JP2002062345A - Space-stabilizing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that conventionally a stable platform space stabilized with respect to oscillations is needed to statically stabilize a LOS, and a movable shaft in addition to an original control object is required in an apparatus which takes an optical axis or the like by reflecting the same by a mirror or the like. SOLUTION: An oscillation detector for detecting oscillations of a car body 4 is set to a base. A relative angular velocity of the mirror, a reflector or the like to the base is detected. A stabilization calculator is set for spatially stabilizing the LOS from the angle signal and the oscillation signal, and a converter is set for calculating a signal for driving the mirror, the reflector or the like from a spatial angular velocity command of the LOS and an output of the stabilization calculator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used in a device mounted on a moving body such as a shaking vehicle to search for and track a so-called space navigation body such as an aircraft or a flying object. It is an object of the present invention to propose a space stabilizing device capable of searching or tracking mechanically stably with respect to the space navigation body.

[0002]

2. Description of the Related Art First, a conventional space stabilizing device will be described by taking a target information acquiring device as an example. In FIG. 8, reference numeral 1 denotes a space navigation body, which is hereinafter referred to as a target. Reference numeral 2 denotes a target information acquisition device that obtains information about the target 1 by capturing or tracking the target 1. The device 2 is mounted on, for example, a vehicle body 4 having wheels 3. Target information acquisition device 2
Is a base 5 that is attached to the car body 4 and supports the turning gimbal 6
Consists of Light 7, which is the source of the optical information of the target 1, is guided into the swiveling gimbal 6 via the viewing window 8. And the introduced light 7 is a mirror 9 arranged diagonally in the turning gimbal
And is converted into an electric signal by the imager 10, whereby information on the target 1 is obtained. Center of mirror 9 and goal 1
Is called LOS (Line Of Sight). The mirror 9 can rotate around the elevation axis EL with respect to the rotation gimbal 6, and the elevation axis EL is a rotation axis connecting the center of the mirror 9 and the center of the imaging device 10 so that the rotation gimbal 6 is orthogonal to the LOS. Rotate around AZ. Reference numeral 100 denotes a stable platform for stably maintaining the posture of the base 5 with respect to the inertial space irrespective of the movement of the base 5. 111 is the stable platform 100
The angular velocity (hereinafter, referred to as spatial angular velocity) of the stable platform 100 with respect to the inertial space around the elevation axis EL 'is detected by the elevation gyro provided above. Reference numeral 121 denotes a turning gyro provided on the stable platform 100 similarly to the elevation gyro 111, and detects a spatial angular velocity of the turning gimbal 6 around the turning axis AZ. Stable platform 100
Is driven by the elevating motor 21 around the elevating axis EL ′, the movement is transmitted to the mirror 9 by a belt (not shown) or the like, and the base 5
The angle and angular velocity of the mirror 9 with respect to the base 5 are driven to be half of the angle and angular velocity of the stable platform 100 with respect to the base 5. Reference numeral 31 denotes a turning motor that drives the turning gimbal 6, and the spatial angular velocity of the turning gimbal 6 is detected by a turning gyro 121 installed on the stable platform 100.

FIG. 9 shows the principle of the movement of the conventional space stabilizing device around the elevation. In the figure, target 1 is (A)
, The mirror 9 is at the position A shown by hatching. Goal 1
When the optical axis of the incident light from the mirror to the mirror 9 is LOS1, A
Is reflected so that the angle of incidence α and the angle of reflection between the line V1 and the line LOS1 perpendicular to the mirror 9 located at the position 9 are equal. The image pickup device 10 is installed ahead of the object, and the target 1 is imaged. It is assumed that the target 1 has moved by θ as shown by the broken arrow from (A) to (B). When the optical axis of the incident light is LOS2, mirror 9
If the mirror does not move regardless of the movement of target 1, the mirror at position A
The light is reflected such that the angle of incidence α + θ formed by the line V1 and the line LOS2 perpendicular to 9 becomes equal to the reflection angle. The reflected light at that time is R2, and the image of the target 1 is reflected to a place completely different from the image pickup device 10. LO Stable Platform 100
When the mirror 9 is moved by the change θ of S (as indicated by the solid line from the hatched position), the mirror 9 moves from the position A to the position B by θ / 2 in conjunction with the movement. Since the angle between the line V1 perpendicular to the mirror 9 at the position A and the line V2 perpendicular to the mirror 9 at the position B is θ / 2, the angle is perpendicular to the mirror 9 at the position B. The incident angle β formed between the line V2 and the optical axis LOS2 of the incident light is a value represented by the following equation.

