IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0866232
(2009-02-06)
|
등록번호 |
US-8346517
(2013-01-01)
|
우선권정보 |
FR-08 50793 (2008-02-08) |
국제출원번호 |
PCT/FR2009/050185
(2009-02-06)
|
§371/§102 date |
20090206
(20090206)
|
국제공개번호 |
WO2009/101338
(2009-08-20)
|
발명자
/ 주소 |
|
출원인 / 주소 |
|
대리인 / 주소 |
Pillsbury Winthrop Shaw Pittman, LLP
|
인용정보 |
피인용 횟수 :
1 인용 특허 :
5 |
초록
A method implements hybrid type simulation serving to validate an inertial unit of a moving body on board an angular movement simulator by comparing a trajectory of the moving body as calculated in a real navigation environment with at least one reference trajectory.
대표청구항
▼
1. A method of validating an inertial unit of a moving body on board an angular movement simulator, said movement simulator being located at a point having fixed coordinates in the terrestrial frame of reference, and said validation being implemented by comparing a trajectory of said moving body as
1. A method of validating an inertial unit of a moving body on board an angular movement simulator, said movement simulator being located at a point having fixed coordinates in the terrestrial frame of reference, and said validation being implemented by comparing a trajectory of said moving body as calculated in a real navigation environment with at least one reference trajectory, said method including, in order to obtain said calculated trajectory, a stage of piloting said moving body, said stage comprising a plurality of iterations, and each iteration comprising: a data-obtaining step of using a simulation tool modeling said inertial unit in said real navigation environment and fed with piloting commands calculated at the preceding iteration, to obtain: a point of said calculated trajectory of said moving body;simulation inertial data representative of the inertial data that ought to be supplied by said inertial unit in said real navigation environment; andmovement commands representative of a movement to be executed by said movement simulator;a step of said inertial unit supplying measurement inertial data representative of said movement after it has been executed by said movement simulator;a theoretical modeling step of theoretically modeling said measurement inertial data supplied by said inertial unit from movement data concerning the movement really executed by said movement simulator for said movement, said theoretical modeling step supplying theoretical inertial data;at least one compensation step of at least one error that might falsify said theoretical modeling of said measurement inertial data by the theoretical inertial data, said at least one compensation step being implemented before said theoretical modeling step; anda step of calculating piloting commands from said simulation inertial data, said theoretical inertial data, and said measurement inertial data. 2. The validation method according to claim 1, wherein each iteration is implemented in real time at a clock rate determined by the clock rate of said moving body. 3. The method according to claim 1, wherein said at least one compensation step of compensating at least one error comprises a step of calibrating at least one of said movement commands in order to compensate for angular differences that exist between the axes of said movement simulator, and the corresponding axes of said terrestrial frame of reference. 4. The method according to claim 1, wherein said at least one compensation step of compensating at least one error comprises a step of applying a phase advance to at least some of said movement data concerning the movement really executed by said movement simulator before supplying it to said theoretical modeling step, in order to synchronize said theoretical inertial data with said measurement inertial data. 5. The method according to claim 1, wherein said piloting commands are calculated as a function of inertial data I defined by I=T2+R−T1, where T2, R, and T1 respectively designate said simulation inertial data, said measurement inertial data, and said theoretical inertial data. 6. The method according to claim 5, wherein when said inertial unit is considered as being non-valid at the end of said validation, said method further comprises a diagnosis step implemented by comparing accumulated sums evaluated from said measurement inertial data obtained on each iteration for said trajectory of said moving body with accumulated sums evaluated from said theoretical inertial data obtained on each iteration for said trajectory of said moving body. 7. The method according to claim 1, further including, during each iteration, a step of applying a phase advance to said movement commands before supplying them to said movement simulator, in order to compensate for an execution delay inherent to said movement simulator. 8. The method according to claim 7, wherein said movement commands present a profile that is synchronous with the profile of said really-executed movement data, and the amplitudes of said really-executed movement data and of said movement commands are consistent. 9. The method according to claim 8, further including, on each iteration, a masking step after said data-obtaining step and before said step of applying a phase advance to said movement commands, such that said masking step is fed with said movement commands and supplies masked movement commands to said step of applying a phase advance to said movement commands in order to mask at least some of the stages of said movement. 10. The method according to claim 9, wherein at least some of said masked movement commands depend on a relationship that is internal to the masking step and independent of said movement commands. 