Systems and methods for calibrating and adjusting a heading reference system
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-005/00
G01C-025/00
G01C-017/38
출원번호
US-0060358
(2016-03-03)
등록번호
US-9476734
(2016-10-25)
발명자
/ 주소
Askarpour, Shahram
출원인 / 주소
Innovative Solutions and Support, Inc.
대리인 / 주소
Bryan Cave LLP
인용정보
피인용 횟수 :
0인용 특허 :
28
초록▼
Systems and methods of calibrating and adjusting for deviations in a vehicle's heading system, such as the attitude heading and reference system of an aircraft or the heading system of a ship, positioned along the Earth's surface involve calibrating magnetometers for hard iron and misalignment error
Systems and methods of calibrating and adjusting for deviations in a vehicle's heading system, such as the attitude heading and reference system of an aircraft or the heading system of a ship, positioned along the Earth's surface involve calibrating magnetometers for hard iron and misalignment errors using single heading measurements. This can be accomplished by obtaining both actual and theoretical readings for the magnetometer of the heading system, and comparing these values to obtain calibration values for the heading system. The vehicle may be repositioned, such as to North, South, East, and west magnetic headings, with the procedure repeated at each of these headings, and the calibration values averaged, further increasing the accuracy.
대표청구항▼
1. A method for recalibrating an aircraft attitude and reference heading system comprising at least one magnetometer, the method comprising the steps of: selectively positioning an aircraft on the ground along the Earth's surface at a single known magnetic heading;obtaining an actual reading from th
1. A method for recalibrating an aircraft attitude and reference heading system comprising at least one magnetometer, the method comprising the steps of: selectively positioning an aircraft on the ground along the Earth's surface at a single known magnetic heading;obtaining an actual reading from the at least one magnetometer at the known magnetic heading while the aircraft is stationary on the ground;determining a theoretical reading for the at least one magnetometer at the known magnetic heading based, at least in part, on an attitude value that was determined during an initial calibration of the aircraft;calculating a recalibrated universal average gain and offset based, at least in part, on the actual reading and the theoretical reading;utilizing the recalibrated universal average gain and offset to determine a recalibrated magnetic heading for the aircraft and recalibrate the heading system for measurement errors;determining a misalignment value based, at least in part, on a comparison of the known magnetic heading and the recalibrated magnetic heading; andutilizing the misalignment value to adjust the heading system for misalignment errors. 2. The method of claim 1, wherein the initial calibration of the aircraft includes: selectively positioning the aircraft on the ground along the Earth's surface at a plurality of selected magnetic headings;obtaining a first set of actual readings from the at least one magnetometer at the plurality of selected magnetic headings while the aircraft is stationary on the ground;computing theoretical readings for the at least one magnetometer at the selected magnetic headings of the positioned aircraft based, at least in part, on a set of theoretical magnetic field properties of the Earth associated with a location of the positioned aircraft;calculating a universal average gain and offset for the at least one magnetometer based, at least in part, on a comparison of the first set of actual readings with the theoretical readings for providing a set of calibration values for the heading system at the plurality of selected magnetic headings for the positioned aircraft; andutilizing the universal average gain and offset to initially calibrate the heading system for measurement errors. 3. The method of claim 2, wherein the plurality of selected magnetic headings for the aircraft comprise the North, South, East, and West magnetic headings for the aircraft during the initial calibration. 4. The method of claim 2 further comprising utilizing at least one low pass filter to filter the provided set of calibration values of the selected magnetic headings for the positioned aircraft. 5. The method of claim 2, wherein the step of obtaining the set of theoretical magnetic field properties further comprises obtaining the set from an organization that provides access to geophysical data. 6. The method of claim 1, wherein the aircraft has an associated engine and avionics, the recalibration method being performed with the aircraft engine and avionics running. 7. The method of claim 1, wherein the at least one magnetometer comprises a triaxial magnetometer. 8. The method of claim 7, wherein the equation for the aircraft magnetic heading is: ψ=tan-1(YsXs)Where: Xs=(Xb−Xcal)cos θ+(Yb−Ycal)sin θ sin φ+(Zb−Zcal)sin θ cos φYs=(Yb−Ycal)cos φ−(Zb−Zcal)sin φ. 9. A method for recalibrating an aircraft attitude and reference heading system comprising at least one magnetometer, the method comprising the steps of: selectively positioning an aircraft on the ground along the Earth's surface at a single known magnetic heading;obtaining an actual reading from the at least one magnetometer at the known magnetic heading while the aircraft is stationary on the ground;determining a theoretical reading for the at least one magnetometer at the known magnetic heading based, at least in part, on an attitude value that was determined during an initial calibration of the aircraft;calculating a recalibrated universal average gain and offset based, at least in part, on the actual reading and the theoretical reading; andutilizing the recalibrated universal average gain and offset to recalibrate the heading system for measurement errors. 