JPS6067814A - Azimuth controlled oscillation stabilizer - Google Patents

Abstract

PURPOSE:To eliminate effects of an oscillation to an optical apparatus, by installing on an oscillating body, compass, clinometer, optical apparatus provided with swivelling means and computing means, obtaining swivelling correcting value from an oscillating angle and correcting a swivelling value of an optical apparatus. CONSTITUTION:An oscillation stabilizer 100 is referred to as an apparatus enabling an optical apparatus, such as a sighting telescope, etc. installed on an oscillating body, such as a ship, a continuous sighting of an object disregarding its oscillating motion, and it is composed of compass (r), oscillation angle measuring means (h), computing means cp mounted on the oscillating body. The computing means cp determines a swivelling correction value DELTAepsilon2 based upon the oscillation angles x, psi computed from the oscillating angle computing means. The optical apparatus is provided with the swivelling means and based upon said correction value, it corrects its swivelling value and collects the same objects prior to the oscillating motion in the middle of the visual field. The computing means 100 can be constructed also with a mechanical means in place of an electronic circuit means.

Description

DETAILED DESCRIPTION OF THE INVENTION TECHNICAL FIELD OF THE INVENTION The present invention relates to an azimuthally controlled motion stabilizing device for a moving body such as a ship.

Background and Purpose of the Invention In order to enable optical devices such as sighting telescopes and television cameras installed on moving bodies such as ships to continuously capture targets against the shaking, it is necessary to raise and lower these devices, Although it is necessary to drive the swing mechanism in a corrective manner in accordance with the oscillation, such an azimuth-controlled oscillation stabilizing device has not been put into practical use so far.

Therefore, an object of the present invention is to provide an azimuth-controlled vibration stabilizing device suitable for practical use.

Summary of the Invention The present invention provides an optical device having a compass, a sway angle measuring means, a turning (or turning/elevation) means, and a calculation means (or further sway correction means) on a moving body, and calculates a turning correction value ( or a corrected turning angle and a corrected elevation and elevation angle), and introduce these into the means for rotating (or rotating and elevating) the optical device to overcome the effects of oscillation on the optical device and make them as if they were on land. It should be kept in a safe condition.

Principle of the Invention Under the condition in which the above-mentioned correction drive is performed, the attitude of the sight line, optical axis, etc. of the optical device with respect to the earth is considered to be constant. That is, the azimuth angle between the vertical plane containing the word line and the meridional plane, and the elevation angle between the word line and the horizontal plane are both constant. In this case, changes in direction caused by the navigation of the ship, etc. are automatically calculated. Although the object of the present invention is not limited to ships, for convenience, a ship will be described below as an example.

The ship's course is determined by compass measurements, and the ship's sway is determined by the sway angle in two orthogonal directions on the deck. To measure the oscillation angle, a horizontal probe can be used.

However, the essence of the present invention does not change depending on the form of the artificial horizontal surface. Since the present invention is considered to include two inventions based on the same principle, it will be explained in two parts.

FIG. 1 is an explanatory diagram of the principle of the present invention, and FIG. 1A is the first invention;
FIG. 1B is for the second invention.

In FIG. 1A, the rectangular coordinate system o-xyz indicates a gyro horizon, OZ is perpendicular to the deck surface, and coordinate plane XOY is parallel to the deck surface. χ(LY OY(1) and ψ(LXOXo) measured in the coordinate planes ZOY and ZOX are the oscillation angles obtained by the transmitters installed at OX and OY, respectively. On the other hand, the plane X00YO indicates the horizontal plane. , OY perpendicular to this indicates the plumb line. OXO is the actual support axis of the gyro horizon, and the horizon takes a horizontal attitude by itself, but OXO is always aligned with the meridian through azimuth control. Figure 1A If OK is the ship's stern and OXO is coincident with the meridian ON, then the angle θ between the vertical plane VOK1 and the meridian ON is the ship's course, which is detected from the ship. If the turning angle θd that makes the axis OX of the gyro horizon OK can be calculated from various quantities such as the course θ and swing angles χ and ψ, the above-mentioned corrective drive can be realized by controlling the azimuth. There is the following relationship between various quantities.