Β = α−θ / 2 + θ = α + θ / 2 (1)

Here, since the incident angle and the reflection angle are equal, the reflection angle is also α + θ / 2, and the reflected light is R1. If Goal 1 moves in this way, Stable Platform 1
By moving 00, the image of the target 1 can be transferred to the imager 10.

[0006] Regarding the turning, since the turning gimbal 6 collectively drives the mirror 9, the image pickup device 10, and the stable platform 100 with respect to the base 5, the target movement becomes the movement of the turning gimbal 6 as it is. , The rotation motor 3 according to the target movement of the stable platform 100
As a result, the spatial angular velocity of the turning gimbal is detected by the turning gyro 121.

FIG. 10 is a block diagram showing the configuration of a conventional space stabilizing device. In the figure, CMD AZ and CMD EL are spatial angular velocity commands for turning and elevating the stable platform 100. Spatial angular velocity command by elevation speed subtractor 24
The difference DEL between the CMD EL and the VEL detected by the elevation gyro 211 is calculated. The difference DEL calculated by the raising / lowering speed subtractor 24 is input to the raising / lowering amplifier 25, amplified in power, and then input to the raising / lowering motor 21. The movement is detected by the elevation gyro 111, and the spatial angular velocity commands CMDEL and VEL match. Turning speed subtractor 3
In step 4, the difference DAZ between the spatial angular velocity command CMD AZ and the VAZ detected by the turning gyro 121 is calculated. The difference DAZ calculated by the turning speed subtractor 34 is input to the turning amplifier 35, amplified in power, and then input to the turning motor 31. The movement is a turning gyro 12
1 is detected, and the spatial angular velocity commands CMD AZ and VAZ match.
Stable platform 100 as if Goal 1 moved
When moving, the spatial angular velocity command C according to the movement of target 1
VAZ and VEL detected by gyro by changing MDAZ and CMD EL
Changes according to changes in the spatial angular velocity commands CMD AZ and CMD EL, so that the stable platform 100 moves in accordance with the movement of the target 1.

FIG. 11 also shows the principle of the movement of the conventional space stabilizing device around the elevation, in which the body 4 installed as shown in the figure shakes, and the base 5 moves from (A) to (A). Is moved by θ as in Mirror if space is not stabilized
9, imaging device 10 and stable platform 100 are base
It moves like B with the movement of 5, the reflected light at that time becomes R2, and the image of the target 1 is reflected to a place completely different from the image pickup device 10. Conversely, considering the light input to the image pickup device 10, since the light is reflected by the mirror 9 so as to form the same angle as the angle formed by R3 and V2, a place completely different from the target 1 such as LOS 'is seen. Will be. However, the elevation gyro 11
1 detects the angular velocity of the stable platform 100 around the elevation axis EL ', and the servo loop is configured to keep it at zero.
100 will remain in position A. Considering the relative angle with respect to the base 5, the stable platform 100 moves by -θ (moves by θ in the opposite direction) while the base 5 moves by θ. The mirror 9 moves by −θ / 2 (θ / 2 in the opposite direction) with respect to the base 5, and moves from the position B to the position C. The incident angle β between the line V3 perpendicular to the mirror 9 at the position C and the LOS has a value represented by the following equation.

Β = α−θ + θ / 2 = α−θ / 2 (2)

Light is reflected such that the angle of incidence is equal to the angle of reflection. Since the imager 10 moves with the movement of the base 5, R
3 will move from R1 by θ. The reflection angle β formed by the line V3 and the line R3 perpendicular to the mirror 9 at the position C is also a value represented by the above equation (2).

When the base 5 moves as described above, the stable platform 100 is stabilized with respect to the space, so that the image of the target 1 can be transferred to the image pickup device 10.

