JPH07235823A - Space stabilizing controller - Google Patents

Abstract

PURPOSE:To obtain the space stabilizing controller directing the visual line to the zenith in the space stabilizing controller stabilizing spatially the visual line through the use of a rate gyro. CONSTITUTION:A rate gyro 21 detecting an angular velocity around a turning shaft and a 3rd rate gyro 31 detecting an angular velocity around an axis orthogonal to the turning shaft and an elevating axis are installed to a turning section, which is provided with a coordinate transformation device 32 outputting a signal used to stabilize the turning axis spatially based on the output of an angle detector 10 detecting an angle between the elevating part and the turning part and an output of the 3rd rate gyro 31. Then the drive signal of the turning part, a summing signal of a coordinate transformation device 32 and an output of the 2nd rate gyro 21 are respectively fed through respective feedback paths.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spatial stabilization control device for spatially stabilizing a radar antenna, an imager, etc. installed on a rocking body such as a ship or a vehicle. Hereinafter, a space stabilization control device that spatially stabilizes the image pickup device will be described as an example.

[0002]

2. Description of the Related Art Conventionally, as this type of apparatus, FIGS.
1 and those shown in FIG. FIG. 10 is a diagram of a gimbal for spatially stabilizing the image pickup device. 1 is a rocking body, 2 is a fixing part for supporting the entire gimbal fixed to the rocking body, 3
Is a revolving unit that rotates on the fixed unit 2 about a line perpendicular to the fixed unit 2, and its rotation axis is the revolving axis A. Denoted at 4 is an elevation part which rotates on the revolving part 3 about a line perpendicular to the revolving axis, and its rotation axis is referred to as the elevation axis E. Reference numeral 5 denotes an image pickup device fixed to the elevation part 4, and a line connecting the target P and the image pickup part of the image pickup device 5 is LOS. The LOS and the elevation axis E are set to intersect vertically. It is a well known fact that in a gimbal having such a configuration, the LOS can be freely oriented by changing the turning angle and the depression angle.

FIG. 11 is a diagram schematically showing a gimbal.
Reference numeral 1 is a first rate gyro that is attached to the elevation section 4 and detects an angular velocity with respect to the inertial space coordinates around the elevation axis E of the elevation section 4, 21 is attached to the elevation section 4, and the LOS of the elevation section 4 and the elevation axis E are respectively Axis orthogonal to (hereinafter referred to as the detection axis)
It is a 2nd rate gyro which detects the angular velocity with respect to the inertial space coordinate around C. When the depression / elevation angle is zero, the LOS and the turning axis A intersect vertically, and the detection axis C of the second rate gyro coincides with the turning axis A. However, when the depression / elevation angle is increased, L
The angle between the OS and the turning axis A gradually decreases, and the angle between the detection axis C and the turning axis A gradually increases. Fixed part 2
Angular velocity ωTO with respect to the inertial space of

[0004]

[Equation 1]

Assuming that the angle of the swivel part 3 with respect to the fixed part 2 is α, the angular velocity is Δα, the angle of the elevation part 4 with respect to the swivel part 3 is β, and the angular velocity is Δβ, the first rate gyro 1
The output signal ωXE of 1 and the output signal ωZE of the second rate gyro 21 are

[0006]

[Equation 2]

[0007]

[Equation 3]

[0008] The spatial stabilization of the LOS is nothing but making the output signal ωXE of the first rate gyro 11 and the output signal ωZE of the second rate gyro 21 zero.

FIG. 12 shows a control block diagram thereof, in which 12 is a first angular velocity error calculator for calculating a current command from the elevation drive signal 39 and the output signal ωXE of the first rate gyro 11, and 13 Is a first amplifier that amplifies its output, 14 is a first motor that receives the output of the first amplifier 13 and drives the elevation axis, and 15 is a first motor 14
The vertical axis drive unit driven by, the reference numeral 22 is a second angular velocity error calculator for calculating a current command from the turning unit drive signal 40 and the output signal ωZE of the second rate gyro 21, and 23 is a second amplifier for amplifying the output. Amplifier, 24 is the second amplifier 2
A second motor 25 receives the three outputs to drive the turning shaft, and 25 is a turning shaft drive unit driven by the second motor 24.