sinθ・Secχ1=Q'l! +ψ・sinθd+s
hlψ−tanχ1"""'...(1) Formula (
2) is, in this case, the swing angle ψ1. χ1, and the ship's course direction having an angle between these axes OK and OK' and θd. , x, oscillation angle ψ and χ from the oy line. This formula can still generally be used as a formula for converting a swing angle on an arbitrary orthogonal line on the deck surface of a ship to a swing angle on an orthogonal line that makes an arbitrary angle with the swing angle. In addition, to put it simply, the swing angle from the line of the direction on the deck is the swing angle from a line on the deck that supports the telescope when placed on the deck and rotates in a given direction. This means that if you only look up at the visual (optical) axis, you can see the horizon. Here, χ1.
ψ1 are called the ship's lateral and vertical oscillation angles, respectively.

Various methods can be considered to mechanize the above formula, one example of which will now be shown. In Figure 1A, △ε2−(α0+θ
)−(α+θd) △ε32 α−α0, then θd=θ−(△ε2+△ε3) ・・・・・・・・・・・・
・・・・・・・・・・・・・・・(3) is obtained. Here,
△ε2+△ε3 is the azimuth baseline correction amount as will be explained in detail later, and the following relational expression holds true: △ε2=F1(χ, ψ) ・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・(6)Δε3=F2(χ1
, ψ1) ・・・・・・・・・・・・・・・・・・
It can be set as (7). Equation (6), (F'1 in force. F'2 function represents baseline correction regarding sway angle, Fl(χ, ψ)
is called the first rice baseline correction, and F2 (χ1.ψ1) is called the second type baseline correction. Here, to explain the meaning of baseline correction in simple terms, the first type of baseline correction Fz (χ, ψ) is the adjustment of the swivel platform that supports the telescope on the deck, which was mentioned when explaining the swing angle above, to the When turning from the tail line OK by an arbitrary angle and observing the horizon by raising the visual axis by the oscillation angle at that position, in order to align the target on the horizon before oscillation with the center of the field of view, the swivel base must be adjusted by △ε2. It is necessary to correct the rotation, and the Δε2 value is the oscillation angle χ.

This means that it is a function of ψ, and its functional form is expressed by Fl. However, even in this case, the horizontal line within the field of view is tilted by the angle of sway while keeping the target at the center of the field of view. The second type of baseline correction F2 (χ1.ψ1) is to correct the oscillation error of the con-gus scale that indicates the ship's course due to oscillation.
This is the swing angle ψ1 with respect to the tail line OK on the deck and the OK' line perpendicular to this. It is a function of χ1, and its functional form is expressed as F2.

Based on the above formula +2), 16), f force, ship course (compass measurement value) θ and swing angles χ, ψ and χ1. It is possible to calculate the azimuth control angle θd of the horizon with ψ1 and control the horizon to control the azimuth. When the upper surface S of the horizon whose azimuth is controlled in this manner is configured into a table shape, this is called a stasol bratform (artificial horizontal surface), and various uses can be considered. If a small transducer (for example, an accelerometer) is installed on this S plane in the east-west and north-south directions, and its output is derived and integrated, a ground speed meter for ships can be obtained. In addition, as will be described later, since θd, χ, and ψ are outputted from the azimuth-controlled horizontal instrument, these are guided to other positions on the deck, and then the θd, χ, and If you install a cymbal configuration stand that can be moved vertically and horizontally with ψ, and if you place a horizontal turntable with a stable brat four telescope on top of it, you can make the swivel as described below. Unlike a vertical baseline correction type telescope, it can observe a fixed target on the horizon, keeping the horizon level, regardless of the ship's course or movement.

FIG. 1B is an explanatory diagram of the principle of the second invention. In Figure 1B, if OT is a straight line indicating the optical axis of a sighting telescope or television camera, the attitude of the OT line with respect to the earth is determined by the specifications i regarding the horizontal plane xoo-y0 and the meridian ON (see Figure 1A). and θ0. Also, the same OT
The attitude of the line is also expressed by the dimensions δ and τ regarding the deck plane xoy (see Figure 1A) and the tail line OK.

Now, θ. , θ0-θ and i are respectively called the azimuth angle, turning angle and elevation angle before making corrections for the oscillation, and τ and δ are respectively called the turning angle and the elevation angle after making corrections for the oscillation, These i.

θ0. The following relational expression holds true between τ, δ, the above-mentioned lateral oscillation angle χ1, longitudinal oscillation angle φ1, and ship's course θ.