Referring to FIG. 9, the stable platform 100
In order to stabilize
By keeping D AZ and EL at zero, the angular velocities VAZ and VEL of the stable platform 100 detected by the turning gyro 131 and the elevation gyro 111 are kept at zero, and the stable platform 100 is stabilized with respect to space. In this manner, the stable platform 100 is stabilized with respect to the space, so that the mirror 9 moves in the opposite direction to the base 5 by half of the swing, so that the LOS can be spatially stabilized.

[0013]

Since the prior art device was constructed in this manner, it was necessary to incorporate a stable platform in the swiveling gimbal. Therefore, there are problems that a movable shaft must be prepared in addition to the original control target, and that the turning gimbal becomes large because a stable platform is incorporated in the turning gimbal.

[0014]

According to a first aspect of the present invention, there is provided a space stabilizing device for spatially stabilizing the LOS from a shake detector for detecting a shake of a moving body and a shake signal output from the shake detector. And a converter for calculating a signal for driving a mirror for reflecting light or a reflector for reflecting radio waves from the spatial angular velocity command of the LOS and the output of the stabilizing calculator. It is a thing.

The space stabilizing device according to the second aspect of the present invention is the mirror according to the first aspect, wherein the mirror has two axes of turning and elevation, and light from the target is driven around an elevation axis orthogonal to the LOS. And an elevation gimbal having the mirror and its driving device, an imager for imaging light from the target, and the elevation gimbal being integrated into a plane including the LOS and the light reflected by the mirror. And a revolving gimbal driven about an axis.

A space stabilizing device according to a third aspect of the present invention has a first
In the invention of the above, having two axes of rotation and elevation, the radio wave emitted from the feed horn fixed to the base in contact with the moving body is reflected by the top hat, and the reflected wave from this top hat is reflected on the base. The light is reflected by a variable-angle reflector, so that the LOS is moved by twice the angle of the reflector with respect to the base.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 shows a space stabilizing device according to Embodiment 1 of the present invention. In the figure, 1 to 10 are the same as those of the conventional apparatus. 11 is base 5
, The output of which is △ R, △ P, and △ Y, which are the roll angular velocity, the pitch angular velocity, and the yaw angular velocity, respectively. Reference numeral 22 denotes an elevation angular velocity detector such as a tachometer that detects an angular velocity of the mirror 9 around the elevation axis EL with respect to the base 5 (hereinafter, referred to as a relative angular velocity). Reference numeral 23 denotes an elevation angle detector such as a synchro transmitter for detecting an angle of the mirror 9 around the elevation axis EL with respect to the base 5 (hereinafter referred to as a relative angle), and its output is CXEL. Reference numeral 32 denotes a turning angular velocity detector such as a tacho generator for detecting a relative angular velocity of the turning gimbal 6 about the turning axis AZ, and its output is set to TGAZ. Reference numeral 33 denotes a turning angle detector such as a synchro transmitter that detects a relative angle of the turning gimbal 6 around the turning axis AZ, and its output is CXAZ. 21 is a stable platform 100 with conventional equipment
Is an elevation motor that drives the mirror 9 about the elevation axis EL in the present invention. 31 is the same as the conventional device.

FIG. 2 is a block diagram showing a configuration of the space stabilizing device according to the first embodiment of the present invention. CM in the figure
DAZ and CMDEL are LOS spatial angular velocity commands. 12 is the output of the motion detector 11 △ R, △ P, △ Y, the elevation angle detector 23
From the output CXEL of the turning angle detector 33 and the output CXAZ of the turning angle detector 33.
Space stabilization commands STBEL and STB to stabilize S
It is a stabilization calculator that calculates and outputs AZ. 26 is the LOS space angular velocity command CMD EL and LOS space stabilization command STBEL
Is added and the LOS relative angular velocity command ODREL is output. 27 is a mirror of the LOS relative angular velocity command ODREL.
It is an elevation converter that converts it into 9 relative angular velocity commands MILEL, and is actually a multiplier that multiplies by a gain of 22. A turning speed adder 36 adds the LOS spatial angular velocity command CMD AZ and the LOS spatial stabilization instruction STBAZ and outputs a LOS relative angular velocity command ODRAZ. The elevation speed subtractor 24 is a relative angular velocity command MILE
A difference DEL between L and the TGEL detected by the elevation angular velocity detector 22 is calculated. The operation below 25 is the same as that of the conventional device. The turning speed subtractor 34 has a relative angular speed command ODRAZ and a turning angular speed detector 3
The difference DAZ from TGAZ to be detected in 2 is calculated. The operation below 35 is the same as the conventional device.