Next, the operation will be described. When the oscillating body 1 sways, the imaging device 5 fixed to the lie-down section 4 is swayed via the turning axis drive section 25 and the lie-down axis drive section 15. First and second rate gyros 11 and 21 fixed to the elevation part 4
Detects the shaking as the angular velocity of inertial space,
It is output as an angular velocity signal around the elevation axis E and an angular velocity signal around the detection axis C of the elevation section 1. As for the elevation portion, the first angular velocity error calculator 12 calculates the deviation between the elevation portion drive signal and the output signal of the first rate gyro 11, performs servo calculation, and outputs a current command. The current command is amplified by the first amplifier 13 and supplied to the first motor 14. The first motor 14 drives the elevation shaft drive unit 15 according to the current command. Similarly, for the turning portion, the second angular velocity error calculator 22 determines that the turning portion drive signal and the second rate gyro 21
The deviation of the output signal of is calculated, the servo calculation is performed, and the current command is output. The current command is amplified by the second amplifier 23 and supplied to the second motor 24. The second motor 24 drives the turning drive unit 25 according to the current command.

As a result, the image pickup device 5 attached to the elevation part 4 moves, and the movement is detected by the first and second rate gyros as the angular velocity based on the inertial space. Since the conventional space stabilization control device has such a feedback loop configuration, the deviation between the drive signal and the output signal of the rate gyro is maintained at a minute value or less. Therefore, if zero is input as the drive signal, the first and second rate gyros detect the angular velocity of the inertial space reference, so that the LOS of the image pickup device is spatially stabilized. That is, regardless of the sway of the swaying body, the swaying body faces a certain direction in the inertial space. Further, as a matter of course, if a value other than zero is input as the drive signal, the LOS of the imaging device changes the direction based on the inertial space reference without being affected by the wobbling of the wobbling body.

[0012]

Since the conventional space stabilization control device is constructed as described above, the detection angle C of the second rate gyro 21 is increased when the elevation angle is increased and the LOS faces the zenith. Is orthogonal to the turning axis A. Therefore, when the LOS faces the zenith, there is a problem that the disturbance around the turning axis A and the turning speed cannot be measured and thus cannot be controlled. Therefore, until now, the elevation angle was restricted so that the LOS did not face the zenith.

The present invention has been made in order to solve the above problems, and provides a space stabilization control device capable of controlling the space even when the LOS faces the zenith and stabilizing the space of the LOS. The purpose is to get.

[0014]

In the space stabilization control device according to the present invention, the rate gyro used for controlling the turning axis is located in the elevation part and is transferred to the turning part, and another rate gyro is used as the turning part. It is provided to detect the angular velocities of the axis orthogonal to the turning axis and the elevation axis, and spatially stabilize the LOS using each signal.

Alternatively, in addition to the rate gyro that detects the angular velocity around the turning axis of the turning part, another rate gyro is provided at the elevation part to detect the angular velocity of the LOS, and the LOS is spatially stabilized using each signal. It is a thing.

[0016]

The spatial stabilization control device according to the present invention separately measures the angular velocity of the turning axis and the angular velocity of the turning axis and the axis orthogonal to the elevation axis, and uses the respective signals to spatially stabilize the LOS. It is possible to control even when is facing the zenith, and realizes the spatial stabilization control that can spatially stabilize the LOS.

Since the spatial stabilization control device according to the present invention separately measures the angular velocity of the turning axis and the angular velocity of the LOS, and spatially stabilizes the LOS using each signal, even when the LOS faces the zenith. This is a space stabilization control that can be controlled and can spatially stabilize the LOS.

[0018]

【Example】

Embodiment 1 FIG. 1 is a schematic diagram of a gimbal according to Embodiment 1 of the present invention. In FIG. 1, 1 to 5 and 11 are the same as the conventional device. Reference numeral 10 is an angle detector that detects an angle of the elevation part 4 with respect to the swivel portion 3, and 21 is a second angle sensor that detects an angular velocity of the swivel portion 3 with respect to inertial space coordinates around the swivel axis A.
With the rate gyro, the mounting position has been changed from the conventional elevation part to the turning part. Reference numeral 31 is a third rate gyro that is mounted on the swivel unit and detects the angular velocity with respect to the inertial space coordinates around the roll axis R orthogonal to the swivel axis A and the elevation axis E.
FIG. 2 shows the control block diagram. In FIG.
Reference numeral 2 is a coordinate converter that receives the output signal of the angle detector 10 and the output signal of the third rate gyro 31 and outputs a swing portion stabilization signal, and 33 is a swing portion drive signal 40 and a coordinate converter 32.
It is an adder that adds the swinging part stabilization signal of the output of 1 and outputs the swirling part target signal.