Minoh (θ−θo) = ・・・・・・・・・・・・・・・(8) Therefore, θ, χ
1. ψ1. If i, θ0 are given, τ, δ and θ0−
If the relationship between θ and i can be determined by a calculation mechanism, it should be possible to maintain the OT line at a constant attitude with respect to the earth regardless of the movement of the ship.

The above formula needs to be modified to be suitable for mechanization. First, in Figure 1B, ρ=θ0−θ...so...4...turns (1, 1)△
τ=τ−ρ ・・・・・・・・・・・・・・・・・・・・・
...CI, 2) △δ=δ-i ...song...
・・・・・・・・・4...If we set (1, 3), △τ = △ε1− ε + △ε3 ・・・・・・
・・・－・・・Music... Obtain (1,,4). Here, △ε5=F2cχ1. ψ1) ・・・song・concave・・・song・
Similarly, △ε1 = F2 (χA, ψT)...between decoy songs...
・It becomes (1, 6). Here, the functional form of ``2'' is the same as that shown in equation (7).Furthermore, sinε=tsrr6−−χT O・song−−=・−(1
, 7) SLIni=*(δ+ψT)・eosχTo・
・Dan...Bun...4 (1,8), so the formula (1,8)
Transform δ+ψ, -1=F(δ+ψf+taIlχa.)...
...Quadruple (1,9) is found. Here, ronχTQ-tAllχ7・ 房ψ7 ... Song 4...
The song interval is (1, 10), and the equation (1, tO) becomes -χTo-1χT=-χT (cos ψT-1) - the song interval = (1, 11,). Furthermore, it becomes . In the above formula, △τ is the corrected turning angle for vibration, and δ
is the corrected depression/elevation angle for the oscillation, ψT is the oscillation angle of the orthogonal shadow line of the optical axis of the optical device at the corrected rotation position onto the oscillation body,
χT is the swing angle of a line perpendicular to the orthogonal shadow line of the optical axis of the optical device at the corrected rotational position.

By mechanizing the equations (1, 11) and fi (1, 12) above, it is possible to stabilize the OT line against fluctuations.

Mechanization (deviceization) of the principles of the first and second inventions described above
There are two possible methods: mechanical and electronic.

Embodiment FIG. 2 is a system diagram showing an example in which the first invention is implemented by a mechanical system. In the figure, the horizon direction control device [
F] The motor (1■, f121, [
1υ is the transmitter (1), (2
> , f6) The horizontal beam receives the transmitted oscillation angles χ and ψ and the horizontal angle of rotation θd, respectively, and rotates. The values of χ and ψ are converted into -χ and -ψ by the action of groove cam calculators ■ and ■. These calculators ■ and ■ have a known structure, and the axes (IGI) and (IO
2) rotates worms (19a) and (19b), worm wheels (21a) and (21b) via branch shafts (13a) and (13b), and rotates grooved curved rotating bodies (23a) and (23b) and The shaft (15a) is connected to the shaft (15a) through swinging arms (25a) and (25b) with sliding ends that fit into the salt.
and (15b) are rotated in proportion to -χ-χ and ψ-ψ. These derived values are the values of χ and ψ of the axes (lla) and (llb) and the differential gears (17a) and (17), respectively.
b) and converted into values of -χ and -ψ, respectively.

These values are led to the transmitters (159) and (158) and are introduced into the sine and cosine calculator O via the axes (IAI) and (2A1). In addition to the axes (IAI) and (2A-1), the calculator (2) has one introduction axis (3At), and this axis introduces the value of the rotation angle θd from the motor (11). Calculator (2) has a known structure and mechanizes equation (2). That is, the levers (29a) and (30a) sliding through the centers of the rotary disks (27a) and (28a) are given a motion corresponding to -χ and the plow ψ, and the shaft (3A1) is moved by θd. The rotation angle is given to the rotary disks (32a) and (33a). At that time, members (34a), (35a), and (36) are allowed to slide only perpendicularly to each other and have grooves perpendicular to the sliding direction, respectively.
a).

(37a) are the levers (29a) and (30a) that fit into the intersections of the respective orthogonal grooves (38a) and (3).
According to 9a)) t2Inχ°fish θd, tanχ・粲θd
and −φ・eave θd.

