초록 ▼

Disclosed is a method and apparatus for processing signals supplied by accelerometer assemblies in which one or more accelerometers are cyclically displaced in a predetermined manner so that signals representing the specific force experienced by the accelerometers and the angular rate experienced by

Disclosed is a method and apparatus for processing signals supplied by accelerometer assemblies in which one or more accelerometers are cyclically displaced in a predetermined manner so that signals representing the specific force experienced by the accelerometers and the angular rate experienced by the accelerometers are produced. The signal processor separately estimates the signal components of the signal being processed and provides an error signal by subtracting the estimated signal components from the signal being processed. The error signal is fed back through circuitry that controls the magnitude of the estimated signal components so that the value of each estimated signal component rapidly converges to the value of the signal components of the signal being processed. In an arrangement for determining the angular rate of one or more pair of cyclically displaced accelerometers, the signal processor includes a signal component that is in-phase with the signal that oscillates the accelerometer pair, a signal component that is in phase quadrature with the signal that displaces the accelerometer pair and a signal component that corresponds to random unmodulated additive noise. In this arrangement, a signal summing unit subtracts estimates of each signal component from the signal being processed to supply an error signal equal to (a1-1) Cos w2-2) Sin w3-3), where a1, a2, and a3, respectively represent the values of the in-phase, quadrature and random noise components of the signal being processed and 1, 2, and 3 represent estimates of those signal component values. To obtain 3, the error signal is scaled and integrated. To obtain the 1 Cos ww1. This signal is then integrated and multiplied by Cos w2 Sin www1 signal estimate. In addition, the signal estimates can be used in an inertial navigation system that employs the invention to eliminate misalignment of the accelerometer pairs and to improve system operation by eliminating phase shift between the signal source that oscillates the accelerometer pairs and the signals provided by the accelerometer pairs.

대표청구항 ▼

A signal processing apparatus for determining the amplitudes of components of an output signal obtained from a pair of accelerometers mounted on a moving body, the pair of accelerometers being mounted in alignment with an axis of a coordinate system associated with said moving body and being cyclica

A signal processing apparatus for determining the amplitudes of components of an output signal obtained from a pair of accelerometers mounted on a moving body, the pair of accelerometers being mounted in alignment with an axis of a coordinate system associated with said moving body and being cyclically displaced in response to a drive signal, said output signal including a first periodic component having a first amplitude equal to an angular rate associated with the moving body, a second periodic component having a second amplitude, and a third component having a third amplitude representing an unmodulated random value sequence, said signal processing apparatus comprising: (a) means for repetitively estimating the first, second and third amplitudes; (b) means for repetitively producing an estimated signal corresponding to the output signal obtained from said pair of accelerometers using said estimated first, second and third amplitudes; (c) means for repetitively determining an error signal by subtracting the estimated signal from the output signal obtained from said pair of accelerometers; and (d) means for repetitively revising the three estimated amplitudes as a function of the error signal, (e) the error signal approaching zero as the estimated amplitudes respectively approach the first, second and third amplitudes of the output signal obtained from said pair of accelerometers, the estimated first amplitude being then equal to the angular rate associated with the moving body.