System for compensating line-of-sight from stabilized platform against misdirection caused by lateral linear accelerations

Claim 1

A motion compensator system for compensating for linear acceleration applied to a stabilized platform to provide a stabilizing adjustment to the platform so that a directable device mounted upon the platform and having a line-of-sight to a target receives platform adjustments which tend to maintain the line-of-sight directed toward the target, said motion compensator system comprising: means for detecting linear acceleration applied to the platform in first coordinates normal to each other and normal to the line-of-sight, one of the coordinates being along the elevation axis, said means for detecting linear acceleration producing first and second signals corresponding to the two directions of detected linear acceleration; means for resolving both the first and second accelerations signals from the first coordinates into resolved signals in second coordinates having corresponding substantially vertical and horizontal component signals; means for subtracting a signal substantially corresponding to the acceleration of gravity from the substantially vertical component signal; means for separately integrating each of the resolved signals with respect to time and scaling them with respect to the distance to the target so that the resultant computed signal is related to the angular velocity of the line-of-sight; means for further resolving the signals from the means for integrating into platform coordinates; and means for causing the further resolved signals to torque the platform to stabilize the platform. 2. The system of claim 1 wherein said means for separately integrating comprises for each integration: a capacitor and an amplifier in parallel to said capacitor; and charging control means connected to said capacitor for controlling the charging of said capacitor, said charging control means being controlled in accordance with distance to the target.