IPC분류정보
국가/구분 |
United States(US) Patent
등록
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국제특허분류(IPC7판) |
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출원번호 |
US-0924359
(2010-09-24)
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등록번호 |
US-8670964
(2014-03-11)
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발명자
/ 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
0 인용 특허 :
5 |
초록
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A Modeling, Design, Analysis, Simulation, and Evaluation (MDASE) aspects of gyrocompassing in relation to Far-Target Location (FTL) systems include a Gyrocompass Modeling and Simulation System (GMSS). The GMSS has four major components: the 6 degree-of-freedom (6DOF) Motion Simulator, the IMU Sensor
A Modeling, Design, Analysis, Simulation, and Evaluation (MDASE) aspects of gyrocompassing in relation to Far-Target Location (FTL) systems include a Gyrocompass Modeling and Simulation System (GMSS). The GMSS has four major components: the 6 degree-of-freedom (6DOF) Motion Simulator, the IMU Sensor Simulator, the Gyrocompass System and Calibration Process Simulator, and the Gyrocompass System Evaluation and Analysis Module. The modular architecture of GMSS makes it very flexible for programming, testing, and system maintenance. The realization of the GMSS is based on any computer platforms for the GMSS software is written in high level language and is portable. The stochastic signal analysis and sensor testing and modeling tools include a suite of generic statistical analysis software, including Allan Variance and power spectral density (PSD) analysis tools, which are available to every GMSS module and greatly enhanced the system functionality.
대표청구항
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1. A gyrocompass modeling and simulation (GMSS) system for a gyrocompass, comprising: a computer executing the following simulators and modules;a six-degrees-of-freedom (6DOF) motion simulator;an inertial measurement unit (IMU) sensor simulator which comprises real-time sensor data acquisition and m
1. A gyrocompass modeling and simulation (GMSS) system for a gyrocompass, comprising: a computer executing the following simulators and modules;a six-degrees-of-freedom (6DOF) motion simulator;an inertial measurement unit (IMU) sensor simulator which comprises real-time sensor data acquisition and modeling tools;a gyrocompass system and calibration process simulator; anda gyrocompass system evaluation and analysis module, wherein said 6DOF motion simulator, said IMU sensor simulator, said gyrocompass system and calibration process simulator and said gyrocompass system evaluation and analysis module are interlinked through an accumulative communication stream;a translational motion simulator communicated with said IMU sensor simulator, wherein said translational motion simulator comprises:a module representing mass of a unit model,modules representing kinematic constraints of a translational motion,a module of three-dimensional translational motion controller controlling said translational motion according to input motion commands,a module of input and output (I/O) interface programs converting user inputs from an input device to a real-time data stream,a module of stochastic signal generators producing random forces,a module of statistical parameter controller controlling the stochastic signal generators and setting statistical parameters,a module of graphic user interface (GUI) or Window for program control and configuration and data visualization and display, anda module of motion script editor or translator for an optional function of said module of motion script editor or translator for translating a text or script description of said motion commands to a data stream for simulation. 2. The GMSS system, as recited in claim 1, wherein said translational motion simulator, executed by said computer, processes the steps of: (i) receiving a motion command from a user from said input device through an I/O interface;(ii) reading specified 6DOF parameters from said GUI window module;(iii) combining and sending said motion command and said specified 6DOF parameters to said translational motion controller;(iv) generating a control command by said translational motion controller using said motion command and feedback states from motion simulator outputs;(v) generating a stochastic force signal by one of said stochastic signal generators;(vi) combining said control command with said stochastic force signal by said translational motion controller to generate a total force signal;(vii) producing acceleration data using said total force signal by said mass module;(viii) producing velocity data using said acceleration data by an integral module;(ix) producing position data using said velocity data by said integral module; and(x) sending said acceleration data, said velocity data and said position data produced to said IMU sensor simulator. 