As shown in FIG. 3, when the target 1 moves θ from (A) to (A) as indicated by the broken arrow, the LOS changes from LOS1 to LOS2 in accordance with the movement of the target 1. The space angular velocity command CMD EL is changed to correspond to θ. Space stabilization command STBE to stabilize LOS space because there is no fluctuation
L and STBAZ are 0, and the relative angular velocity command ODREL of LOS
Is equal to the spatial angular velocity command CMD EL. LO with elevation converter 27
Mirror the relative angular velocity command ODREL (value is equal to CMD EL) of S
9 is converted to the relative angular velocity command MILEL so as to correspond to θ / 2, so that the mirror 9 moves at a half speed of the change in the angular velocity of the LOS with respect to the base 5, and is perpendicular to the mirror 9 at the position B. The incident angle β formed between the vertical line V2 and the optical axis LOS2 of the incident light is a value represented by the above equation (1).

Since the incident angle is equal to the reflection angle, the reflection angle is also α + θ / 2, and the reflected light is R1. If the base 5 is not shaken and the space stabilization command STBEL is zero, the TGEL detected by the angular velocity detector changes according to the change in the space angular velocity command MILEL of the mirror 9 so that the mirror 9 moves to the target 1 Accordingly, the target image is continuously captured by the image pickup device 10.

When the target 1 moves in the turning direction, when the spatial angular velocity command CMD AZ is changed in accordance with the movement of the target 1, the turning gimbal 6 moves at the speed of the LOS angular velocity change with respect to the base 5. become. If the base 5 is not shaken and the space stabilization command STBAZ is zero, the TGAZ detected by the angular velocity detector 32 changes according to the change of the relative angular velocity command ODRAZ, so that the turning gimbal 6 responds to the movement of the target 1. Therefore, the target image is continuously captured by the image pickup device 10.

As shown in FIG. 4, the target 1 does not move and the base 5
Consider a case where θ moves from (A) to (A). Since the target 1 has not moved, the spatial angular velocity command CMDEL does not change. Here, if the space stabilization command STBEL is zero, the mirror 9 is the base 5
Moves along with the movement of B, the reflected light at that time becomes R2, and the image of the target 1 is reflected to a place completely different from the image pickup device 10. Conversely, considering the light input to the image pickup device 10, since the light is reflected by the mirror 9 so as to form the same angle as the angle formed by R3 and V2, a place completely different from the target 1 such as LOS 'is seen. Will be. However, the movement of the base 5 is detected by the motion detector 11, and the stabilization calculator 12 is used to stabilize the LOS in space.
Is calculated and output. The relative angular velocity ODREL of the LOS with respect to the base 5 moves by −θ (the reverse direction θ) with respect to the base 5. LOS relative angular velocity command OD by elevation converter 27
Since the mirror 9 is converted into the relative angular velocity command MILEL for the base 5 with respect to the mirror 9, the mirror 9 moves by -θ / 2 (the reverse direction θ / 2) with respect to the base 5, Will move to the position. The incident angle β formed by the line V3 and the LOS, which is perpendicular to the mirror 9 at the position C, is a value represented by the above equation (2).

Since the image pickup device 10 moves with the movement of the base 5, R3 moves from R1 by θ. Since the light is reflected so that the incident angle becomes equal to the reflection angle, the reflection angle β formed by the lines V3 and R3 perpendicular to the mirror 9 at the position C is also a value represented by the equation (2).

When the base 5 moves in this way, the space stabilization command STBEL of the elevation axis EL for spatially stabilizing the LOS calculated by the stabilization signal calculator 12 is transmitted by the elevation converter 27 to the base of the mirror 9. Convert to relative angular velocity command MILEL for 5,
By moving the mirror 9 with respect to the base 5 according to the instruction, the image of the target 1 can be transferred to the image pickup device 10.

Further, when the base 5 moves in the turning direction, the movement of the base 5 is detected by the motion detector 11, and the stabilization calculator 12 spatially stabilizes the turning axis AZ for spatially stabilizing the LOS. With the command STBAZ, the turning gimbal 6 moves with respect to the base 5, and the image of the target 1 can be captured on the image pickup device 10.

