An apparatus for the control and alignment of a sensor on a moving vehicle
is provided that includes a gimbal ball supported by an outer axis
structure and adapted to pivot about an outer elevation axis and about an
outer azimuth axis. The outer axis structure is mounted to a vehicle. An
inner axis structure includes a cardan shaft that is provided in the ball
and is used to support a payload. An inner elevation axis passes through
the cardan shaft. The payload is moved about inner pitch inner roll and
inner yaw axes over a limited range of motion by the use of a plurality of
permanent magnet wide-gap motors that are disposed on the plane of the
cardan shaft and maximally away from the yaw axis in the ball. The motors
are adapted to each urge the payload to move in two perpendicular axes,
depending upon the current that is applied through conductors which pass
through a flux field. Control circuitry is used to energize the motors in
any desired combination to produce motion in roll, pitch, or yaw.
