System and method for measurement of angular orientation of aerospace platforms
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-021/16
G01C-021/08
출원번호
US-0814530
(2011-08-04)
등록번호
US-9027888
(2015-05-12)
우선권정보
IL-207536 (2010-08-11)
국제출원번호
PCT/IL2011/000631
(2011-08-04)
§371/§102 date
20130415
(20130415)
국제공개번호
WO2012/020400
(2012-02-16)
발명자
/ 주소
Shaltiel, Rabin
Kahane, Allan
출원인 / 주소
Israel Aerospace Industries Ltd.
대리인 / 주소
Oliff PLC
인용정보
피인용 횟수 :
0인용 특허 :
8
초록▼
A method and system are presented for use in determination of the orientation of an aerospace platform with respect to a first rotation axis. A direction of a rotation rate vector of said aerospace platform within a lateral plane intersecting with said first rotation axis is measured and the measure
A method and system are presented for use in determination of the orientation of an aerospace platform with respect to a first rotation axis. A direction of a rotation rate vector of said aerospace platform within a lateral plane intersecting with said first rotation axis is measured and the measured data is analyzed to determine an orientation angle of said aerospace platform about said first rotation axis. While the aerospace platform is in a predetermined-dynamic state movement, a certain direction is determined by measuring a direction of the rotation rate of the aerospace platform within said lateral plane by a sensor assembly mounted on said platform and including at least one rotation rate sensor. An orientation of the platform with respect to said first axis is determined by determining a relation between said certain direction and said known direction within said external reference frame.
대표청구항▼
1. A method for use in determination of the orientation of an aerospace platform with respect to a roll rotation axis thereof, the method comprising: a. providing a predetermined-dynamic state movement of said aerospace platform with respect to an external reference frame, said predetermined-dynamic
1. A method for use in determination of the orientation of an aerospace platform with respect to a roll rotation axis thereof, the method comprising: a. providing a predetermined-dynamic state movement of said aerospace platform with respect to an external reference frame, said predetermined-dynamic state movement being characterized in that a direction of lateral rotation rate of the platform within a lateral plane substantially orthogonal to the roll rotation axis, and/or of any time derivative of the lateral rotation rate, is substantially perpendicular to a reference direction within said external reference frame,b. while the aerospace platform is in said predetermined-dynamic state movement, measuring said direction of the lateral rotation rate and generating measured data indicative thereof,c. analyzing Said measured data indicative of the direction of the lateral rotation rate being substantially perpendicular to said reference direction, and determining an orientation angle of said aerospace platform with respect to said roll rotation axis. 2. The method of claim 1, wherein said predetermined-dynamic state movement is associated with a gravity-turn effect acting on said platform, and wherein said reference direction is a direction of gravity force. 3. The method of claim 1, wherein said measuring of the direction of the lateral rotation axis utilizes at least one rotation rate sensor revolving with respect to said external reference frame about a revolution axis substantially parallel to said roll rotation axis, said measured data being thereby modulated by an angular velocity (ω) of the revolution motion of said at least one rotation rate sensor. 4. The method of claim 3, wherein said revolution motion is obtained by at least one of the following: i. a rotation of said aerospace platform about an axis substantially parallel to said roll axis; andii. a relative rotational motion between said at least one rotation rate sensor and said aerospace platform about an axis substantially parallel to said roll axis. 5. The method of claim 4, wherein said revolution motion is at least partially obtained by the relative rotational motion between said at least one rotation rate sensor and said aerospace platform and wherein said analyzing of the measured data provides compensation for a yaw of repose effect associated with said rotation of said aerospace platform. 6. The method of claim 3, wherein said analyzing of the measured direction comprises determining angular velocity (ω) by identifying prominent frequencies in readout data obtained from the at least one rotation rate sensor. 7. The method of claim 3, wherein said analyzing of the measured direction comprises utilizing said angular velocity (ω) to de-modulate said measured data and to determine said direction within the lateral plane. 8. The method of claim 7, wherein in said de-modulate measured data, a bias effect of said at least one rotation rate sensors is suppressed due to said angular velocity (ω), thereby increasing accuracy of the measurement of said direction of the rotation rate of the platform in the lateral plane. 