Next, the stabilizing calculator 12 will be considered. The movement of the base 5 is detected by the motion detector 11, and △ R, △ P, △ Y,
Is input to the stabilization calculator 12. The output CXEL of the elevation angle detector 23 and the output CXAZ of the turning angle detector 33 are also input to the stabilization calculator 12. Consider extreme cases for intuitive understanding. Now, if only ΔP is moving and the gimbal 5 is pointing in the nose direction, the target will move only in the elevation direction from the gimbal's point of view. Similarly, if only △ R moves and the gimbal 5 is facing the machine direction, it will rotate around the visual axis, so if the target is horizontal, the target will only rotate when viewed from the gimbal. ,Turning,
It doesn't move even with the elevation. Here, if the target is slightly above the horizontal, the target moves only in the turning direction according to the roll movement. Similarly, if only △ Y exercises, gimbal 5
Regardless of which direction the nose is pointing, the target will only move in the turning direction when viewed from the gimbal. If CXEL 0 is the angle of the mirror 9 when the visual axis is horizontal and no vibration is applied, and CXAZ 0 is the angle of the gimbal 5 when the gimbal 5 is facing the model direction, LOS is spatially stable. The spatial stabilization commands STBEL and STBAZ of the LOS to be converted are expressed by Equation 3.

STBEL = −ΔPcos (CXAZ) −ΔRsin (CXAZ) STBAZ = −ΔPsin (CXAZ) tan (2CXEL) + ΔRcos (CXAZ) tan (2CXEL) −ΔY ----- (3)

The reason why the elevation angle is doubled to 2CXEL is that the movement of the LOS is twice that of the mirror 9.
By adding this signal to the spatial angular velocity commands CMDAZ and CMDEL of the LOS, the relative angular velocity commands ODRAZ and ODREL with respect to the base 5 of the LOS for spatially stabilizing the LOS are obtained. Since the elevation is reflected by the mirror 9, it is necessary to move the mirror 9 at half the angular velocity command ODREL relative to the base 5 of the LOS in order to stabilize the LOS spatially.

As for the turning, the turning gimbal 6 drives the mirror 9 and the image pickup device 10 collectively and drives them with respect to the base 5, so that in order to stabilize the LOS spatially, the turning gimbal 6 is connected to the base of the LOS. ODR relative to 5
Just move at the angular velocity of AZ.

Here, the base of the mirror 9 and the turning gimbal 6
The angular velocity relative to 5 is detected by the elevation angular velocity detector 22 and the turning angular velocity detector 32 as TGEL and TGAZ. The detected angular velocity signals TGEL and TGAZ are used as the elevating velocity subtractor 24.
And the difference DEL and DA between the relative angular velocity command MILEL of the mirror 9 and the relative angular velocity command ODRAZ of LOS by the turning speed subtractor 34.
Z is calculated, and the elevation motor 21 and the swing motor 31 are driven based on the output. Since the servo system is configured in this manner, the relative angular velocity command MILEL of the mirror 9 and the relative angular velocity TGEL of the mirror 9 with respect to the base 5 are determined by the relative angular velocity command ODRAZ of the LOS and the relative angular velocity T of the turning gimbal 6 with respect to the base 5.
The GAZs are driven so as to match each other. As a result, the LOS is stabilized with respect to space.

Embodiment 2 FIG. 5 shows a space stabilizing device according to a second embodiment of the present invention, taking a radar device mounted on a vehicle as an example. In the figure, a radar device 13 is attached to a vehicle body 4 having wheels 3, for example. Radar equipment13
Is roughly composed of a transceiver 14, an antenna 15, and a waveguide 16 connecting the two. The antenna 15 has a base 5 attached to the vehicle body 4, a feed horn 17 attached to the base 5 for transmitting and receiving radio waves, and a top hat 18 fixed to the base 5 which reflects horizontally polarized radio waves emitted from the feed horn 17. And a reflector 19 that reflects the horizontally polarized radio wave reflected by the top hat 18 again and simultaneously rotates the plane of polarization by 90 degrees to be a vertically polarized radio wave. Although not shown, the reflector 19 is driven by the elevating motor 21 and the turning motor 31 with respect to the base 5 in two axes of elevating and turning, and the driving angle and the angular speed are determined by an elevating angular speed detector 22, a turning angular speed detector 32. Is detected by the elevation angle detector 23 and the turning angle detector 33.