11. The method according to claim 1, further including an initialization stage comprising a plurality of iterations, each iteration of said initialization stage comprising: a data-obtaining step using said simulation tool to obtain: a point of said calculated trajectory of said moving body;simulation inertial data representative of the inertial data that ought to be supplied by said inertial unit in said real navigation environment; andmovement commands representative of a movement to be executed by said movement simulator; andthe following steps of the validation method according to claim 1: the step of supplying measurement inertial data; the theoretical modeling step; the compensation step; and the step of calculating said piloting stage. 12. A validation system for validating an inertial unit of a moving body on board on an annular movement simulator, said movement simulator being located at a point having fixed coordinates in the terrestrial frame of reference, said system comprising comparator means for validating said inertial unit by comparing a trajectory of said moving body as calculated in a real navigation environment with at least one reference trajectory, said system further comprising, in order to obtain said calculated trajectory, means operated during each iteration of a piloting stage comprising a plurality of iterations to implement: a simulation tool modeling said inertial unit in said real navigation environment and fed with piloting commands calculated at the preceding iteration, said simulation tool including means for obtaining: a point of said calculated trajectory of said moving body;simulation inertial data representative of the inertial data that ought to be provided by said inertial unit in said real navigation environment; andmovement commands representative of a movement to be executed by said movement simulator;means for obtaining measurement inertial data supplied by said inertial unit and representative of said movement after it has been executed by said movement simulator;theoretical modeling means for modeling said measurement inertial data supplied by said inertial unit from movement data concerning the movement really executed by said movement simulator for said movement, said theoretical modeling means supplying theoretical inertial data;compensation means for compensating at least one error that might falsify said theoretical modeling of said measurement inertial data by said theoretical inertial data, said compensation means being implemented upstream from said theoretical modeling means; andcalculation means for calculating piloting commands from said simulation inertial data, said theoretical inertial data, and said measurement inertial data. 13. The validation system according to claim 12, wherein said simulation tool, each inertial unit, said theoretical modeling means, said compensation means, and said calculation means operate in real time at a clock rate determined by the clock rate of said moving body. 14. The validation system according to claim 12, wherein said compensation means comprise calibration means for calibrating at least one of said movement commands in order to compensate for the angular differences that exist between the axes of said movement simulator and the corresponding axes of said terrestrial frame of reference. 15. The validation system according to claim 12, wherein said compensation means comprise means for applying a phase advance to at least some of said movement data concerning the movement really executed by said movement simulator before supplying it to said theoretical modeling means, in order to synchronize said theoretical inertial data with said measurement inertial data. 16. The validation system according to claim 12, wherein said calculation means calculate said piloting commands as a function of inertial data I defined by I=T2+R−T1, where T2, R, and T1 respectively designate simulation inertial data, said measurement inertial data, and said theoretical inertial data. 17. The validation system according to claim 16, including diagnosis means when said inertial unit is considered as being non-valid by said validation system, and suitable for comparing accumulated sums evaluated from said measurement inertial data obtained on each iteration for said trajectory of said moving body with accumulated sums evaluated from said theoretical inertial data obtained on each iteration for said trajectory of said moving body. 18. The validation system according to claim 12, further including means for applying a phase advance to said movement commands before supplying them to said movement simulator, in order to compensate for an execution delay inherent to said movement simulator. 19. The validation system according to claim 18, wherein said movement commands present a profile that is synchronous with the profile of said really-executed movement data, and the amplitudes of said really-executed movement data and of said movement commands are consistent. 20. The validation system according to claim 19, further including, downstream from said simulation tool and upstream from said means for applying a phase advance to said movement commands, masking means fed with said movement commands and adapted to provide masked movement commands to said means for applying a phase advance to said movement commands in order to mask at least some of the stages of said movement. 21. The validation system according to claim 20, wherein at least some of said masked movement commands depend on a relationship internal to said masking means, which relationship is independent of said movement commands.
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