Accelerometer compensation in an inertial navigation system
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-025/00
G01P-021/00
출원번호
US-0686165
(2000-10-10)
발명자
/ 주소
Lottman, Brian T.
Tazartes, Daniel A.
출원인 / 주소
Litton Systems, Inc.
대리인 / 주소
Malm, Robert E.
인용정보
피인용 횟수 :
17인용 특허 :
2
초록▼
The invention is a method and apparatus for improving the accuracy of an inertial navigation system. The method comprises (1) obtaining a measure of the angular velocity of a body frame of reference having a first axis, a second axis, and a third axis, (2) obtaining a measure of the acceleration of
The invention is a method and apparatus for improving the accuracy of an inertial navigation system. The method comprises (1) obtaining a measure of the angular velocity of a body frame of reference having a first axis, a second axis, and a third axis, (2) obtaining a measure of the acceleration of a first reference point in the direction of the first axis, a second reference point in the direction of the second axis, and a third reference point in the direction of the third axis, the first, second, and third reference points being fixed in the body frame, and (3) determining compensated acceleration values. A compensated acceleration value is the difference of the measure of acceleration of a reference point and a compensation quantity. A compensation quantity is an estimate of the portion of the acceleration of the reference point resulting from the rotation of the body frame. The method further comprises establishing the optimum navigation center based on a criterion of goodness. The criterion of goodness is minimal weighted acceleration error where acceleration error is a function of the direction of the angular velocity vector and weighted acceleration error is obtained by multiplying the acceleration error by a weighting function and integrating the result over all directions of the angular velocity vector.
대표청구항▼
The invention is a method and apparatus for improving the accuracy of an inertial navigation system. The method comprises (1) obtaining a measure of the angular velocity of a body frame of reference having a first axis, a second axis, and a third axis, (2) obtaining a measure of the acceleration of
The invention is a method and apparatus for improving the accuracy of an inertial navigation system. The method comprises (1) obtaining a measure of the angular velocity of a body frame of reference having a first axis, a second axis, and a third axis, (2) obtaining a measure of the acceleration of a first reference point in the direction of the first axis, a second reference point in the direction of the second axis, and a third reference point in the direction of the third axis, the first, second, and third reference points being fixed in the body frame, and (3) determining compensated acceleration values. A compensated acceleration value is the difference of the measure of acceleration of a reference point and a compensation quantity. A compensation quantity is an estimate of the portion of the acceleration of the reference point resulting from the rotation of the body frame. The method further comprises establishing the optimum navigation center based on a criterion of goodness. The criterion of goodness is minimal weighted acceleration error where acceleration error is a function of the direction of the angular velocity vector and weighted acceleration error is obtained by multiplying the acceleration error by a weighting function and integrating the result over all directions of the angular velocity vector. he system of claim 1 wherein the slot has a width greater than 0.001 inches. 7. The system of claim 1 wherein the slot has a width in the range of 0.001 to 0.1 inches. 8. The system of claim 1 wherein the resilient layer has a first length and the slot has a second length less than the first length. 9. The system of claim 1 further comprising an additional resilient layer disposed between the housing and the modules when the modules are inserted in the housing such that the modules are positioned between the resilient layer and the additional resilient layer, the additional resilient layer including at least one slot for inhibiting transmission of shocks and vibrations between at least two of the modules. 10. The system of claim 1 wherein each module includes a first plate positioned to engage a media drive, each first plate having a first resonant frequency that is outside an adverse frequency range for the media drives. 11. The system of claim 10 wherein each module further includes a second plate, the first and second plates of each module being positioned to engage opposite sides of a media drive, each second plate having a second resonant frequency that is outside the adverse frequency range for the media drives. 12. The system of claim 1 wherein the resilient layer comprises foam. 13. The system of claim 1 wherein the resilient layer comprises silicone foam. 14. The system of claim 1 wherein the modules are slidably engageable with the cover layer. 15. The system of claim 1 wherein the cover layer is slidably engageable with the housing. 16. The system of claim 1 wherein the cover layer comprises plastic. 17. The system of claim 16 wherein the cover layer comprises polycarbonate. 18. The system of claim 16 wherein the cover layer comprises polypropylene. 19. The system of claim 1 wherein the resilient layer is compressed when the modules are inserted into the housing. 20. A system for mounting multiple media drives, the system comprising: a housing; multiple modules that are insertable into and removable from the housing, each module being adapted to hold a media drive; first and second laminates attached to the housing for receiving the modules therebetween, each laminate including a resilient layer for attenuating shocks and vibrations, each laminate also including a cover layer adjoining a respective resilient layer to facilitate sliding of the modules with respect to the housing during insertion of the modules into the housing and removal of the modules from the housing, each laminate further including multiple slots for inhibiting transmission of vibrations between the modules, wherein each resilient layer has first and second ends, and the slots of each laminate extend between the ends of a respective resilient layer but not to either end. 21. A tray for housing multiple modules, the tray comprising: a housing having multiple bays adapted to receive the modules; a resilient layer attached to the housing and extending into each of the bays to attenuate shocks and vibrations, the resilient layer comprising foam and including at least one slot for inhibiting transmission of shocks and vibrations through the resilient layer, wherein the resilient layer has first and second ends, and the slot extends between the ends but not to either end. 22. The tray of claim 21 further comprising a cover layer adjoining the resilient layer to facilitate sliding of the modules with respect to the housing during insertion of the modules into the housing and removal of the modules from the housing. 23. The tray of claim 22 further comprising an adhesion layer connecting the cover layer to the resilient layer so that the cover layer constrains the resilient layer. 24. The tray of claim 22 wherein the cover layer has at least one slot, wherein each slot of the cover layer is aligned with a respective slot of the resilient layer. 25. The tray of claim 22 wherein the modules are slidably engageable with the cover layer. 26. The
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