3. The GMSS system, as recited in claim 2, further comprising an angular motion simulator which processes, executed by said computer, the steps of: (i) receiving said motion command from said user from said input device through said I/O interface;(ii) reading said specified 6DOF parameters from said GUI window module;(iii) combining and sending said motion command and said specified 6DOF parameters to said angular motion simulator;(iv) generating said control command by said angular motion simulator using said motion command and said feedback states from angular motion simulator outputs;(v) generating a stochastic torque signal by one of said stochastic signal generators;(vi) combining said control command with said stochastic torque signal by said angular motion simulator to generate a total torque signal;(vii) producing an angular acceleration data using said total torque signal by a 3-dimensional (3D) Euler rigid body dynamic model;(viii) producing an angular velocity data using said torque data and said 3D Euler rigid body dynamic model;(ix) converting said angular velocity data in a body frame to Euler angle form angular velocity data by said 3D Euler rigid body dynamic model for controlling Euler angular rate;(x) producing angle data using said angular velocity data and quaternion attitude updating equations by a kinematical constraints module;(xi) converting said angular position in quaternion form to Euler angle form by said kinematical constraints module for controlling Euler position; and(xii) sending said angular velocity data and said angle data produced to said IMU sensor simulator and said gyrocompass system evaluation and analysis module. 4. A gyrocompass modeling and simulation (GMSS) system for a gyrocompass, comprising: a computer executing the following simulators and modules;a six-degrees-of-freedom (6DOF) motion simulator;an inertial measurement unit (IMU) sensor simulator which comprises real-time sensor data acquisition and modeling tools;a gyrocompass system and calibration process simulator; anda gyrocompass system evaluation and analysis module, wherein said 6DOF motion simulator, said IMU sensor simulator, said gyrocompass system and calibration process simulator and said gyrocompass system evaluation and analysis module are interlinked through an accumulative communication stream, wherein said IMU sensor simulator, through said computer, processes the steps of:(i) receiving 6DOF motion data from said 6DOF motion simulator;(ii) receiving IMU error parameters from an IMU GUI widow or an IMU error model library;(iii) producing ideal IMU output data using a corresponding IMU measurement model and said 6DOF motion data;(iv) generating IMU motion-related errors using corresponding IMU error model parameters and said 6DOF motion data, wherein said IMU motion-related errors include scale factor errors, sensor axis misalignment errors, and sensor dynamic errors;(v) generating IMU stochastic errors using said corresponding IMU error model parameters and stochastic signal generators, wherein said IMU stochastic errors include white noise, random walk, quantization error, and bias instability error;(vi) generating IMU temperature induced errors using said corresponding IMU error model parameters;(vii) generating IMU periodic (oscillating or vibration) errors using said corresponding IMU error model parameters;(viii) combing ideal IMU output data and all generated IMU errors to produce IMU output data; and(ix) sending said IMU output data produced to said gyrocompass system and calibration process simulator through said accumulative communication stream. 5. The GMSS system, as recited in claim 4, processes a gyrocompass simulation, executed by said computer, which is a closed-loop process that is iterating in time for a computer software implementation, comprising the steps of: (i) receiving said IMU output data from said IMU simulator module, which include simulated gyro output data and simulated accelerometer output data;(ii) estimating an approximation of gyrocompass attitude using said IMU output data and selected coarse initialization/alignment algorithms;(iii) initializing a gyrocompass attitude quaternion in module and a direction cosine matrix (DCM) representation with estimated coarse alignment attitude;(iv) converting gyro input from a body frame to a mathematical platform frame by a first module using current DCM;(v) forming an attitude updating command in a second module using said converted gyro input and current gyrocompass control output;(vi) updating said gyrocompass attitude in said first module using updating command and said quaternion attitude updating algorithms to get a quaternion representation of said gyrocompass attitude;(vii) converting said quaternion representation of said gyrocompass attitude into said DCM representation of said gyrocompass attitude by a third module;(viii) converting said DCM representation of said gyrocompass attitude into an Euler angle representation of said gyrocompass attitude by a fourth module;(ix) converting accelerometer output data from said body frame to said mathematical platform frame by a fifth module using said current DCM;(x) producing an estimation of gyrocompass attitude error using a user selected estimator or Kalman filter