Precision Stabilization of a Ball Joint Gimbaled (BJG) Mirror

BJG mirror systems provide a significant cost reduction for advanced weapon seeker applications. Using a new generation of signal processing, advanced embedded algorithms, and low-cost MEMS inertial sensors, the team of CDI and Professor Kevin Craig from Rensselaer propose an integrated control/estimation design that will achieve an order-of-magnitude improvement in pointing and stabilization for BJG systems operating in dynamic environments. This improved, affordable precision enables advanced weapon seekers to use sensors with longer focal lengths and higher resolution, providing better target discrimination, identification, tracking, and target state estimation. The Phase I effort will address the 4 fundamental challenges confronting feed-forward stabilization of the high slew-rate BJG mirrors: (1) base motion disturbance rejection, (2) feed-forward latency correction, (3) drive mechanism compliance correction, and (4) high slew-rate encoder tracking. Through the application of techniques and embedded algorithms proven on numerous stabilized mirror systems and high-slew rate compliant structures, the CDI/Rensselaer team will reliably demonstrate 10's of microradian-rms stabilization and 1 micro-inch (0.32microradian) mirror pointing capabilities under the required temperature, vibration, shock and dynamic steering conditions. The architecture and algorithms developed in Phase I will be embedded and tested on a DSP during the Phase I option, allowing for reuse of common software and enabling rapid integration for prototype testing on a BJG system in Phase II.