KR102665845B1 - Apparatus for compensating axis alignment of gimbal and radar system including the same - Google Patents

Abstract

The present invention includes a gimbal device that rotates on at least one axis and drives to indicate a target direction; It is applied to the gimbal device and includes a gimbal alignment unit in which elevation points and azimuth points are formed based on the angle alignment reference axis; and a navigation sensor mounted on the gimbal alignment unit and measuring position or direction to generate measurement information.

Description

Apparatus for compensating axis alignment of gimbal and radar system including the same}

The present invention relates to an axis alignment compensation device for a gimbal device and a radar system including the same.

The content described in this section simply provides background information for this embodiment and does not constitute prior art.

Synthetic Aperture Radar (SAR) is generally mounted on an airplane or satellite and radiates a beam to the ground several times while moving, and uses the relative change characteristics of the Doppler frequency detected in the received signal to be reflected. It refers to a radar that can acquire high-resolution, precise images of the surface. Since SAR is used mounted on airplanes or artificial satellites, an imaging radar system that can be manufactured in an ultra-light and small size so that it can be mounted on an unmanned vehicle is needed.

Conventional SAR accurately points the antenna to the user's target area and generates an image by acquiring reflected signals from the target area. If the target area is not accurately pointed, image quality may deteriorate. At this time, in order to accurately aim at the target area, compensation for the alignment of the navigation sensor axis and the gimbal axis, which are the reference axes of SAR, is essential. In the case of the classic method using measuring equipment (3D measuring equipment, etc.) to compensate for the alignment of the gimbal axis, it shows precise error correction results of less than 0.1, but it incurs a lot of costs, such as additional equipment and environmental factors for operating the equipment. There is a problem that it takes time.

Republic of Korea Patent Publication No. 10-2196733 (registered on December 23, 2020)

The present invention was devised to solve the above problems, and the purpose of the present invention is to easily perform gimbal axis alignment through a precision-machined mechanical device and a specific procedure.

Other unspecified objects of the present invention can be additionally considered within the scope that can be easily inferred from the following detailed description and its effects.

In order to achieve the above-described object, the present invention provides an axis alignment compensation device, a gimbal device that rotates at least one axis and drives to indicate a target direction; A gimbal alignment unit applied to the gimbal device and forming an elevation point and an azimuth point based on the angle alignment reference axis; and a navigation sensor mounted on the gimbal alignment unit and measuring position or direction to generate measurement information.

Preferably, the gimbal alignment unit includes an azimuth zero point formed in a direction in which the high-angle fastening assembly of the gimbal device is formed; and an azimuth alignment point forming a predetermined angle to the left or right with respect to the azimuth zero point, wherein the azimuth zero point and the azimuth alignment point are formed around the angle alignment reference axis. And it includes a high-angle alignment point formed to be perpendicular to the gimbal alignment portion.

Preferably, the azimuth alignment point includes an azimuth first direction alignment point or an azimuth second direction alignment point formed by adjusting the certain angle in consideration of a rotational range based on the azimuth zero point.

Preferably, the navigation sensor is mounted on the upper side of the gimbal alignment unit so that the angle alignment reference axis and the sensor reference axis are at the same position, and the sensor reference axis is formed on a side corresponding to the azimuth zero point, and the azimuth zero point And characterized in that it is formed at the center of the azimuth alignment point.

Preferably, it further includes a control unit that measures the angle when aligning the axis through the gimbal device and stores the measured angle, and the control unit (i) drives the high angle in the first direction in torque mode when aligning the high angle axis. Stores a first angle measured at a position that does not move due to interference with the gimbal alignment unit, and (ii) is driven in the first or second direction in the azimuth torque mode when aligning the azimuth axis so that it does not move due to interference with the gimbal alignment unit. It is characterized in that the measured second or third angle of the position is stored.

Preferably, the control unit calculates an elevation correction angle or an azimuth correction angle using the first angle, the second angle, and the third angle, and controls the angle correction of the gimbal device according to the correction angle. And, the correction angle is calculated based on the maximum driving range and acquisition angle of the elevation or azimuth angle.

Preferably, the control unit calculates the elevation angle correction angle through the sum of the elevation angle acquisition angle, the first angle, and the elevation angle maximum driving range.

Preferably, the control unit divides (i) the azimuth maximum driving range by dividing the second angle minus the third angle and multiplying it by the azimuth acquisition angle, and (ii) the azimuth maximum driving range divided by 2. The azimuth correction angle is calculated by adding the value obtained by subtracting the third angle from the second angle and multiplying the first angle by adding the value obtained by subtracting the third angle from the azimuth maximum driving range.

Preferably, the control unit operates by placing an azimuth angle at the azimuth zero point and setting a torque of the azimuth angle or elevation angle, measures the first angle representing the elevation angle to determine whether there is a change in the elevation angle, and measures the first angle. It is characterized in that elevation correction is performed by performing elevation correction using one elevation angle.