Next, the operation will be described. When the oscillating body 1 sways, the imaging device 5 fixed to the lie-down section 4 is swayed via the turning axis drive section 25 and the lie-down axis drive section 15. The first rate gyro 11 fixed to the elevation part 4 detects the swing as an angular velocity of the inertial space and outputs it as an angular velocity signal around the elevation axis E of the elevation part 4. First angular velocity error calculator 1
Depression drive signal and first rate gyro 11 by 2
The deviation of the output signal of 1 is calculated, amplified by the first amplifier 13, and the elevation axis drive unit 15 is driven via the first motor 14, as in the conventional device. On the other hand, the second and third rate gyros 21 and 31 fixed to the swivel unit 3.
Detects the swing as the angular velocity of the inertial space, and the swing unit 3
Is output as an angular velocity signal around the turning axis A and around the roll axis R. The angular velocity ωZB detected by the second rate gyro 21 is given by Equation 4.

[0020]

[Equation 4]

The angular velocity ωYB detected by the third rate gyro 31 is given by equation (5).

[0022]

[Equation 5]

The coordinate converter 32 inputs the output signal β of the angle detector 10 and the output signal ωYB of the third rate gyro,

[0024]

[Equation 6]

The calculation represented by is performed and the result is output as a turning portion stabilization signal. The adder 33 adds the turning portion drive signal 40 and the turning portion stabilization signal output from the coordinate converter 32 and outputs a turning portion target signal. The second angular velocity error calculator 22 calculates the turning portion target signal and the second rate gyro 2
The deviation of the output signal of 1 is calculated, the servo calculation is performed, and the current command is output. The current command is amplified by the second amplifier 23 and supplied to the second motor 24. The second motor 24 drives the turning drive unit 25 in accordance with the current command, as in the conventional device.

As a result, even when the LOS faces upward,
Since the second rate gyro 21 can measure the disturbance around the turning axis A and the turning speed, it can be controlled, and the LO
This means that S can be spatially stabilized. It goes without saying that, when a value other than zero is input as the drive signal, the LOS of the image pickup apparatus changes its direction on the basis of the inertial space reference without being affected by the shaking of the wobbling body.

Embodiment 2 FIG. 3 is a schematic view of a gimbal according to Embodiment 2 of the present invention. In FIG. 3, 1 to 5 and 11 are the same as the conventional device. Reference numeral 10 is an angle detector that detects an angle β of the elevation part 4 with respect to the swivel portion 3, 21 is a second rate gyro that detects an angular velocity with respect to inertial space coordinates around the swivel axis A of the swivel portion 3, and the mounting position is a conventional elevation position. It has been changed from part to swivel part. Reference numeral 31 is a third rate gyro that is mounted on the elevation unit and detects the angular velocity with respect to the inertial space coordinates around the LOS axis. FIG. 4 is a control block diagram thereof, in which 32 is a coordinate converter for inputting the output signal of the angle detector 10 and the output signals of the second and third rate gyros, and outputting a swivel part stabilization signal, Reference numeral 33 denotes an adder that adds the turning portion drive signal 40 and the turning portion stabilization signal output from the coordinate converter 32 to output a turning portion target signal.

Next, the operation will be described. When the oscillating body 1 sways, the imaging device 5 fixed to the lie-down section 4 is swayed via the turning axis drive section 25 and the lie-down axis drive section 15. The first rate gyro 11 fixed to the elevation part 4 detects the swing as an angular velocity in the inertial space and outputs it as an angular velocity signal about the elevation axis E of the elevation part 4. First angular velocity error calculator 1
Depression drive signal and first rate gyro 11 by 2
The deviation of the output signal of 1 is calculated, amplified by the first amplifier 13, and the elevation axis drive unit 15 is driven via the first motor 14, as in the conventional device. On the other hand, the second rate gyro 21 fixed to the swivel unit 3 detects the swing as an angular velocity of the inertial space, outputs it as an angular velocity signal around the swivel axis A of the swivel unit 3, and detects the detected angular velocity ωZB.
Becomes the number 4.