10. The method of claim 9, further comprising the step of compensating for misalignment errors, wherein compensating for misalignment errors includes: aligning the aircraft to a known magnetic heading;utilizing the recalibrated universal average gain and offset to determine a calibrated magnetic heading for the aircraft;determining a misalignment value based, at least in part, on a comparison of the known magnetic heading and the recalibrated magnetic heading; andutilizing the misalignment value to adjust the heading system for misalignment errors. 11. The method of claim 9, wherein the single known magnetic heading for the aircraft is selected from the group consisting of: the North, South, East, and West magnetic headings for the aircraft. 12. The method of claim 9, wherein the at least one magnetometer comprises a triaxial magnetometer. 13. The method of claim 12, wherein the recalibrated universal gain and offset are calculated, in part, using the equations: Xcal=Xb−(VI sin θ−HI cos θ cos φ)Ycal=Yb−(HI sin ψ cos φ−HI sin φ cos ψ sin θ−VI cos θ sin φ)Zcal=Zb−(−HI sin ψ sin φ−HI cos φ cos ψ sin θ−VI cos θ cos φ). 14. The method of claim 9, wherein the aircraft has an associated engine and avionics, the recalibration method being performed with the aircraft engine and avionics running. 15. A method for adjusting an aircraft attitude and reference heading system comprising at least one magnetometer, the method comprising the steps of: performing a calibration of the heading system associated with selecting at least one magnetic heading and positioning an aircraft on the ground along the Earth's surface at the at least one selected magnetic heading for providing a universal average gain and offset; andadjusting the heading system to compensate for misalignment errors, wherein adjusting the heading system includes: aligning the aircraft to a known magnetic heading;determining a misalignment value based, at least in part, on a comparison of the known magnetic heading and the calibrated magnetic heading; andutilizing the misalignment value to adjust the heading system for misalignment errors. 16. The method of claim 15, wherein performing the calibration of the heading system includes: selectively positioning the aircraft on the ground along the Earth's surface at a single known magnetic heading;obtaining an actual reading from the at least one magnetometer at the known magnetic heading while the aircraft is stationary on the ground;determining a theoretical reading for the at least one magnetometer at the known magnetic heading based, at least in part, on an attitude value that was determined during an initial calibration of the aircraft;calculating a recalibrated universal average gain and offset based, at least in part, on the actual reading and the theoretical reading; andutilizing the recalibrated universal average gain and offset to determine a recalibrated magnetic heading for the aircraft and recalibrate the heading system for measurement errors. 17. The method of claim 15, wherein the at least one selected magnetic heading for the aircraft during calibration is selected from the group consisting of a North, South, East, and West magnetic headings. 18. The method of claim 15, wherein the at least one magnetometer comprises a triaxial magnetometer. 19. The method of claim 15, wherein the aircraft has an associated engine and avionics, the calibration method being performed with the aircraft engine and avionics running. 20. A method for recalibrating an attitude and reference heading system for a vehicle comprising at least one magnetometer, the method comprising the steps of: selectively positioning the vehicle along the Earth's surface at a single known magnetic heading;obtaining an actual reading from the at least one magnetometer at the known magnetic heading while the vehicle is stationary;determining a new theoretical reading for the at least one magnetometer at the known magnetic heading based, at least in part, on an attitude value that was determined during an initial calibration of the vehicle;calculating a recalibrated universal average gain and offset based, at least in part, on the actual reading and the theoretical reading;utilizing the recalibrated universal average gain and offset to determine a recalibrated magnetic heading for the vehicle and recalibrate the heading system for measurement errors;determining a misalignment value based, at least in part, on a comparison of the known magnetic heading and the recalibrated magnetic heading; andutilizing the misalignment value to adjust the heading system for misalignment errors. 21. The method of claim 20 wherein the vehicle is a ship positioned in water along the Earth's surface.
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이 특허에 인용된 특허 (28)
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Smith, Robert B.; Morton, Blaise Grayson; Elgersma, Michael R., Electronic compass and compensation of large magnetic errors for operation over all orientations.
Cage Russell E. (Ann Arbor MI) Wilke John A. (Eppstein-Bremthal MI DEX) Al-Attar Rafi A. (Troy MI), Magnetic transient detection and calibration technique for an auto-calibrating compass.
Fisher Matthew J. (Eatontown NJ) Gregory ; Jr. William J. (Pelham NH), Method and apparatus for calibrating gyroscopically-stabilized, magnetically-slaved heading reference system.
Assous Eric Charles (Marseilles FRX) Petillon Jean-Paul (Vitrolles FRX), Method and device for simultaneous identification and correction of errors in the measurements of a magnetometer.
Manfred, Mark T.; Hartman, Randolph G.; Lenz, James E.; Vanderwerf, Kevin D.; Vallot, Lawrence C., Methods and apparatus for automatic magnetic compensation.
Erspamer James R. (Phoenix AZ) Jackson John R. (Phoenix AZ) Misch Roger A. (Phoenix AZ) Waldrop John L. (Phoenix AZ), Semi-automatic self-contained magnetic azimuth detector calibration apparatus and method.
Ueno Hiroshi (Yokosuka JPX) Takano Kenji (Yokosuka JPX), Vehicular traveling direction measuring system with automatic center coordinate position correction.
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