Preferably, the control unit operates by setting the elevation angle to control the position of the elevation angle and setting the azimuth angle torque as the first torque, and measures the second angle representing the azimuth angle to check whether the azimuth angle changes. The measured azimuth angle is stored, the azimuth torque is set to a second torque in the opposite direction to the first torque, and the third angle representing the azimuth angle is measured to determine whether there is a change in the azimuth angle. , The measured azimuth angle is stored, and azimuth correction is performed using the second angle and the third angle.

According to another embodiment of the present invention, the present invention includes an antenna; A gimbal device that drives the antenna to be fixed and rotated on at least one axis to indicate a target direction; A gimbal alignment unit applied to the gimbal device and forming an elevation point and an azimuth point based on the angle alignment reference axis; And an axis alignment compensation device mounted on the gimbal alignment unit and including a navigation sensor that measures position or direction and generates measurement information; and a control unit that controls radio wave transmission and reception of the antenna or operation of the axis alignment compensation device.

Preferably, the gimbal alignment unit includes an azimuth zero point formed in a direction in which the high-angle fastening assembly of the gimbal device is formed; and an azimuth alignment point forming a predetermined angle to the left or right with respect to the azimuth zero point, wherein the azimuth zero point and the azimuth alignment point are formed around the angle alignment reference axis. And it includes a high-angle alignment point formed to be perpendicular to the gimbal alignment portion.

Preferably, the control unit (i) drives the elevation angle in the first direction in the torque mode when aligning the elevation angle axis and stores the measured first angle at a position that does not move due to interference with the gimbal alignment unit, ( ii) When aligning the azimuth axis, the azimuth torque mode is driven in the first or second direction and stores the measured second or third angle of the position that does not move due to interference with the gimbal alignment unit, and the first angle, the Calculate an elevation correction angle or an azimuth correction angle using the second angle and the third angle, control the angle correction of the gimbal device according to the correction angle, and determine the maximum driving range and acquisition angle of the elevation angle or azimuth angle. The correction angle is calculated based on the correction angle.

According to one embodiment of the present invention, the present invention has the effect of simultaneously correcting the alignment between the axis of the navigation sensor, which is the reference axis of the SAR, and the axis of the gimbal device, and the offset and scale of the axis of the gimbal device.

In addition, according to one embodiment of the present invention, the effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 and 2 are diagrams showing an axis alignment compensation device according to an embodiment of the present invention.
Figure 3 is a diagram showing the gimbal alignment portion of the axis alignment compensation device according to an embodiment of the present invention.
Figure 4 is a diagram showing a motor rotation axis according to an embodiment of the present invention.
Figure 5 is a diagram showing a gimbal alignment unit equipped with a navigation sensor according to an embodiment of the present invention.
Figure 6 is a view showing a side view of the gimbal alignment unit according to an embodiment of the present invention.
Figure 7 is an exemplary diagram showing the axis alignment of the axis alignment compensation device according to an embodiment of the present invention.
Figure 8 is a flowchart showing the operation of the axis alignment compensation device according to an embodiment of the present invention.
Figures 9 and 10 are diagrams showing a gimbal device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely intended to ensure that the disclosure of the present invention is complete and to provide common knowledge in the technical field to which the present invention pertains. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. The singular terms include plural expressions, unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Terms containing ordinal numbers, such as second, first, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, the second component may be referred to as the first component without departing from the scope of the present invention, and similarly, the first component may also be referred to as the second component. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

The present invention relates to an axis alignment compensation device for a gimbal device and a radar system including the same.

The SAR sensor accurately points the antenna toward the user's desired area and generates an image by acquiring reflected signals from the desired area. At this time, if the desired area is not accurately pointed, image quality may be degraded. In order to accurately aim at the desired area, compensation for the alignment of the navigation sensor axis and gimbal axis, which are the reference axes of the SAR system, is essential. In the case of the classic method using measuring equipment (3D measuring equipment, etc.) to compensate for the alignment of the gimbal axis, it shows precise error correction results of less than 0.1, but it incurs a lot of costs, such as additional equipment and environmental factors for operating the equipment. There is a problem that it takes time.

According to one embodiment of the present invention, the axis alignment compensation device 1 can be used in various fields where the axis alignment of the gimbal is important among systems that utilize the gimbal, such as SAR, EO/IR, etc., but is not necessarily limited thereto.

The axis alignment compensation device (1) is coupled to the gimbal alignment unit (30) and the navigation sensor (40) at the top of the gimbal device (10), and aligns the axis of the navigation sensor (40) with the reference axis of the gimbal device (10). Errors can be minimized.

The axis alignment compensation device (1) can be implemented as a structure to improve the axis alignment error of the gimbal for a small SAR system, and the axis alignment of the gimbal can be easily achieved through a precision-processed mechanical device and a specific procedure.

1 and 2 are diagrams showing an axis alignment compensation device according to an embodiment of the present invention.