It performs a movement proportional to the theory ψ and the picture θd. Therefore, these values can be expressed as differential gears (41a) and (40a) using the formula (2).
), the axis (4A1) moves in proportion to -χI, that is, the tangent of the lateral vibration angle, and the axis (5A1)
performs a motion proportional to -ψ1, that is, the tangent of the longitudinal swing angle.

Axes (4Ax) and (5A1) are /P 7-riv-(30
1) and (3'02), and the axes (IC2) and (
Enter the 3D cam calculator ○ via 2C2). On the other hand, the axis (
The values of -χ1 and -ψ1 of (3012) and (3022) are transmitted to the transmitter (country and The signals are introduced into χ1 and ψ1, respectively, and guided to the transmitters (508) and (507).Calculators ■ and ■ have exactly the same structure as calculator ■.

On the other hand, the motor with oscillation angles χ and ψ (1 and 0 points are the shaft (
The motion is transmitted to the stereo cam calculator O via ICI) and (2C1). Calculators O and O are equations (7) and (6)
It has a known structure. That is, the worms (109a), (109b) and the worm wheels (110a), (110b), the three-dimensional cam (lla
), (1-11b), a rack with a contactor (113a), (113b) that contacts the surface of the three-dimensional cam, and a threaded rod (112a) that feeds this rack.

(ii2b), rack (113a), (113b)
Rod gears (114a) and (114,b) that mesh with
It is composed of etc.

In the end, each derived value is △ε2 and △ε3 and the oscillator (
The rotation of the shaft (141) indicating the value of Δε2+Δε3 is transmitted to the transmitter (14).

The transmitter (1 (a) drives the horizontal motor (4),
The rotation amount θ-(△ε2+△ε3) with the 0 transmitter (1) of the compass ■ and the motor (5) which rotates more than 1 (It) indicates θd.This rotation amount is Controls the direction of the horizontal instrument.

FIG. 3 is a system diagram showing an example of implementing the second invention using a mechanical system. The handles (30) and ((2) of the sighting telescope ■ are the azimuth angle θ0 before making corrections for fluctuations.
and the elevation angle i. The motor (26) and C3S transmit correction values △εl-ε and △δ to the eyeglass stabilizer ■
The transmitter (4!9 and l37) receives the signal and rotates.

Further, the motor (27) receives the compass and the ship's course θ, and the motor 128) receives the correction value Δε3 of θ due to oscillation from the horizon azimuth control device (FIG. 2) and rotates. These values are determined by the differential gear (291) as shown.

01), (added in step 32 and corrected for oscillation, resulting in turning angle τ (= △ε1 - ε 10 △ ε3 + θ0 - θ) and elevation angle δ (= Δδ + i), respectively, and the axis (251)
and (36t) to give turning and elevation movements to the sighting telescope (2), and also send a signal to the eyeglass stabilizing device (2) via transmitters (25) and (to). In addition, the eyeglass stabilizer■
The device [F] receives the tangents -ψ1 and -χ1 of the longitudinal and lateral swing angles and rotates the motors (42 and 14).In this way, the value introduced into the device [F] is τ=a+tMJχ1
and -ψ1, the derived values of device (2) are Δε1-ε and Δδ.

Next, a mechanism for calculating derived values from these introduced values will be sequentially explained. First, the values of −χ1 and ψψ1 are the axis (
Power relay via (3171) and (3,181)
(31,7) and (318). The other lead-in axes of the power relays (317) and (318) are the two lead-in axes (4A2) and (5A2) of the sine and cosine calculator O, respectively. If nokwarrelay (317) and (318)
If the axes (4A2) and (3171) and the axes (5A2) and (3181) do not match, the -χ7 motor (41 and -ψ1)
The motor (41) continues to rotate. The introduction axis of the calculator O is an axis (IA2
), (2A2). The structure of calculator O is exactly the same as that of calculator O in Figure 2, but its operation is expressed by equations (1, 12).
It is the mechanization of Power relay (317) and ('31
8) with axis (4A2) and (3171), axis (5A2)
When there is a match between and (3181), @(4Az
) and (5A-2) show −χ1 and −ψ1. On the other hand, the rotation amount of motors (40 and (4η) is calculated by the formula (1
, 12). Furthermore, the axis of Komanχ1 motor (4G and -ψT motor (4υ) (4(
h ) and (411) are the axes (IMt) and (
2Mt) is branched and introduced into the multiplier ■.