and said converted accelerometer output data;(xi) generating attitude control command using user selected optimal or adaptive controller and said estimated attitude error;(xii) feeding back said generated attitude control command to an updating command generator to form a next attitude updating command; and(xiii) going back to step (iv) and iterating said process until the simulation is stopped by said user. 6. The GMSS system, as recited in claim 5, processes a gyrocompass evaluation process, executed by said computer, which comprises the steps of: (i) producing reference 6DOF motion data using said 6DOF motion simulator;(ii) sending said reference 6DOF motion data to both said IMU sensor simulator and said gyrocompass system evaluation and analysis module;(iii) generating IMU output using said IMU sensor simulator with user selected error parameters and said reference 6DOF motion data;(iv) producing gyrocompass attitude data using selected gyrocompass simulator algorithms and said IMU output; and(v) comparing said gyrocompass attitude with said reference 6DOF motion data to get gyrocompass performance specification data using said gyrocompass system evaluation and analysis module. 7. The GMSS system, as recited in claim 6, wherein said gyrocompass system evaluation and analysis module includes: a GUI or Window for raw data display and storage control, which is used to display user selected simulation data from other GMSS modules and selects simulation data variables that said user wants to store for analysis;a simulation data storage module which is a library module used to save and retrieve said selected simulation data variables;a module for data processing, analysis, and performance evaluation, which performs stochastic data processing to obtain a set of parameterized gyrocompass performance and specifications; anda GUI or Window for data processing control and presentation/visualization, which selects a type of data processing to perform and presents system error variables with statistical analysis results. 8. A gyrocompass modeling and simulation (GMSS) method for a gyrocompass, comprising the steps executed by a computer of: (a) generating six-degrees-of-freedom (6DOF) angular and linear motion data through a six-degrees-of-freedom (6DOF) motion simulator;(b) sending said 6DOF angular and linear motion data to an inertial measurement unit (IMU) sensor simulator through an accumulative communication stream;(c) generating IMU output data by said IMU sensor simulator;(d) sending said IMU output data to a gyrocompass simulator through said accumulative communication stream;(e) producing attitude data by said gyrocompass simulator with an assigned gyrocompass model;(f) sending said attitude data to a gyrocompass system evaluation and analysis module through said accumulative communication stream;(g) comparing said attitude data produced by said gyrocompass simulator with ideal attitude data generated by said 6DOF motion simulator to generate errors of the gyrocompass under specified IMU errors and motion parameters; and(h) a translational motion simulator process which includes the steps of:(i) receiving a motion command from a user from an input device through an I/O interface;(ii) reading specified 6DOF parameters from a GUI window module;(iii) combining and sending said motion command and said specified 6DOF parameters to a translational motion controller;(iv) generating a control command by said translational motion controller using said motion command and feedback states from motion simulator outputs;(v) generating a stochastic force signal by a stochastic process generator;(vi) combining said control command with said stochastic force signal by said translational motion controller to generate a total force signal;(vii) producing acceleration data using said total force signal by a mass module;(viii) producing velocity data using said acceleration data by an integral module;(ix) producing position data using said velocity data by said integral module; and(x) sending said acceleration data, said velocity data and said position data produced to said IMU sensor simulator. 9. The GMSS method, as recited in claim 8, further comprising an angular motion simulator process, executed by said computer, which includes the steps of: (i) receiving said motion command from said user from said input device through said I/O interface;(ii) reading said specified 6DOF parameters from said GUI window module;(iii) combining and sending said motion command and said specified 6DOF parameters to said angular motion simulator process;(iv) generating said control command by said angular motion simulator process using said motion command and said feedback states from angular motion simulator outputs;(v) generating a stochastic torque signal by said stochastic process generator;(vi) combining said control command with said stochastic torque signal by said angular motion simulator process to generate a total torque signal;(vii) producing an angular acceleration data using said total torque signal by a 3D Euler rigid body dynamic model;(viii) producing an angular velocity data using said torque data and said 3 dimensional (3D) Euler rigid body dynamic model;(ix) converting said angular velocity data in a body frame to Euler angle form angular velocity data by said 3D Euler rigid body dynamic model for controlling Euler angular rate;(x) producing angle data using said angular velocity data and quaternion attitude updating equations by a kinematical constraints module;(xi) converting said angular position in quaternion form to Euler angle form by said kinematical constraints module for controlling Euler position; and(xii) sending said angular velocity data and said angle data produced to said IMU simulator module and an evaluation module. 