Referring to Figures 1 and 2, the axis alignment compensation device 1 includes a gimbal device 10, a gimbal alignment unit 30, and a navigation sensor 40. The axis alignment compensation device 1 may omit some of the various components exemplarily shown in FIGS. 1 and 2 or may additionally include other components.

The gimbal device 10 can be driven to rotate on at least one axis to indicate a target direction.

The gimbal alignment unit 30 is applied to the gimbal device 10, and an elevation point and an azimuth point can be formed based on the angle alignment reference axis.

The Gimbal alignment section 30 includes azimuth points 32, 34, and 36 and an elevation alignment point 31.

Azimuth points 32, 34, and 36 include azimuth zero point 32 and azimuth alignment points 34, 36.

The azimuth zero point 32 may be formed in the direction in which the high-angle fastening assembly 210 of the gimbal device 10 is formed.

The azimuth alignment points 34 and 36 may form a certain angle to the left or right with respect to the azimuth zero point 32.

The azimuthal alignment points 34 and 36 include a first orientation alignment point 34 and a second orientation alignment point 36.

The first direction alignment point 34 and the second direction alignment point 36 may be formed by adjusting a certain angle in consideration of the rotational range based on the azimuth zero point 32.

An azimuth zero point 32 and an azimuth alignment point 34, 36 may be formed around the angular alignment reference axis 38.

The navigation sensor 40 is mounted on the gimbal alignment unit 30 and can generate measurement information by measuring the position or direction.

The navigation sensor 40 may be mounted on the upper side of the gimbal alignment unit 30 so that the angle alignment reference axis 38 and the sensor reference axis 42 are at the same position.

The sensor reference axis 42 may be formed on the side corresponding to the azimuth zero point 32 and at the center of the azimuth zero point 32 and the azimuth alignment points 34 and 36.

The axis alignment compensation device 1 may further include a control unit (not shown).

The control unit can measure the angle when aligning the axis through the gimbal device 10 and store the measured angle.

The control unit (i) drives the elevation angle in the torque mode first direction when aligning the elevation axis and stores the measured first angle at a position that does not move due to interference with the gimbal alignment unit 30, and (ii) the azimuth angle when aligning the azimuth axis. By driving in the first or second direction in the torque mode, the measured second or third angle of the position that does not move due to interference with the gimbal alignment unit 30 can be stored.

The control unit calculates an elevation correction angle or an azimuth correction angle using the first angle, the second angle, and the third angle, and can control the angle correction of the gimbal device 10 according to the correction angle.

The control unit may calculate the correction angle based on the maximum driving range and acquisition angle of elevation or azimuth.

The control unit may calculate the elevation angle correction angle through the sum of the elevation angle acquisition angle, the first angle, and the elevation angle maximum driving range.

The control unit divides (i) the value obtained by subtracting the third angle from the second angle in the azimuth maximum driving range and multiplies it by the azimuth acquisition angle, and (ii) the value dividing the azimuth maximum driving range by 2 is divided by the azimuth maximum driving range. The azimuth correction angle can be calculated by adding the value obtained by subtracting the third angle from the second angle and subtracting the value obtained by multiplying the first angle.

The control unit operates by placing the azimuth angle at the azimuth zero point, setting the torque of the azimuth angle or elevation angle, measuring the first angle representing the elevation angle, checking whether there is a change in the elevation angle, and performing elevation correction using the measured elevation angle. Elevation correction can be performed by performing:

The control unit controls the position of the elevation angle by setting the elevation angle, operates by setting the azimuth torque as the first torque, measures the second angle representing the azimuth angle, checks whether there is a change in the azimuth angle, and stores the measured azimuth angle. and operates by setting the azimuth torque to a second torque in the opposite direction to the first torque, measuring a third angle representing the azimuth angle to check whether there is a change in the azimuth angle, and storing the measured azimuth angle. Azimuth correction can be performed using the second angle and the third angle.

Figure 3 is a diagram showing the gimbal alignment portion of the axis alignment compensation device according to an embodiment of the present invention.

Referring to FIG. 3, the Gimbal alignment unit 30 includes an azimuth zero point 32, a first direction alignment point 34, and a second direction alignment point 36. Here, the first direction alignment point 34 represents a -direction alignment point, and the second direction alignment point 36 represents a + direction alignment point.

The azimuth zero point 32, the first direction alignment point 34, and the second direction alignment point 36 may be designed around the angular alignment reference axis 38, and the first direction alignment point may be designed in consideration of the rotational range. It can be designed by adjusting the angle of (34) and the second direction alignment point (36).

The azimuth alignment points 34 and 36 are selected by considering the desired driving range according to the positive and negative direction angles based on the azimuth zero point 32. For example, the first direction alignment point 34 and the second direction alignment point 36 may be designed to form an angle a based on the azimuth zero point 32, but are not necessarily limited thereto. At this time, the angles between the first direction alignment point 34 and the second direction alignment point 36 based on the azimuth zero point 32 may be implemented to be equal to each other, but are not necessarily limited thereto.

