Patent ID: 6897821

Claim:
A pointing system for pointing a boresight along a desired line-of-sight in response to a command to point the boresight along the desired line-of-sight, the system comprising, a base for providing a platform and for coupling base motion and line-of-sight motion of the boresight for providing a mechanical excitation, a gimbal system comprising an elevation gimbal and an azimuth gimbal for positioning a boresight along the desired line-of-sight relative to the base, the elevation gimbal and the azimuth gimbal are modeled by a plant, the elevation gimbal and the azimuth gimbal comprise a suspension modeled by a compliance receiving the mechanical excitation and providing a compliance signal, the elevation gimbal and the azimuth gimbal are controlled by a torque signal being a sum of a compliance signal and a drive signal, a resolver system comprising an elevation resolver and an azimuth resolver for respectively measuring as resolver responses a relative elevation angle and a relative azimuth angle of the boresight relative to the base, a resolver filter system for resolver filtering of the resolver responses for providing a filtered resolver response, the mechanical excitation being applied to the resolver system for providing the resolver responses, a gyro system comprising X and Y and Z gyros for measuring as gyro responses X and Y and Z angular rates of the base motion, a gyro filter for gyro filtering of the gyro responses for providing filtered gyro respons s, and a controller comprising gimbal motors for receiving a control input and providing motion control to the elevation gimbal and the azimuth gimbal, the control input signal being a sum of the command and the filtered resolver responses and the filtered gyro responses.