Further, the third rate gyro 31 fixed to the elevation part 4 outputs as an angular velocity signal around the LOS axis, and the angular velocity ωLOS detected by the formula 7 is obtained.

[0030]

[Equation 7]

The coordinate converter 32 inputs the output signal β of the angle detector 10, the output signal ωZB of the second rate gyro 21, and the output signal ωLOS of the third rate gyro 31,

[0032]

[Equation 8]

The operation represented by is performed and the result is output as a turning portion stabilization signal. The adder 33 adds the turning portion drive signal 40 and the turning portion stabilization signal output from the coordinate converter 32 and outputs a turning portion target signal. The second angular velocity error calculator 22 calculates the turning portion target signal and the second rate gyro 2
The deviation of the output signal of 1 is calculated, the servo calculation is performed, and the current command is output. The current command is amplified by the second amplifier 23 and supplied to the second motor 24. The second motor 24 drives the turning drive unit 25 in accordance with the current command, as in the conventional device.

As a result, even when the LOS faces upward,
Since the second rate gyro 21 can measure the disturbance around the turning axis A and the turning speed, it can be controlled, and the LO
This means that S can be spatially stabilized. It goes without saying that, when a value other than zero is input as the drive signal, the LOS of the image pickup apparatus changes its direction on the basis of the inertial space reference without being affected by the shaking of the wobbling body.

Third Embodiment Next, a third embodiment will be described. In the first or second embodiment, the calculation performed by the coordinate converter 32 includes the calculation of 1 / COSβ, and therefore, the calculation may not be possible when LOS faces upward. FIG. 5 is a control block diagram in which a measure for solving the problem is applied to the first embodiment. In FIG. 5, reference numeral 34 indicates when the angle signal β is input and the value is above a certain threshold value. A limiter that outputs a constant value outputs the limited angle signal Lβ.
The coordinate converter 32 inputs the output signal Lβ of the limiter 34 and the output signal ωYB of the third rate gyro 31,

[0036]

[Equation 9]

The operation represented by is performed and the result is output as a turning portion stabilization signal. The subsequent operation is similar to that of the first embodiment.

Fourth Embodiment FIG. 6 is a control block diagram in which the third embodiment is applied to the second embodiment. In FIG. 6, 34 is an input of the angle signal β and the value thereof is a certain threshold value or more. At that time, a limiter that outputs a constant value outputs the limited angle signal Lβ.
The coordinate converter 32 inputs the output signal Lβ of the limiter 34, the output signal ωZB of the second rate gyro 21 and the output signal ωLOS of the third rate gyro 31,

[0039]

[Equation 10]

The operation represented by (1) is performed and the result is output as a turning portion stabilization signal. The subsequent operation is similar to that of the second embodiment.

Fifth Embodiment Further, in the first or second embodiment, the calculation performed by the coordinate converter 32 includes the calculation of 1 / COSβ. Therefore, when β becomes large, the value of 1 / COSβ becomes large and the rate gyro becomes large. If the output signal of 1 includes an offset, a fixed magnitude of offset appears in the turning part stabilization signal and the LOS drifts. FIG. 7 shows an example of a control block diagram in which a measure for solving the problem is applied to the first embodiment. In FIG. 7, 16 is a first high-pass filter added to the output of the first rate gyro 11. , 26 is a second high-pass filter added to the output of the second rate gyro 21, and 36 is a third high-pass filter added to the output of the third rate gyro 31. These filters have the effect of removing low-frequency components such as the offset of the gyro and preventing the LOS from drifting.

Sixth Embodiment In the fifth embodiment, the high-pass filter is added to the outputs of the first to third rate gyros, but another method can be used. FIG. 8 is a control block diagram in which the method is applied to the first embodiment. In FIG. 8, reference numeral 17 indicates a signal when the gyro output theoretically becomes zero, and the first rate gyro 11 at that time is input. 1 is a first hold circuit that holds the output of the first rate gyro 11, and 18 is a first subtractor that subtracts the output of the hold circuit 17 from the output signal of the first rate gyro 11. A second hold circuit that receives a signal and holds the output 21 of the second rate gyro 21 at that time, and a second subtracter 28 that subtracts the output of the hold circuit 27 from the output signal of the second rate gyro 21. , 37 inputs the signal when the gyro output theoretically becomes zero, and holds the output 31 of the third rate gyro at that time.
Hold circuit, and 38 indicates the output of the hold circuit 37 as a third
3 is a third subtractor for subtracting from the output signal of the rate gyro 31 of. With such a circuit configuration, the output signal of the gyro theoretically becomes zero when the swaying body such as a ship or vehicle is stopped and the space stabilization control device is not driven. If the output signal of the third rate gyro is held by the hold circuit, that is the offset of the gyro. The output of this hold circuit is the first
Can be eliminated by subtracting from each rate gyro output with the third subtractor.