According to one embodiment of the present invention, the Gimbal alignment unit 30 includes a first alignment block in which the azimuth zero point 32 is formed, a second alignment block in which the first direction alignment point 34 is formed, and a second direction alignment point. (36) may include a third alignment block formed. For example, the gimbal alignment unit 30 may be implemented in a format in which the second alignment block and the third alignment block are assembled to form a certain angle with respect to the first alignment block. In this case, the second alignment block and the third alignment block are assembled. 3 The alignment block is coupled to the first alignment block by a screw fastening method, and is aligned with the first direction alignment point 34 and the second direction alignment point 36 based on the azimuth zero point 32, considering the driving range as necessary. It can be assembled by changing the angle.

Figure 4 is a diagram showing a motor rotation axis according to an embodiment of the present invention.

Referring to FIG. 4, the motor rotation reference axis 39 may be designed to coincide with the angle alignment reference axis 38, but is not necessarily limited thereto.

Referring to FIGS. 3 and 4, the sensor reference axis 42, which is the reference for the SAR system coordinates, may be designed to be at the same position as the angle alignment reference axis 38 of the gimbal alignment unit 30.

Figure 5 is a diagram showing a gimbal alignment unit equipped with a navigation sensor according to an embodiment of the present invention.

Referring to Figure 5, the axis alignment compensation device 1 may be implemented to mount the navigation sensor 40 on the upper side of the gimbal alignment unit 30. At this time, the mounting position may be implemented so that the sensor reference axis 42 and the motor rotation reference axis 39 coincide.

Figure 6 is a view showing a side view of the gimbal alignment unit according to an embodiment of the present invention.

Referring to Figure 6, the navigation sensor 40 may be mounted on the upper side of the gimbal alignment unit 30.

The elevation angle alignment point 31 may be designed to be perpendicular to the gimbal alignment portion 30, but is not necessarily limited thereto.

The elevation angle alignment point 31 represents the elevation + direction alignment point.

According to one embodiment of the present invention, the elevation angle alignment point 31 may be implemented to correspond to the same position as the azimuth zero point 32, but is not necessarily limited thereto.

Accordingly, the high-angle alignment point 31 may be implemented to be perpendicular to the upper surface of the gimbal alignment portion 3.

Figure 7 is an exemplary diagram showing the axis alignment of the axis alignment compensation device according to an embodiment of the present invention.

Figure 7 (a) is a diagram showing the elevation angle axis alignment of the axis alignment compensation device according to an embodiment of the present invention, and Figure 7 (b) is a diagram showing the azimuth angle + of the axis alignment compensation device according to an embodiment of the present invention. This is a diagram showing axis alignment, and Figure 7(c) is a diagram showing azimuth-axis alignment of the axis alignment compensation device according to an embodiment of the present invention.

The axis alignment compensation device 1 can perform axis alignment by applying the gimbal alignment unit 30 and the navigation sensor 40 to the gimbal device 10. At this time, the driving angle of the gimbal device 10 may be composed of two axes: an azimuth in the horizontal direction and an elevation angle in the vertical direction.

Referring to (a) of FIG. 7, the axis alignment compensation device 1 drives the elevation angle in the torque mode + direction when aligning the high angle axis, thereby interfering with the gimbal alignment unit 30 to measure the angle (second) at a position that does not move. 1 angle) can be saved.

Referring to (b) of FIG. 7, the axis alignment compensation device 1 drives the azimuth in the torque mode + direction when aligning the azimuth + direction axis to obtain a measurement angle ( 2nd angle) can be stored.

Referring to (c) of FIG. 7, the axis alignment compensation device 1 drives the azimuth in the torque mode - direction when aligning the azimuth-direction axis to obtain a measurement angle ( third angle) can be saved.

The axis alignment compensation device 1 calculates the elevation and azimuth correction angles using the measured values according to (a), (b), and (c) of FIG. 7.

The elevation correction angle can be calculated by referring to Equation 1.

In Equation 2 above, EL _angcal represents the elevation angle correction angle, EL _max represents the elevation angle maximum driving range, and EL _ang represents the elevation angle acquisition angle.

Additionally, the azimuth correction angle can be calculated by referring to Equation 2.

In Equation 1 described above, AZ _angcal represents the azimuth correction angle, AZ _max represents the azimuth maximum driving range, and AZ _ang represents the azimuth acquisition angle. Here, the elevation/azimuth acquisition angle can be obtained through communication from the actuator of the gimbal device 10.

The axis alignment compensation device 1 may be applied to a small SAR system, but is not necessarily limited thereto.

Figure 8 is a flowchart showing the operation of the axis alignment compensation device according to an embodiment of the present invention. The operation method of the axis alignment compensation device is performed by the axis alignment compensation device, and descriptions that overlap with the axis alignment compensation device in the above drawings will be omitted.