Multiplier (2) is a mechanical version of equations (1, 11) and has a known structure. A grooved rod (53a), a member (54a) that fits into the groove of (53a) and moves, and a threaded rod (55).
a) and a member (56a) moved by (55a);
It consists of a member (59a) that rotates around the center (58a) of the groove (57a). The groove (57a) is the member (59
a), into which the protrusion (62a) of the racked slider (61a) that slides against the bottle (60a) of the member (54a) and the member (56a) fits into the groove (57a). death,
The slider with rack (61a) is still a bar gear (63a).
) meshes with each other. The derived shaft (3M1) performs a motion proportional to -χTo--χA, and is amplified by the power relay (319), rotates the motor 0I, and simultaneously rotates the differential gear (316).
) to drive. At this time, -χa is introduced into the differential gear (316) from the shaft (3161), so in the end, the shaft (3161)
3163) performs a rotation proportional to -χTO.

Next, in the stereo cam calculator O, a rotation amount corresponding to the axis χTo is introduced to the axis (3163), and the axis (3111) that transmits -ψ7 and the corrected glasses elevation angle δ are transmitted. A rotation amount corresponding to -ψ7+δ is introduced by the shaft (IC4) coupled to the shaft (381) via the differential gear (311). Calculator O is a mechanical version of equations (1, 9), has the same structure as O in Figure 2, and has a derivation axis (3
The rotation of C4) shows δ + ψ ar i. Furthermore, the grooved cam calculator (2) is introduced with the seatia by ill+ (tG3), and a quantity proportional to ψT is derived from the axis (20a). The structure of the calculator O is exactly the same as that of the calculator ■ in FIG. Since the rotation value ψT of the shaft (20a) and the rotation value δ+ψT-i of the shaft (3C4) are subtracted by the differential gear /:313), the rotation amount of the shaft (3133) is the corrected elevation angle △δ
It is then guided to the transmitter 37).

On the other hand, △δ is transmitted to the shaft (3101), and the motor (to)
The value of δ guided to the shaft (3102) and the differential gear (31
0), so the axis (3141) rotates the amount of rotation proportional to the unmodified elevation angle i.
14) Tell the - side. , - The other introduction axis (3T1) of the hoe relay (314) is the derivation axis of the triangular pyramid calculator O.

Calculator O is a mechanical version of equations (1, 7) and has two introduction axes (ITl, ) and (2Tt). Shaft (2Tt)
is branched to the shaft (3163) and transmits the amount of rotation in proportion to -χTO. The other axis (ITx) is the motor (337
) is rotated by

The motor (337) rotates when the two introduction shafts (3141) and (3Tt) of the power relay (314) do not match. The structure of the calculator (2) is known and consists of a member (100a) moved by a threaded rod (98a), a member (101a) moved by a grooved rotary rod (99a), and a rotary disk (102a). Component (100a)
, (101a) and the turntable (102a) have grooves (104a), (103a) and (105a), respectively.
There is. At the intersection of these three, there is a bottle (
106a). of? The motor (33) when the rotation amounts of both introduction shafts match in the power relay (314)
The amount of rotation in 7) is assumed to be ε.

Furthermore, the axis (IC3) indicating sieve ψa and the axis (2
Ca) is introduced into the three-dimensional cam calculator O with a known structure,
Calculations corresponding to equations (1, 6) are performed to derive Δε1 from the axis (3Ca). Calculator O has the same structure as calculator ○ in FIG. The rotation amounts of the shaft (3Ca) and the shaft (3151) are added by the differential gear (315), and il+ (3
153), a rotation amount proportional to Δε1−ε is derived from the output W unit 1451.