10. The GMSS method, as recited in claim 9, further comprising an IMU sensor simulator process, executed by said computer, which includes the steps of: (i) receiving 6DOF motion data from said 6DOF motion simulator;(ii) receiving IMU error parameters from an IMU GUI widow or an IMU error model library;(iii) producing ideal IMU output data using a corresponding IMU measurement model and said 6DOF motion data;(iv) generating IMU motion-related errors using corresponding IMU error model parameters and said 6DOF motion data, wherein said IMU motion-related errors include scale factor errors, sensor axis misalignment errors, and sensor dynamic errors;(v) generating IMU stochastic errors using said corresponding IMU error model parameters and stochastic signal generators, wherein said IMU stochastic errors include white noise, random walk, quantization error, and bias instability error;(vi) generating IMU temperature induced errors using said corresponding IMU error model parameters;(vii) generating IMU periodic (oscillating or vibration) errors using said corresponding IMU error model parameters;(viii) combing ideal IMU output data and all generated IMU errors to produce said IMU output data; and(ix) sending said IMU output data produced to said gyrocompass simulator through said accumulative communication stream. 11. The GMSS method, as recited in claim 10, further comprising a gyrocompass simulation process, executed by said computer, which is a closed-loop process that is iterating in time for a computer software implementation, comprising the steps of: (i) receiving said IMU output data from said IMU sensor simulator, which include simulated gyro output data and simulated accelerometer output data;(ii) estimating an approximation of gyrocompass attitude using said IMU output data and selected coarse initialization/alignment algorithms;(iii) initializing a gyrocompass attitude quaternion in module and a DCM representation with estimated coarse alignment attitude;(iv) converting gyro input from a body frame to a mathematical platform frame by a first module using current DCM;(v) forming an attitude updating command in a second module using said converted gyro input and current gyrocompass control output;(vi) updating said gyrocompass attitude in said first module using updating command and said quaternion attitude updating algorithms to get a quaternion representation of said gyrocompass attitude;(vii) converting said quaternion representation of said gyrocompass attitude into said DCM representation of said gyrocompass attitude by a third module;(viii) converting said DCM representation of said gyrocompass attitude into an Euler angle representation of said gyrocompass attitude by a fourth module;(ix) converting accelerometer output data from said body frame to said mathematical platform frame by a fifth module using said current DCM;(x) producing an estimation of gyrocompass attitude error using a user selected estimator or Kalman filter and said converted accelerometer output data;(xi) generating attitude control command using user selected optimal or adaptive controller and said estimated attitude error;(xii) feeding back said generated attitude control command to an updating command generator to form a next attitude updating command; and(xiii) going back to step (iv) and iterating said process until the simulation is stopped by said user. 12. The GMSS method, as recited in claim 11, further comprising a gyrocompass evaluation process, executed by said computer, which comprises the steps of: (i) producing reference 6DOF motion data using said 6DOF motion simulator;(ii) sending said reference 6DOF motion data to both said IMU sensor simulator and said gyrocompass system evaluation and analysis module;(iii) generating IMU output using said IMU sensor simulator with said selected IMU error parameters and said reference 6DOF motion data;(iv) producing gyrocompass attitude data using selected gyrocompass simulator algorithms and said IMU sensor simulator output; and(v) comparing said gyrocompass attitude with said reference 6DOF motion data to get gyrocompass performance specification data using said gyrocompass system evaluation and analysis module. 