimbal bearing axis (4) and providing a two axis freedom of movement of the equipment or vehicle relative to the balanced platform (1); a second leveling accelerometer (18) with a sensitive input axis (39) mounted on the said gimbal support (15); a second pair of variable current electrical coils (19A, 19B) for applying controlled gravitational torque to the said gimbal support (15) and the said balanced platform (1) about the said gimbal bearing axis (17) via a magnetic coupling between the said electrical coils (19A, 19B) and a permanent magnet (20) fixed to a second movable balancing weight (21) with a pendulum axis (22); a second stabilizing accelerometer (23) with a sensitive input axis (24) directed radially towards the centre axis of a shaft (25) with an axis parallel and aligned with the said gimbal bearing axis (17) and supporting the said movable balancing weight (21) about the said gimbal bearing axis (17); an electronics section (26), including a second microcomputer: for reading the signals of the said leveling and stabilizing accelerometers (18) and (23) and performing all the necessary software and control functions for leveling and stabilizing the said balanced platform (1) and gimbal support (15) about the said gimbal bearing axis (17).
3. Device according to claims 1 and 2 characterised by a rotating platform (27) supported by the said balanced platform (1) which rotates relative to the balanced platform (1) about an axis (32) perpendicular to the plane of the balanced platform (1); two rotating leveling accelerometers (28) and (29) with sensitive input axes (30) and (31) orthogonal to each other and to the rotating axis (32) and which replace the two said leveling accelerometers (5) and (18); an electronics section (33) mounted on the said rotating platform (27) for reading the signals of the two rotating leveling accelerometers (28) and (29) and transmitting this information to the said electronics section (14) on the balanced platform (1) to enable biases errors of the rotating leveling accelerometer (28) and (29) to be estimated and improve the leveling accuracy of the balanced platform (1); a motor (34) with a gear arrangemment (35) for turning the rotating platform (27) and an indexing sensor (36) for referencing the position of the rotating platform (27) relative to the non-rotating balanced platform (1) as it rotates.
4. Device according to claims 1 and 2, characterised by the said gimbal support (15) with the said outer gimbal bearing axis (17) aligned with a vehicle's or ship's roll axis and fitted with an angle encoder (37) at one of the two said low friction outer gimbal bearings (16A, 16B) for reading of the vehicle/ship's roll angle referenced to the said horizontal balanced platform (1), and a second angle encoder (38) mounted at one of the two said low friction inner gimbal bearings (3A, 3B) for reading of the vehicle/ship's pitch angle referenced to the said horizontal balanced platform (1); the said platform reference axis (2) in this configuration is horizontal and aligned with the heading of the vehicle/ship when the said balanced platform (1) is horizontal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9606095A GB2311372A (en) | 1996-03-22 | 1996-03-22 | A balancing mechanism for providing controlled leveling and stabilization of a gimballed platform on moving equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9606095A GB2311372A (en) | 1996-03-22 | 1996-03-22 | A balancing mechanism for providing controlled leveling and stabilization of a gimballed platform on moving equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB9606095D0 GB9606095D0 (en) | 1996-05-22 |
| GB2311372A true GB2311372A (en) | 1997-09-24 |
Family
ID=10790871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9606095A Withdrawn GB2311372A (en) | 1996-03-22 | 1996-03-22 | A balancing mechanism for providing controlled leveling and stabilization of a gimballed platform on moving equipment |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2311372A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6369400B2 (en) * | 1998-10-30 | 2002-04-09 | International Business Machines Corporation | Magnetic scanning or positioning system with at least two degrees of freedom |
| FR2901403A1 (en) * | 2006-05-19 | 2007-11-23 | Cose Sarl Sarl | Payload e.g. radar, position controlling device for e.g. terrestrial vehicle, has magnet exerting force by magnetic attraction in part contrary to action of weight on payload and exerting electrodynamic force necessary to position payload |
| CN102023639A (en) * | 2010-12-24 | 2011-04-20 | 北京航空航天大学 | Controllable pendulum system based biaxial horizontal stabilized platform and control method thereof |
| WO2023170054A1 (en) * | 2022-03-08 | 2023-09-14 | Quantum Technologies Gmbh | Quantum computer system and method for operating a movable quantum computer |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702549B (en) * | 2020-07-08 | 2021-07-06 | 广东普拉迪科技股份有限公司 | Five-axis precise small gantry numerical control machining center with intelligent electronic balance weight |
| CN113906249A (en) * | 2020-07-28 | 2022-01-07 | 深圳市大疆创新科技有限公司 | Cloud platform, camera device and movable platform |
| CN114593870A (en) * | 2022-03-08 | 2022-06-07 | 北京航空航天大学 | Novel large-bearing flexible static balancing instrument |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB909477A (en) * | 1958-02-26 | 1962-10-31 | Sfim | Improvements in inertial guidance devices |
| GB1230846A (en) * | 1968-09-26 | 1971-05-05 | ||
| GB1550107A (en) * | 1977-01-21 | 1979-08-08 | Dornier System Gmbh | Stabilised antenna |
| GB2056063A (en) * | 1979-07-03 | 1981-03-11 | Secr Defence | Stabilized platforms |
| US5124938A (en) * | 1990-07-23 | 1992-06-23 | Recon/Optical, Inc. | Gyroless platform stabilization techniques |
| US5465924A (en) * | 1992-11-14 | 1995-11-14 | Deutsche Aerospace Ag | Inertial stabilizing system |
-
1996
- 1996-03-22 GB GB9606095A patent/GB2311372A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB909477A (en) * | 1958-02-26 | 1962-10-31 | Sfim | Improvements in inertial guidance devices |
| GB1230846A (en) * | 1968-09-26 | 1971-05-05 | ||
| GB1550107A (en) * | 1977-01-21 | 1979-08-08 | Dornier System Gmbh | Stabilised antenna |
| GB2056063A (en) * | 1979-07-03 | 1981-03-11 | Secr Defence | Stabilized platforms |
| US5124938A (en) * | 1990-07-23 | 1992-06-23 | Recon/Optical, Inc. | Gyroless platform stabilization techniques |
| US5465924A (en) * | 1992-11-14 | 1995-11-14 | Deutsche Aerospace Ag | Inertial stabilizing system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6369400B2 (en) * | 1998-10-30 | 2002-04-09 | International Business Machines Corporation | Magnetic scanning or positioning system with at least two degrees of freedom |
| FR2901403A1 (en) * | 2006-05-19 | 2007-11-23 | Cose Sarl Sarl | Payload e.g. radar, position controlling device for e.g. terrestrial vehicle, has magnet exerting force by magnetic attraction in part contrary to action of weight on payload and exerting electrodynamic force necessary to position payload |
| CN102023639A (en) * | 2010-12-24 | 2011-04-20 | 北京航空航天大学 | Controllable pendulum system based biaxial horizontal stabilized platform and control method thereof |
| WO2023170054A1 (en) * | 2022-03-08 | 2023-09-14 | Quantum Technologies Gmbh | Quantum computer system and method for operating a movable quantum computer |
Also Published As
| Publication number | Publication date |
|---|---|
| GB9606095D0 (en) | 1996-05-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |