초록 ▼

Estimators of a vehicle\s position and attitude with respect to the earth are generated continuously by integrating the outputs of translational and rotational accelerometers that are attached to the vehicle. These estimators are corrected by comparing them to corresponding reference dynamic variabl

Estimators of a vehicle\s position and attitude with respect to the earth are generated continuously by integrating the outputs of translational and rotational accelerometers that are attached to the vehicle. These estimators are corrected by comparing them to corresponding reference dynamic variables measured independently by instruments onboard the vehicle. The estimators are modified by slowly responding servo loops to equal their corresponding reference variables. Differences between certain of the estimators and their corresponding reference dynamic variables are used in generating feedback signals for correcting other of the estimators. By combining various of the estimators, system outputs representing sideslip angle and change in cross-track velocity can be generated.

대표청구항 ▼

An attitude reference system for use in a moving vehicle to provide signals representing estimates of earth-oriented motion-related variables, and to correct predetermined ones of those estimator signals by comparing them with corresponding applied reference variable signals, said attitude reference

An attitude reference system for use in a moving vehicle to provide signals representing estimates of earth-oriented motion-related variables, and to correct predetermined ones of those estimator signals by comparing them with corresponding applied reference variable signals, said attitude reference system comprising: attitude rate sensing means for producing output signals which are independent of the heading of the vehicle and represent pitch and roll components of the angular velocity of the vehicle about a set of earth-oriented locally level axes; acceleration sensing means for producing output acceleration signals representing linear accelerations of the vehicle along earth-oriented axes; integrating means connected to said attitude rate sensing means and said acceleration sensing means for integrating their output signals to produce estimator signals representing estimates of predetermined earth-oriented motion-related variables; and, feedback means responsive to the applied reference variable signals and connected to said integrating means for comparing each estimator signal with a corresponding reference variable signal and for generating a feedback signal dependent on their difference and applying the feedback signal to said integrating means to cause the estimator signal to become substantially equal to its corresponding reference variable signal.