13. A gyrocompass modeling and simulation (GMSS) method for a gyrocompass, comprising the steps executed by a computer of: (a) generating six-degrees-of-freedom (6DOF) angular and linear motion data through a six-degrees-of-freedom (6DOF) motion simulator;(b) sending said 6DOF angular and linear motion data to an inertial measurement unit (IMU) sensor simulator through an accumulative communication stream;(c) generating IMU output data by said IMU sensor simulator;(d) sending said IMU output data to a gyrocompass simulator through said accumulative communication stream;(e) producing attitude data by said gyrocompass simulator with an assigned gyrocompass model;(f) sending said attitude data to a gyrocompass system evaluation and analysis module through said accumulative communication stream; and(g) comparing said attitude data produced by said gyrocompass simulator with ideal attitude data generated by said 6DOF motion simulator to generate errors of the gyrocompass under specified IMU errors and motion parameters;wherein an IMU sensor simulator process includes the steps of:(i) receiving 6DOF motion data from said 6DOF motion simulator;(ii) receiving IMU error parameters from an IMU GUI widow or an IMU error model library;(iii) producing ideal IMU output data using a corresponding IMU measurement model and said 6DOF motion data;(iv) generating IMU motion-related errors using corresponding IMU error model parameters and said 6DOF motion data, wherein said IMU motion-related errors include scale factor errors, sensor axis misalignment errors, and sensor dynamic errors;(v) generating IMU stochastic errors using said corresponding IMU error model parameters and stochastic signal generators, wherein said IMU stochastic errors include white noise, random walk, quantization error, and bias instability error;(vi) generating IMU temperature induced errors using said corresponding IMU error model parameters;(vii) generating IMU periodic (oscillating or vibration) errors using said corresponding IMU error model parameters;(viii) combing ideal IMU output data and all generated IMU errors to produce said IMU output data; and(ix) sending said IMU output data produced to said gyrocompass simulator through said accumulative communication stream. 14. A gyrocompass modeling and simulation (GMSS) method for a gyrocompass, comprising the steps executed by a computer of: (a) generating six-degrees-of-freedom (6DOF) angular and linear motion data through a six-degrees-of-freedom (6DOF) motion simulator;(b) sending said 6DOF angular and linear motion data to an inertial measurement unit (IMU) sensor simulator through an accumulative communication stream;(c) generating IMU output data by said IMU sensor simulator;(d) sending said IMU output data to a gyrocompass simulator through said accumulative communication stream;(e) producing attitude data by said gyrocompass simulator with an assigned gyrocompass model;(f) sending said attitude data to a gyrocompass system evaluation and analysis module through said accumulative communication stream; and(g) comparing said attitude data produced by said gyrocompass simulator with ideal attitude data generated by said 6DOF motion simulator to generate errors of the gyrocompass under specified IMU errors and motion parameters;wherein a gyrocompass simulation process, which is a closed-loop process that is iterating in time for a computer software implementation, comprises the steps of:(i) receiving said IMU output data from said IMU sensor simulator, which include simulated gyro output data and simulated accelerometer output data;(ii) estimating an approximation of gyrocompass attitude using said IMU output data and selected coarse initialization/alignment algorithms;(iii) initializing a gyrocompass attitude quaternion in module and a DCM representation with estimated coarse alignment attitude;(iv) converting gyro input from a body frame to a mathematical platform frame by a first module using current DCM;(v) forming an attitude updating command in a second module using said converted gyro input and current gyrocompass control output;(vi) updating said gyrocompass attitude in said first module using updating command and said quaternion attitude updating algorithms to get a quaternion representation of said gyrocompass attitude;(vii) converting said quaternion representation of said gyrocompass attitude into said DCM representation of said gyrocompass attitude by a third module;(viii) converting said DCM representation of said gyrocompass attitude into an Euler angle representation of said gyrocompass attitude by a fourth module;(ix) converting accelerometer output data from said body frame to said mathematical platform frame by a fifth module using said current DCM;(x) producing an estimation of gyrocompass attitude error using a user selected estimator or Kalman filter and said converted accelerometer output data;(xi) generating attitude control command using user selected optimal or adaptive controller and said estimated attitude error;(xii) feeding back said generated attitude control command to an updating command generator to form a next attitude updating command; and(xiii) going back to step (iv) and iterating said process until the simulation is stopped by said user.
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