Referring to FIG. 8, the method of operating the axis alignment compensation device includes arranging the azimuth near the zero point (S810), setting the two-axis torque (S820), operating in the two-axis torque mode (S822), and elevation angle. It includes measuring the angle (S830), checking whether there is a change in the elevation angle (S832), and performing elevation correction using the measured value in step S830 (S834).

In the step of setting the two-axis torque (S820), the azimuth and elevation angles can be set to X Nm, respectively, but are not necessarily limited to this.

In the step S832 of checking whether the elevation angle has changed, step S834 is performed if the elevation angle has changed, and step S830 is performed again if the elevation angle has not changed.

In addition, the method of operating the axis alignment compensation device includes setting the azimuth torque (S840), setting the elevation angle (S842), operating in the elevation position control mode and azimuth torque mode (S844), and measuring the azimuth angle. step (S850), checking whether the azimuth angle changes (S852), storing the azimuth angle measured in step S850 (S854), setting the azimuth torque (S860), measuring the azimuth angle ( S870), checking whether there is a change in the azimuth angle (S872), and performing azimuth correction using the measured value representing the azimuth angle measured in steps S850 and S870 (S880).

In the step of checking whether the azimuth angle has changed (S852 / S854), steps S854 / S880 are performed if the azimuth angle has changed, and steps S850 / S870 are performed again if the azimuth angle has not changed.

In Figure 8, it is shown that each process is executed sequentially, but this is only an illustrative explanation, and those skilled in the art can change the order shown in Figure 8 and execute it without departing from the essential characteristics of the embodiments of the present invention. Alternatively, it may be applied through various modifications and modifications, such as executing one or more processes in parallel or adding other processes.

Therefore, the axis alignment compensation device 1 can simultaneously correct the alignment between the axis of the navigation sensor, which is the reference axis of the SAR system, and the axis of the gimbal device, and the offset and scale of the axis of the gimbal device.

In addition, the shaft alignment compensation device (1) minimizes tolerances when manufacturing a plate for aligning the gimbal shaft, so an error of 0.1 mm or less may occur during production, and when measuring the driving angle for shaft alignment using this plate, approx. Alignment error of 0.2deg or less can be compensated.

In addition, the test for axis alignment compensation in the conventional classical method takes more than a day, but the axis alignment compensation device 1 enables axis alignment compensation in less than 1 minute in the above-described method.

The axis alignment compensation device (1) is easy to use because it can immediately correct even when the driving angle scale changes due to aging of the motor position sensor or when the alignment with the reference axis is misaligned by changing the INS navigation sensor.

Figures 9 and 10 are diagrams showing a gimbal device according to an embodiment of the present invention.

9 and 10, the gimbal device 10 includes an actuator 100 and a fastening assembly 200. The gimbal device 10 may omit some components or additionally include other components among the various components shown as examples in FIGS. 9 and 10 .

The actuator 100 may provide rotational driving force to rotate in at least one axis.

The actuator 100 includes a horizontal rotation unit 110, a vertical rotation unit 120, and an assembly block 130.

The actuator 100 may be composed of two axes that drive the gimbal device 10 to move. Specifically, the horizontal rotation part 110 and the vertical rotation part 120 are assembled and driven in the assembly block 130. It can be implemented as much as possible. At this time, the horizontal rotation unit 110 and the vertical rotation unit 120 may be assembled perpendicular to each other and driven in two axes.

The horizontal rotation unit 110 may form a horizontal axis and provide rotational driving force in a high angle direction.

According to one embodiment of the present invention, the horizontal rotating part 110 may be assembled to be spaced apart from the vertical rotating part 120 and may be implemented so that they do not contact each other when rotating.

The horizontal rotating part 110 includes a first horizontal fixing groove 112. The first horizontal fixing groove 112 may be implemented to surround the outside of the center where the horizontal rotation part 110 and the high-angle fastening assembly 210 are assembled.

The first horizontal fixing groove 112 may be implemented in plural numbers, and may be assembled to be fixed to the high-angle fastening assembly 210 through the second horizontal fixing groove and the pin 250.

The vertical rotating part 120 includes a first vertical fixing groove 122. The first vertical fixing groove 122 may be implemented to surround the outside of the center where the vertical rotation part 120 and the azimuth fastening assembly 220 are assembled.

The first vertical fixing groove 122 may be implemented in plural numbers, and may be assembled to be fixed to the azimuth fastening assembly 220 through the second vertical assembly groove and the third vertical assembly groove and the pin 260.

The vertical rotation unit 120 is assembled at a position perpendicular to the horizontal rotation unit 110 and forms a vertical axis to provide rotational driving force in the azimuth direction.

The assembly block 130 may be assembled with a horizontal rotation unit 110 and a vertical rotation unit 120.

