US Patent 10355351 Antenna array pointing direction estimation and control

Systems for maintain pointing of a phased array antenna in a direction maximizes to an extent possible the effective antenna gain is provided. The system includes a gyroscope and a Kalman Filter. The Kalman filter estimates an antenna pointing direction for each successive time step based on gyroscope readings and based on the results of a local search for maximum gain performed in the neighborhood of a previous antenna pointing direction.