First, horizontally polarized radio waves generated by the transmitter of the transceiver 14 are transmitted by the feed horn 17. The horizontally polarized radio wave emitted from the feed horn 17 is reflected by the top hat 18 and returned to the reflector 19. The reflector 19 reflects the horizontally polarized radio wave again and at the same time rotates the plane of polarization by 90 degrees to obtain a vertically polarized radio wave. The vertically polarized radio wave whose polarization has been changed by the reflector 19 is the top hat 18
And the radio wave is projected toward the target 1. The vertically polarized radio wave reflected by target 1 passes through top hat 18,
The light is reflected by the reflector 19. At the same time, the plane of polarization is rotated by 90 degrees, resulting in a horizontally polarized radio wave. Since it is a horizontally polarized radio wave, it is reflected by the top hat 18 and received by the feed horn 17 this time. At this time, as shown in FIG.
Since the positional relationship between and the top hat 18 is constant, the angle at which the radio wave is reflected by the reflection does not change. Since the relative angle of the reflector 19 to the top hat 18 has changed,
When the reflector 19 moves from position A to position B by θ, the line perpendicular to the reflector 19 changes from V1 to V2, and the angle of the radio wave beam projected on the target 1 is the driving angle of the reflector 19 Will swing twice.

FIG. 7 is a block diagram showing a configuration of the space stabilizing device according to the second embodiment of the present invention. In the figure, 37
Is a turning converter that converts the relative angular velocity command ODRAZ of the LOS into the relative angular velocity command MILAZ of the reflector 19, and is actually a multiplier that multiplies the gain by 1/2.

In the first embodiment, the LOS is moved by twice the drive angle only for the elevation, but in the second embodiment, both the turning and the elevation are two times the drive angle.
The LOS will move twice as much. Again, Goal 1
Has not moved, so the spatial angular velocity commands CMD AZ and CMD
EL does not change. When the base 5 is moved in the same manner as in the first embodiment, based on the spatial stabilization commands STBAZ and STBEL of the turning axis AZ and the elevation axis EL for spatially stabilizing the LOS calculated by the stabilization signal calculator 7, Reflector 19 based 5
The LOS can be stabilized with respect to space by moving the LOS.

Next, the stabilizing calculator 12 will be considered. In the first embodiment, the value of the output CXEL of the elevation angle detector 23 is doubled, and the output CXAZ of the turning angle detector 33 is used as it is. Since it moves twice, both CXAZ and CXEL will be used twice. The LOS space stabilization commands STBEL and STBAZ for space stabilizing the LOS have the values shown in Equation 4.

STBEL = −ΔPcos (2CXAZ) −ΔRsin (2CXAZ) STBAZ = −ΔPsin (2CXAZ) tan (2CXEL) + ΔRcos (2CXAZ) tan (2CXEL) −ΔY ----- (4)

This signal is sent to the LOS spatial angular velocity command CMDAZ
And CMDEL, relative angular velocity commands ODR AZ and O to base 5 of LOS to spatially stabilize LOS
DREL is required. Since both the turning and the elevation are reflected by the reflector 19, it is necessary to move the reflector 19 at a half angular velocity of the relative angular velocity commands ODR AZ and ODR EL with respect to the base 5 of the LOS to spatially stabilize the LOS.

The relative angular velocity of the reflector 19 with respect to the base 5 is determined by an elevation angular velocity detector 23 and a turning angular velocity detector 32.
Detected as TGEL and TGAZ. The detected angular velocity signals TGEL and TGAZ are sent to the relative angular velocity commands MILEL and M of the reflector 19 by the elevating velocity subtractor 24 and the turning velocity subtractor 34.
The errors DEL and DAZ with respect to ILAZ are calculated, and the elevation motor 21 and the swing motor 31 are driven based on the outputs. Since the servo system is configured in this manner, the reflector 19
Are driven such that the relative angular velocities MILEL and MILAZ of the reflector 19 and the relative angular velocities TGEL and TGAZ of the reflector 19 with respect to the base 5 match. As a result, the LOS is stabilized with respect to space.

[0039]

Since the present invention is configured as described above, it has the following effects.