Although the apparatuses shown in FIGS. 2 and 3 described above are both mechanical systems, the present invention can also be implemented electronically using a computer. Next, the second
A device that is electronically modified from the device shown in FIGS. and 3 will be described. FIG. 4 is a system diagram showing the fll when the first invention is implemented electronically. In the figure, the con/f scale (■) and the horizontal value (■) may be the same as those in FIG. ■ is the second
If you use the electronic control device corresponding to the horizontal direction control device [F] shown in the figure, and use the computer unit, the door 5
X Tekiru. When using a computer unit, the blocks in the figures can be seen as representing the steps of a program. Other parts corresponding to those in FIG. 2 are given the same reference numerals as in FIG. 2. The controller transmits the ship's course θ, which is received at the horizontal value ■. Swing angles χ and ψ are transmitted from the horizontal value ■ and sent to the computer unit O. On the other hand, the horizontal value ■ receives the azimuth baseline 41% positive value of Δε2 + Δε3 from O, and is added to the above θ value using the formula 3) θ
Determine θd according to d=θ−(Δε2+Δε3) and send it to (si. Eventually, computer unit O obtains θd.

Input χ, ψ and χ1. ψ1. Calculate Δε2+Δε3 and output these.

■Inputs χ and ψ to FT
are converted into logic χ, -ψ via the input θd, and then sent to the oscillation angle coordinate conversion program (or means) PRT using the formula (2) (-χ1=-χ・fusel θd−boundary ψ・optical θd.

-ψ1=t-Inψ°弼θd+χ°sinθd) is performed, and the signals are converted into -χ1 and -ψ1 and output. This PRT is generally used to convert the pitch angle and roll angle in an arbitrary reference direction on the deck of a ship to the pitch angle and roll angle in a direction that forms an arbitrary angle with this on the deck. be able to.

This -χ1. -χ, -ψ converted from -ψ1 and input values χ, ψ are obtained from the first type and second type baseline correction programs (or means)'F, , T and F2T, respectively, using equation (6) △ε2= F'l(χ, ψ) and (formula Δε3=F2(χ
Engineering.

The values of Δε2 and Δε3 are calculated according to ψl), and these are outputted individually or added together by an addition operation (or means) D) and outputted from O. The 1st and 2nd type baseline correction program is a general method for making 1st and 2nd type baseline corrections in any direction on the deck using the pitch angle and roll angle in that direction. Can be used for

FIG. 5 is a system diagram showing an example of implementing the second invention in an electronic one-way system. In the figure, parts corresponding to those in FIG. 3 are given the same reference numerals. 3 is a sway correction device that replaced the eyeglass stabilizing device 2 in FIG. The blocks in O represent the steps of a zologram in computer terms. Compass ■ The ship's course θ is 0
The azimuth reference correction value Δε3 of the azimuth control horizon is being transmitted to the sighting telescope ■. In addition to the above two signals, the sighting telescope ■ receives the direction correction value △ε of the sighting telescope from the oscillation correction device O.
1-ε and the elevation angle correction value Δδ, and also set the azimuth θ0 and elevation angle i of the telescope using the handle. The telescope ■ transmits the elevation angle signal i and the corrected turning angle τ to O. In addition to these two signals i and τ, 0 receives from O the tangents -χ1 and -ψ1 of the ship's pitch angle and roll angle.

The above input signal -χ1. t, Inψ1 and τ are the oscillation angle conversion program (or means) PRT formula (1, 12)
According to the % formula % + tanχhi5lnf), the tangent of the swing angle in the direction perpendicular to the deck surface -χ7. It is converted to ψ1. This tuχ,
and -ψ1 are calculated using the equation (1,,10) (-χTO=-χ
, · 迈ψ, ) is converted to χTo. This χTo
and - the above discussion.

-ψ7 is -χ, by the function transformation nologogram (or means) FT together with the input signal i of the aiming telescope. .

It is converted into fish χTQ lψ7+S stones i and -i. Among these calculated values, the values of mχTOlψ7 and sln i are determined by formula (1, 8) (sin i = sin (δ+ψ
It is converted into a δ value based on T)・弼χTo). tanj + - χ from FT, the value of 0 is ε of the triangular pyramid calculation program
According to the part TRAPε, equation (1, 7) (+, Inε=tan
k"-χ10). On the other hand, -
The χA, -ψ7 values are converted into Δε1 values by the first type baseline correction program FIT. These △ε1 and ε outputs are
The subtraction operation (or means) SUB yields Δε1−ε.

Still, the above δ value is subtracted from the input value i (also 1'-≦p'
XrIr? ΔF with k 8M −J j )−h in−
, -E and the △δ value become the output of ○, which becomes the input of the aiming telescope ■.

In the telescope (■), the direction correction is made by direct input △ε1−ε.