The assembly block 130 may include an assembly groove in which the horizontal rotating part 110 and the vertical rotating part 120 are assembled to be vertical at positions spaced apart from each other. Here, the assembly groove is a groove formed so that each of the horizontal rotating part 110 and the vertical rotating part 120 are located, and is implemented in the same shape as the horizontal rotating part 110 and the vertical rotating part 120 to move the horizontal rotating part 110 and the vertical rotating part 120. It may represent a groove in which the rotating part 110 and the vertical rotating part 120 are assembled.

The fastening assemblies 200 are each coupled to at least one rotation axis, and may be implemented to be driven by the actuator 100 in a direction according to the at least one rotation axis.

The fastening assembly 200 includes an elevation angle fastening assembly 210 and an azimuth angle fastening assembly 220 .

The high angle fastening assembly 210 is assembled with the horizontal rotation unit 110 and can be driven to rotate in the high angle direction by the horizontal rotation unit 110.

The high angle fastening assembly 210 includes a horizontal frame 212 and a horizontal fastening portion 214.

The horizontal frame 212 is implemented in the form of a grid, and may be equipped with a separate device for rotating about at least one axis.

The horizontal frame 212 and the horizontal fastening portion 214 can be implemented as one structure by fastening through the horizontal assembly groove and the protruding assembly portion.

The high angle fastening assembly 210 may be coupled to the horizontal rotation unit 110 and driven in the high angle direction. Specifically, the high-angle fastening assembly 210 can be rotated in the high-angle direction through the horizontal fastening part 214 fixed to the horizontal rotation part 110, and the high-angle direction of the antenna 20 fixed to the horizontal frame 212. The position of can be adjusted.

Although the high-angle fastening assembly 210 is shown as having a pair of horizontal fastening parts 214 fastened to opposite sides of the horizontal frame 212 and rotating in the high-angle direction, it is not necessarily limited to this.

The horizontal frame 212 may be implemented to have a grid shape 120 to reduce weight, and may have shapes that are symmetrical to each other to facilitate rotation in a high angle direction.

The horizontal frame 212 can be implemented to be fastened by forming a horizontal assembly groove at the part that is fastened to the horizontal fastening part 214. Although it is shown as being implemented with a total of four, two on each side, on opposing sides, it must be It is not limited.

The horizontal frame 212 may further include a plurality of grooves for fixation, and the grooves for fixation may be grooves designed to be fixed to the antenna 20 . At this time, the plurality of fixing grooves may be fastened to the antenna 20 by a screw fastening method, etc., but are not necessarily limited thereto.

The horizontal fastening part 214 includes a protruding assembly part formed in a protruding form to be assembled in a horizontal assembly groove formed on one side of the horizontal frame 212, and a first horizontal fixing groove 112 formed in the horizontal rotation part 110. It may include a second horizontal fixing groove formed in a groove shape to be assembled with.

The horizontal assembly groove and the protruding assembly portion may be formed to have the same shape.

The high-angle fastening assembly 210 is a horizontal frame ( 212) and the horizontal fastening part 214 are implemented to be perpendicular to each other, and the first horizontal fixing groove 112 and the second horizontal rotating part 110 are provided between the horizontal fastening parts 214 assembled on opposite sides. 2 The horizontal fixing groove can be implemented to be fixed through the pin 250.

The horizontal fastening part 214 forms a protruding assembly part that can be fastened to the horizontal rotating part 110, and the weight can be reduced through digging.

The horizontal fastening part 214 may have a second horizontal fixing groove formed to surround the outer side of the center where it is assembled with the horizontal rotation part 110.

The high-angle fastening assembly 210 can reduce the overall weight through a dug-out shape.

The azimuth fastening assembly 220 is coupled to the vertical rotation unit 120 and can be rotated in the azimuth direction by the vertical rotation unit 120.

Azimuth fastening assembly 220 includes a vertical frame 222 and a vertical fastening portion 224.

The vertical frame 222 may be assembled with one end of the vertical rotation unit 120.

The vertical fastening portion 224 is assembled to one end of the vertical frame 222, and is assembled to be perpendicular to the first plate 2240 and the first plate 2240, which are implemented to be perpendicular to the vertical frame 222. It may include a second plate 2242 assembled parallel to (222).

The azimuth fastening assembly 220 is formed in the first vertical fixing groove 122 formed in the vertical rotation part 120, the second vertical assembly groove formed in the vertical frame 222 in the form of a groove, and the vertical fastening part 224. It can be fixed to the vertical rotating part 120 by the third vertical assembly groove.

The azimuth fastening assembly 220 is fastened so that the vertical frame 222 and the first plate 2240 are vertical, and the vertical frame 222 and the second plate 2242 are fastened so that they are horizontal, and the vertical frame 222 and the second plate 2240 are fastened so as to be horizontal. A first vertical fixing groove 122 formed on both ends of the vertical rotating part 120 so that the vertical rotating part 120 is provided between the plates 2242 and a second vertical assembly groove of the vertical frame 222, and The third vertical assembly groove of the second plate 2242 may be fixed through a pin.