9. The method of claim 1, comprising utilizing the angle of orientation of the aerospace platform with respect to the roll rotation axis to compensate a bias drift effect of an additional rotation rate sensor associated with measurement of a rotation rate of said aerospace platform with respect to said roll rotation axis. 10. The method of claim 1, wherein said at least one rotation rate sensor is configured in one of the following configurations: i. the at least one rotation rate sensor comprises at least two of the rotation rate sensors configured to measure the platform's rotation rates about two directions in the lateral plane;ii. the at least one rotation rate sensor comprises a single rotation rate sensor adapted to revolve about a revolution axis substantially parallel to said roll axis and to consecutively measure the platform rotation rates about various directions in said lateral plane;thereby enabling determination of the platform rotation rates about pitch and yaw rotation axes. 11. The method of claim 1, wherein said time derivative of the platform rotation rate is the first-order derivative corresponding to the rate of change of the rotation rate of the platform within the lateral plane. 12. A measurement system for use in determining orientation of an aerospace platform with respect to a roll rotation axis of the platform relative to an external reference frame, the measurement system comprising: a sensor assembly mounted on said platform and comprising at least one rotation rate sensor configured and operable for measuring the rotation rates of the aerospace platform within a lateral plane orthogonal to said roll rotation axis and for generating measured data indicative thereof; anda control system configured and operable for carrying out the following: analyzing the measured data to determine a certain direction corresponding to a direction of a lateral rotation rate of the platform within said lateral plane and/or to a direction of any time derivative of said lateral rotation rate of the platform in said lateral plane;obtaining a perpendicularity relation between said direction and a reference direction within said external reference frame; said relation corresponding to a predetermined dynamic state movement of the platform with respect to said external reference frame; andutilizing said certain direction and said perpendicularity relation and determining an orientation angle of the platform with respect to said roll rotation axis. 13. The system of claim 12, wherein said predetermined-dynamic state movement is associated with a gravity-turn effect acting on said platform; and said reference direction is a direction of gravity force. 14. The system of claim 12, wherein said at least one rotation rate sensor revolves with respect to said external reference frame about a revolution axis substantially parallel to said roll rotation axis, said measured data being thereby indicative of the rotation rates within said lateral plane of the aerospace platform modulted by an angular velocity (ω) of said revolution of the at least one rotation rate sensor. 15. The system of claim 12, wherein said sensor assembly comprises at least one of the following: i. at least one rotation rate sensor fixed with respect to said aerospace platform, and wherein said revolution of the least one rotation rate sensor is obtained by a rotation of said aerospace platform about said revolution axis;ii. an actuation utility connected to said at least one rotation rate sensor and configured and operable to provide a revolution of a relative angular velocity between said at least one rotation rate sensor and said aerospace platform about said revolution axis; andiii. at least two rotation rate sensors configured to measure the platform's rotation rates about two directions in the lateral plane. 16. The system of claim 12, wherein the control system comprises a de-modulation module associated with said sensor assembly and configured and operable for receiving and analyzing the measured data and to utilize said angular velocity (ω) to generate de-modulated data indicative of said certain direction of the rotation rate of the aerospace platform. 17. The system of claim 16, wherein the de-modulation module is capable of determining said angular velocity (ω) by identifying prominent frequencies in said measured data obtained from the at least one rotation rate sensor. 18. The system of claim 12, wherein at least one module of said control system is located on a ground station or on another aerospace platform, and wherein said control system comprises a transceiver utility for transmitting signals corresponding to said measured data to the ground station or to said another aerospace platform. 19. The system of claim 12, wherein said control system comprises: an orientation determination module adapted for operating, during said predetermined-dynamic state movement of the platform, and to determine said orientation angle of the platform with respect to said roll rotation axis based on said certain direction of the lateral rotation rate of the platform and said perpendicularity relation; anda bias compensation module associated with a roll rotation rate sensor, which is adapted for measurement of rotation rates of said aerospace platform with respect to said roll rotation axis, said bias compensation module being configured and operable for receiving said determined orientation angle of the platform with respect to said roll rotation axis and for correcting a bias drift effect of said first rotation rate sensor by utilizing said orientation angle. 20. The system of claim 12, wherein said sensor assembly is configured and operable for measuring rotation rates of said platform about two rotation axes associated with the pitch and yaw orientation axes of the aerospace platform.
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이 특허에 인용된 특허 (8)
Didinsky Garry ; Nayak Arunkumar P. ; Li Rongsheng ; Wu Yeong-Wei A. ; Kurland Jeffrey A. ; Needelman David D., Attitude determination system and method.
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