Seventh Embodiment Further, in the sixth embodiment, the value when the gyro offset is zero is theoretically held, but another method can be used. FIG. 9 is a control block diagram in which the method is applied to the first embodiment. In FIG. 9, 10 is a first angle detector for detecting the angle between the elevation and the fixed portion, and 19 is an offset cancel command. A first angle error calculator for calculating the difference between the elevation angle command signal and the output signal of the first angle detector 10 and outputting a depression / elevation part drive signal 39, 20
Is a second angle detector for detecting the angle between the swivel part and the fixed part,
Reference numeral 29 is a second angle error calculator that calculates the difference between the turning angle command signal and the output signal of the second angle detector 20 when the offset cancel command is added, and outputs the turning portion drive signal 40. In such a circuit configuration, when an offset cancel command is added when a rocking body such as a ship or a vehicle is stopped, the elevation unit forms a turning loop with respect to the turning unit, and the turning unit forms an angular loop with respect to the fixed unit. It will also be fixed to the space. Since the output signal of the gyro at this time theoretically becomes zero, if the output signals of the first to third rate gyros at this time are held by the hold circuit, that is the offset amount of the gyro. The offset can be eliminated by subtracting the output of this hold circuit from each rate gyro output by the first to third subtractors.

In the above embodiment, the space stabilization control device mounted on a ship or a vehicle has been described, but the present invention is not limited to this, and a space stabilization control device mounted on an aircraft or the like and mounted downward is not limited thereto. It is needless to say that the zenith in the explanation is changed to directly below in that case.

[0045]

As described above, according to the present invention, the second rate gyro, which is in the elevation section and used for controlling the turning axis in the conventional apparatus, is transferred to the turning section, and another rate gyro is used. Is installed in the swivel section to detect the angular velocity of the roll axis, or another rate gyro is installed in the elevation section to set L
By detecting the angular velocity of the OS, there is an effect that the LOS can be directed to the zenith.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a gimbal configuration of a first embodiment of the present invention.

FIG. 2 is a control block diagram according to the first embodiment of the present invention.

FIG. 3 is a schematic diagram showing a gimbal structure of a second embodiment of the present invention.

FIG. 4 is a control block diagram of a second embodiment of the present invention.

FIG. 5 is a control block diagram according to a third embodiment of the present invention.

FIG. 6 is a control block diagram according to a fourth embodiment of the present invention.

FIG. 7 is a control block diagram of a fifth embodiment of the present invention.

FIG. 8 is a control block diagram of a sixth embodiment of the present invention.

FIG. 9 is a control block diagram of a seventh embodiment of the present invention.

FIG. 10 is an external view showing a conventional gimbal structure.

FIG. 11 is a schematic diagram showing a conventional gimbal configuration.

FIG. 12 is a conventional control block diagram.

[Explanation of symbols]

 1 Swinging Body 2 Fixed Part 3 Revolving Part 4 Depression Part 5 Imager 10 (First) Angle Detector 11 First Rate Gyro 12 First Angular Velocity Error Calculator 13 First Amplifier 14 First Motor 15 Depression Axis drive unit 16 First high-pass filter 17 First hold circuit 18 First subtractor 19 First angle error calculator 20 Second angle detector 21 Second rate gyro 22 Second angular velocity error calculator 23 Second Amplifier 24 Second Motor 25 Slewing Axis Drive 26 Second High Pass Filter 27 Second Hold Circuit 28 Second Subtractor 29 Second Angle Error Calculator 31 Third Rate Gyro 32 Coordinate Conversion 33 Adder 34 Limiter 36 Third High Pass Filter 37 Third Hold Circuit 38 Third Subtractor 39 Depression Drive Signal 40 Swiveling Drive Signal

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display area G05D 1/08 Z

Claims (6)