The azimuth fastening assembly 220 may further include a connector block 226 and a connector 228.

The connector block 226 is assembled to partially contact the side end of the first plate 2240 and the side end of the vertical frame 222, and can connect a signal line for power or communication.

The connector 228 is assembled to the vertical frame 222 and can transmit and receive signals with a separate device for rotation in at least one axis.

The connector block 226 and the connector 228 may be disposed on opposite sides where the high-angle fastening assembly 210 is formed.

The vertical frame 222 further includes a fixed spacer 230 and a fixed plate 240.

The vertical frame 222 and the vertical fastening part 224 may be implemented as one structure by being fastened perpendicularly to one end of the vertical frame 222 and the first plate 2240 of the vertical fastening part 224.

The azimuth fastening assembly 220 may be coupled to the vertical rotation unit 120 and driven in the azimuth direction. Specifically, the azimuth fastening assembly 220 may be rotated in the azimuth direction through the vertical frame 222 and the vertical fastening portion 224, which are fixed to the vertical rotation portion 120.

The azimuth fastening assembly 220 can rotate in the azimuth direction through the vertical rotation unit 120, and as the high-angle fastening assembly 210 connected to the actuator 100 also rotates, the azimuth angle of the antenna 20 changes. It can be adjusted.

According to one embodiment of the present invention, the azimuth fastening assembly 220 may be implemented in a 'ㄷ' shape, but is not necessarily limited thereto.

The vertical frame 222 represents a mounting plate fixed to the top of the vertical axis and includes a fixed spacer 230 for fastening between the gimbal device 10 and the platform. Here, the number of fixed spacers 230 is shown to be implemented as four, but it is not necessarily limited to this, and may be implemented in any number for fixing between the gimbal device 10 and the platform.

The vertical frame 222 includes a second vertical assembly groove that is assembled with the first vertical fixing groove 122 of the vertical rotation part 120. At this time, the second vertical assembly groove may be formed to surround the outer side of the center where the vertical rotation part 120 is assembled.

The second vertical assembly groove may be fixed to the shaft rotation part of the vertical rotation part 120.

The vertical frame 222 further includes a connector block 226 and a connector 228.

Specifically, the vertical frame 222 drives the gimbal by placing a connector block 226 that can connect external devices and power/communication signal lines and an RF connector 228 that can exchange RF signals with the antenna 20 at the rear. It can be easily connected to other devices.

The first plate 2240 may be fastened perpendicular to the vertical frame 222 and may be fastened perpendicular to the second plate 2242. At this time, the second plate 2242 may be implemented to be parallel to the vertical frame 222.

The first plate 2240 includes a connector fixing portion for fixing the connector 228 and a fixing groove, and may be fixed by screw fastening, but is not necessarily limited thereto.

The second plate 2242 may have a third vertical assembly groove formed to surround the outside of the center where it is assembled with the vertical rotation unit 120.

The second plate 2242 is shown as further including a depression partially recessed inward between the portion connected to the first plate 2240 and the center and the third vertical assembly groove, but is not necessarily limited thereto. Here, the depression may be formed to reduce weight.

Therefore, the two-axis integrated actuator 100 may be applied as a driving unit to the gimbal device 10. Specifically, the gimbal device 10 has an azimuth/elevation direction drive shape using the center of each axis, so that the vertical drive shaft is azimuthally coupled to the azimuth fastening assembly 220, which is implemented as a 'ㄷ' shaped bracket. The central axis can be fixed, and the horizontal drive shaft can be fixed using a high-angle fastening assembly 210 implemented as a plate rotation or plate-structured antenna structure.

According to one embodiment of the present invention, the gimbal device 10 can be applied for a small SAR system, and when a two-axis gimbal device is configured, the number of actuators for driving each axis is reduced and the structure for fixing each axis is reduced. Weight and size can be dramatically reduced by reduction, and since it is a two-axis integrated form, axis non-orthogonal components due to assembly errors can be reduced.

The fixed spacer 230 can be fixed to a device to which the gimbal device 10 is applied (for example, an unmanned aerial vehicle, etc.).

The fixing plate 240 can fix a device for inertial measurement that is fixed to the opposite side of the side that is assembled to come into contact with the actuator 100. Here, the device for inertial measurement may be fixed to the top of the fixing plate 240, and may be, for example, an IMU, but is not necessarily limited thereto.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes, and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments and the attached drawings. . The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

10: Gimbal device
100: actuator
110: horizontal rotating part
120: Vertical rotation part
200: fastening assembly
210: High angle fastening assembly
220: Azimuth fastening assembly
20: antenna
30: Gimbal alignment unit
40: Navigation sensor

Claims (13)

