초록 ▼

Conventional first and second Schuler tuned inertial platforms, that are physically displaced from each other by a predetermined distance, are employed in an inertial system to reduce navigation errors caused by the uncertainty in the earth\s gravitational field. In addition to the two Schuler tuned

Conventional first and second Schuler tuned inertial platforms, that are physically displaced from each other by a predetermined distance, are employed in an inertial system to reduce navigation errors caused by the uncertainty in the earth\s gravitational field. In addition to the two Schuler tuned platforms, a conventional velocity measuring instrument is employed to provide damping to the inertial system. The invention takes advantage of the fact that for a pair of ideal platforms if the relative velocity between them as displaced sensors can be measured with moderate accuracy then performance rivaling that obtainable with a gradiometer aided inertial platform can be achieved.

대표청구항 ▼

In an inertial navigation system having a first Schuler tuned platform and a second Schuler tuned platform displaced a predetermined distance apart, a plurality of summing, differencing and gain circuits interconnecting the output signals of each Schuler tuned platform, a plurality of identical tran

In an inertial navigation system having a first Schuler tuned platform and a second Schuler tuned platform displaced a predetermined distance apart, a plurality of summing, differencing and gain circuits interconnecting the output signals of each Schuler tuned platform, a plurality of identical transfer function circuits comprising summing, differencing and gain circuit and a velocity measuring circuit, the method of correcting for the effects of gravitational anomaly errors comprising: separating the first and second Schuler tuned platforms a predetermined distance apart, using the summing, differencing and gain circuits to combine the position and velocity output signals of said first Schuler tuned platform with the position and velocity output signals of said second Schuler tuned platform to obtain signals representative of average inertial platform velocity, average inertial platform position and inertial platform residual velocity, using summing and differencing circuits of the transfer circuits to combine said average inertial platform position signal with a first and second position correcting signal, and using said summing and differencing circuits of said transfer function circuit to combine said average inertial platform velocity signal with a first and second velocity correcting signal to obtain estimated system position and velocity signals corrected for gravitational anomalies.