According to the present invention, the space for stabilizing the LOS is detected from the movement of the base, the relative angle of the mirror about the elevation axis EL, and the relative angle of the turning gimbal about the turning axis AZ. A stabilization command is created, and a relative angular velocity command for the mirror and the turning gimbal is generated and controlled based on these and the spatial angular velocity command of the LOS. Therefore, there is no need to incorporate a stable platform into the turning gimbal, and the gimbal can be made compact and easy. This has the effect of being able to configure

Further, according to the present invention, since the present invention can be applied to an antenna system for reflecting a radio wave by a reflector, there is an effect that a space stabilizing device can be easily obtained.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a space stabilizing device according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram showing a configuration of a space stabilizing device according to Embodiment 1 of the present invention.

FIG. 3 is a diagram showing the principle of the movement of the space stabilizing device according to the first embodiment of the present invention around the elevation.

FIG. 4 is a diagram showing the principle of movement of the space stabilization device according to the first embodiment of the present invention around the elevation.

FIG. 5 is a schematic diagram of a space stabilizing device according to Embodiment 2 of the present invention.

FIG. 6 is a diagram illustrating a principle of reflection of a radio wave by the space stabilization device according to the second embodiment of the present invention.

FIG. 7 is a block diagram showing a configuration of a space stabilizing device according to a second embodiment of the present invention.

FIG. 8 is a schematic cross-sectional view of a gimbal of the conventional space stabilizing device.

FIG. 9 is a view showing the principle of movement of the conventional space stabilizing device around the elevation.

FIG. 10 is a block diagram showing a configuration of a conventional space stabilizing device.

FIG. 11 shows the principle of movement of the conventional space stabilizing device around the elevation.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Goal, 2 target information acquisition device, 4 body, 6 turning gimbal, 9 mirrors, 10 imager, 11 motion detector, 12 stabilization calculator, 13 radar device, 14 transceiver, 15
Antenna, 16 waveguide, 17 feed horn, 18
Top hat, 19 reflectors, 21 elevating motor,
22 Elevation angular velocity detector, 23 Elevation angle detector, 24
Elevation speed subtractor, 25 Elevation amplifier, 26 Elevation speed adder, 27 Elevation converter, 31 swing motor, 32 swing angular speed detector, 33 swing angle detector, 34 swing speed subtractor, 35 swing amplifier, 36 swing speed addition Vessel, 37 turning transducer, 100 stable platform, 111
Elevating gyro, 121 turning gyro.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H01Q 3/08 H01Q 3/08 // F41G 3/22 F41G 3/22 G01C 19/00 G01C 19/00 Z F term (reference) 2C014 BA07 BB01 2F105 AA01 AA02 AA03 AA10 BB13 BB17 5J021 AA01 AB07 BA01 CA06 DA02 DA04 DA07 EA03 FA00 FA13 FA26 HA04 HA10 JA07 5J046 AA01 AB05 MA06 MA09 5J070 AC02 AC06 AD17 AE04 AF03

Claims (3)

[Claims] 1. An LOS (Linear Oscillator) such as a radio axis, which is attached to a mobile object and connects an observation instrument for observing a target and the target.
In a space stabilizing device for stabilizing the space irrespective of the motion of the moving object, a motion detector for detecting the motion of the moving object, and the LOS based on a motion signal output from the motion detector, A stabilizing calculator for stabilizing, and a converter for calculating a signal for driving a mirror for reflecting light or a reflector for reflecting radio waves from the spatial angular velocity command of the LOS and the output of the stabilizing calculator. A space stabilizing device comprising: 2. An elevation gimbal having two axes of rotation and elevation, wherein light from the target is reflected by a mirror driven around an elevation axis orthogonal to the LOS, and an elevation gimbal having the mirror and its driving device;
An imager that captures light from the target and the elevation gimbal are integrated with the LOS and a revolving gimbal that is driven about a revolving axis on a plane containing light reflected by the mirror; The space stabilizing device according to claim 1. 3. A top hat reflects radio waves emitted from a feed horn fixed to a base in contact with a moving body, having two axes of rotation and elevation, and further reflects a reflected wave from the top hat to the base. 2. A space stabilizing device according to claim 1, wherein the light is reflected by a variable angle reflector, whereby the LOS is configured to move by twice the angle of the reflector with respect to the base.