In the axis alignment compensation device,
A gimbal device that rotates on at least one axis and drives to indicate a target direction;
A gimbal alignment unit applied to the gimbal device and forming an elevation point and an azimuth point based on the angle alignment reference axis; and
It is mounted on the gimbal alignment unit and includes a navigation sensor that measures position or direction and generates measurement information,
The gimbal alignment unit includes an azimuth zero point formed in the direction in which the high-angle fastening assembly of the gimbal device is formed; and an azimuth alignment point forming a predetermined angle to the left or right with respect to the azimuth zero point, wherein the azimuth zero point and the azimuth alignment point are formed around the angle alignment reference axis. And an axis alignment compensation device including a high-angle alignment point formed to be perpendicular to the gimbal alignment portion. delete According to paragraph 1,
The azimuth alignment point is,
An axis alignment compensation device comprising an azimuth first direction alignment point or an azimuth second direction alignment point formed by adjusting the predetermined angle in consideration of a rotatable range based on the azimuth zero point. According to paragraph 1,
The navigation sensor is,
It is mounted on the upper side of the gimbal alignment unit so that the angle alignment reference axis and the sensor reference axis are at the same position,
The sensor reference axis is formed on a side corresponding to the azimuth zero point, and is formed at the center of the azimuth zero point and the azimuth alignment point. According to paragraph 1,
Further comprising a control unit that measures the angle when aligning the axis through the gimbal device and stores the measured angle,
The control unit (i) drives the elevation angle in the torque mode first direction when aligning the elevation axis and stores the measured first angle at a position that does not move due to interference with the gimbal alignment unit, and (ii) azimuth torque when aligning the azimuth axis. An axis alignment compensation device characterized in that it is driven in a first or second direction and stores a measured second or third angle of a position that does not move due to interference with the gimbal alignment unit. According to clause 5,
The control unit,
Calculating an elevation correction angle or an azimuth correction angle using the first angle, the second angle, and the third angle, and controlling the angle correction of the gimbal device according to the correction angle,
An axis alignment compensation device, characterized in that the correction angle is calculated based on the maximum driving range and acquisition angle of the elevation or azimuth angle. According to clause 6,
The control unit,
An axis alignment compensation device, characterized in that the elevation correction angle is calculated through the sum of the elevation angle acquisition angle, the first angle, and the elevation angle maximum driving range. In clause 7,
The control unit,
(i) the value obtained by dividing the second angle minus the third angle in the azimuth maximum driving range multiplied by the azimuth acquisition angle, and (ii) the azimuth maximum driving range divided by 2 by the second angle in the azimuth maximum driving range. An axis alignment compensation device, characterized in that the azimuth correction angle is calculated by adding the value obtained by subtracting the third angle from and subtracting the value obtained by multiplying the first angle. According to clause 5,
The control unit,
It operates by placing the azimuth angle at the azimuth zero point, setting the torque of the azimuth angle or elevation angle, measuring the first angle representing the elevation angle to check whether there is a change in the elevation angle, and correcting the elevation angle using the measured elevation angle. An axis alignment compensation device characterized in that performs. According to clause 9,
The control unit,
It controls the position of the elevation angle by setting the elevation angle, operates by setting the azimuth torque as the first torque, measures the second angle representing the azimuth angle, checks whether there is a change in the azimuth angle, and stores the measured azimuth angle. and operates by setting the azimuth torque to a second torque in the opposite direction to the first torque, measuring the third angle representing the azimuth angle to check whether there is a change in the azimuth angle, and storing the measured azimuth angle. do,
An axis alignment compensation device characterized in that azimuth correction is performed using the second angle and the third angle. antenna;
A gimbal device that drives the antenna to be fixed and rotated on at least one axis to indicate a target direction; A gimbal alignment unit applied to the gimbal device and forming an elevation point and an azimuth point based on the angle alignment reference axis; And an axis alignment compensation device mounted on the gimbal alignment unit and including a navigation sensor that measures position or direction and generates measurement information; and
A control unit that controls the transmission and reception of radio waves by the antenna or the operation of the axis alignment compensation device,
The gimbal alignment unit includes an azimuth zero point formed in the direction in which the high-angle fastening assembly of the gimbal device is formed; and an azimuth alignment point forming a predetermined angle to the left or right with respect to the azimuth zero point, wherein the azimuth zero point and the azimuth alignment point are formed around the angle alignment reference axis. And a radar system including a high-angle alignment point formed to be perpendicular to the gimbal alignment portion. delete According to clause 11,
The control unit,
(i) When aligning the elevation axis, the elevation is driven in the first direction in torque mode to store the measured first angle at a position that does not move due to interference with the gimbal alignment unit, and (ii) when aligning the azimuth axis, the first angle in azimuth torque mode is stored. Drive in the direction or second direction to store the measured second or third angle of the position that does not move due to interference with the gimbal alignment unit,
Calculate an elevation correction angle or a correction angle of the azimuth angle using the first angle, the second angle, and the third angle, control the angle correction of the gimbal device according to the correction angle, and control the angle correction of the gimbal device according to the correction angle, and the maximum angle of the elevation angle or the azimuth angle. A radar system characterized in that the correction angle is calculated based on the driving range and acquisition angle.

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