Adjustments are made to θ, Δε3 and the set value θ0 (1%
The turning angle τ after normalization is obtained, and the elevation correction is performed by adding or subtracting the input angle Δδ and the set value i to obtain the corrected angle δ force iK.
% can be done. By controlling the movement of the sighting telescope (or television camera) based on the values of τ and δ, the optical axis can be directed in a fixed direction in space regardless of the movement of the ship.

Although the embodiment of the present invention has been described above using a ship as an example, the present invention is applicable not only to ships but also to traveling objects such as cars that move during one movement and oscillate. In the book, these are included and are referred to as oscillating bodies.

However, the present invention is susceptible to various modifications and changes as long as they fall within the gist of the invention set forth in the claims.

Effects of the Invention According to the present invention, it is possible to maintain an optical device such as a sighting telescope, a television camera, etc. installed on a movable body at a constant attitude with respect to the earth regardless of the motion. Target objects can be continuously captured using telescopes, television cameras, etc. against oscillations. Therefore,
The present invention is highly effective in observing and photographing fixed targets from a ship or a moving vehicle. In addition, since the correction value is calculated from the easily measurable sway angle, it is easy to put it into practical use.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of the area of the present invention (Fig. 1A is the first invention, Fig. 1B is the second invention), Fig. 2 is a family stratification diagram showing the first embodiment of the first invention, and Fig. 3 FIG. 4 is a system diagram showing the first embodiment of the second invention, FIG. 4 is a system diagram showing the second embodiment of the first invention, and FIG.
The figure is a system diagram showing a second embodiment of the second invention. ■・・・Concession,■・・・Sway angle measuring means,■・・
・Optical bag f neck, [F], O... calculation means, χ, ψ...
・Ox, oscillation angle regarding oy line, χl, ψ1...ox
, oscillation angle regarding OK and OK' lines that make an angle of θd with the oy line, Δε2 (Fl (χ. ψ))... Turning correction value, △ε3 (F2 (χ1. ψ1)
)...Concession error correction value, θ...Concession measurement directness, ■, O...Movement correction means, θO...Azimuth of a target in space with respect to the horizontal plane, △τ . . . Corrected turning angle, i . . . Elevation angle with respect to the horizontal plane of a target in space, Δδ . . .) Can correct angle. Figure 1A Figure 1B

Claims (1)

[Scope of Claims] 1. A compass, a swing angle measuring means, and a calculating means are provided on the floor of the moving body, and an optical device having a turning means is arranged on an artificial horizontal plane, and the calculating means allows The angle of oscillation with respect to two arbitrary orthogonal axes is converted into the angle of oscillation with respect to two other orthogonal axes forming an arbitrary angle with respect to the two axes, and the artificial horizontal plane is adjusted to the floor surface in response to the angle of oscillation in an arbitrary direction of the main rising surface. In the case of a vertical movement up to the horizon in a plane perpendicular to A turning correction value is calculated as a function of the sway angle with respect to the direction on the floor surface and a direction orthogonal thereto, and a correction value for the error of the connox due to the oscillation is calculated with respect to the tail line on the floor surface and a line orthogonal thereto. An azimuth-controlled sway stabilizer that is calculated as a function of sway angle and combines these with the compass measurements to control the artificial horizontal plane. 2. On the floor of the moving body, there is a con-death, a swing angle measuring means,
An optical device having a turning and elevating means, a calculation means, and a sway correction means are provided, and the sway angle with respect to two arbitrary orthogonal axes on the floor surface can be adjusted by two other orthogonal axes forming arbitrary angles with respect to the two axes. The above con i
In order to resist the movement of the floor surface in any direction and capture the same target object before movement in the center of the field of view, using the e-based system and calculation means, the azimuth angle of the object in space with respect to the horizontal plane is used as a reference. The corrected turning angle at which the optical device should be turned is calculated, and the calculation means and the movement correction means are used to make the optical device move against the movement of the floor surface in any direction based on the elevation angle with respect to the horizontal plane of the target object in the space. By calculating the correction angle of elevation at which the optical device should be elevated in order to capture the same previous target in the center of the field of view, and by introducing these as correction values into the rotation and elevation means of the optical device, the optical An azimuth-controlled oscillation stabilizer that allows the device to maintain a constant attitude relative to the earth regardless of oscillations.