[Claims] 1. A fixed part fixed to a rocking body to support the whole gimbal, a swivel part which rotates on a line perpendicular to the fixed part above or below the fixed part, and above or below the swivel part. The elevation part that rotates around a line perpendicular to the turning axis, the first rate gyro that is attached to the elevation part and that detects the angular velocity with respect to the inertial space coordinates around the elevation axis of the elevation part, and the rotation part that is attached to the turning part. A second rate gyro that detects the angular velocity with respect to the inertial space coordinates around the turning axis, and a third rate that detects the angular velocity with respect to the inertial space coordinates around the axis that is attached to the turning section and is orthogonal to the turning axis of the turning section and the elevation axis. A gyro, an angle detector that detects the angle of the elevation axis with respect to the turning portion, a coordinate converter that inputs the output signal of the angle detector and the output signal of the third rate gyro, and outputs a turning portion stabilization signal, and Club A first angular velocity error calculator that calculates a current command from the motion signal and the output signal of the first rate gyro, a first amplifier that amplifies its output, and an elevation axis that receives the output of the first amplifier A first motor for
The elevation shaft drive unit driven by the motor of the motor, the adder that outputs the swing unit target signal by adding the swing unit drive signal and the swing unit stabilization signal, and the swing unit target signal output by the adder and the second
Second angular velocity error calculator that calculates a current command from the output signal of the rate gyro, a second amplifier that amplifies the output, and a second motor that receives the output of the second amplifier and drives the swing axis And a rotation axis drive unit driven by a second motor. 2. A fixing part fixed to a rocking body for supporting the whole gimbal, a swivel part rotating above or below the fixing part about a line perpendicular to the fixing part, and above or below the swivel part. The elevation part that rotates around a line perpendicular to the turning axis, the first rate gyro that is attached to the elevation part and that detects the angular velocity with respect to the inertial space coordinates around the elevation axis of the elevation part, and the rotation part that is attached to the turning part. A second rate gyro that detects an angular velocity with respect to the inertial space coordinate around the turning axis, and an LOS (Line Of Sig) attached to the elevation section.
t; visual axis) A third rate gyro that detects an angular velocity with respect to an inertial space coordinate around the axis, an angle detector that detects an angle of the elevation axis with respect to a turning portion, an output signal of the angle detector, and second and third angles. A coordinate converter that inputs the output signal of the rate gyro and outputs a turning part stabilization signal, and a first angular velocity error calculator that calculates a current command from the elevation drive signal and the output signal of the first rate gyro, A first amplifier that amplifies the output, a first motor that receives the output of the first amplifier and drives the elevation axis, an elevation axis drive section that is driven by the first motor, and a swivel section drive signal. An adder for adding a turning part stabilization signal and outputting a turning part target signal, and a second angular velocity error for calculating a current command from the turning part target signal output by the adder and the output signal of the second rate gyro Amplifier and its output A second amplifier that, a second motor for driving the pivot axis in response to an output of the second amplifier, second
And a rotation axis drive unit driven by the motor. 3. A limiter for outputting a constant value when the angle of the elevation axis exceeds a certain threshold value, and the output is used as the elevation angle input of the coordinate converter. The space stabilization control device described. 4. The first, second, and third rate gyro outputs are provided with first, second, and third high-pass filters, respectively, and the signals passed through the filters are used for spatial stabilization. Item 3. The space stabilization control device according to item 1 or 2. 5. First, second and third hold circuits which receive the first, second and third rate gyro outputs and hold values when respective signals theoretically become zero, 3. The space stabilization control according to claim 1, further comprising first, second and third subtractors for subtracting the hold circuit output from the rate gyro output, and using the output signals thereof for space stabilization. apparatus. 6. A first angle detector for detecting the angle of the elevation axis with respect to the turning portion, a second angle detector for detecting the angle of the turning axis with respect to the fixed portion, and a elevation angle when an offset cancel command is input. A first angle error calculator that calculates a depression / elevation drive signal from the angle command signal and the output signal of the first angle detector, and a turning angle command signal and an output of the second angle detector when an offset cancel command is input. A second angle error calculator for calculating a swing drive signal from the signal;
First, second, and third hold circuits that input the second and third rate gyro outputs and hold values when an offset cancel command is input, and a first that subtracts the hold circuit output from the rate gyro output , Second and third
3. The spatial stabilization control device according to claim 1, wherein the spatial stabilization control device has the subtractor of claim 1, and the output signal thereof is used for spatial stabilization.