Rotating attitude heading reference systems and methods
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-017/38
G01S-013/86
G01S-013/89
G01S-007/20
G01S-015/89
G01S-013/93
G01S-015/02
출원번호
US-0445717
(2017-02-28)
등록번호
US-10261176
(2019-04-16)
발명자
/ 주소
Johnson, Mark
Stokes, Paul
Jales, Richard
출원인 / 주소
FLIR SYSTEMS, INC.
대리인 / 주소
Haynes and Boone, LLP
인용정보
피인용 횟수 :
0인용 특허 :
5
초록▼
Techniques are disclosed for systems and methods to provide orientation and/or position data from an orientation and/or position sensor (OPS) while it is rotating. A system includes a logic device configured to communicate with an OPS that is rotationally coupled to a mobile structure. The logic dev
Techniques are disclosed for systems and methods to provide orientation and/or position data from an orientation and/or position sensor (OPS) while it is rotating. A system includes a logic device configured to communicate with an OPS that is rotationally coupled to a mobile structure. The logic device is configured to receive orientation and/or position data from the OPS while the OPS is rotating relative to the mobile structure and determine rotationally corrected orientation and/or position data referenced to the mobile structure, a rotationally actuated sensor assembly mounted to the mobile structure, and/or an absolute coordinate frame.
대표청구항▼
1. A system comprising: a logic device configured to communicate with an orientation and/or position sensor (OPS) rotationally coupled to a mobile structure, wherein the logic device is configured to: receive orientation and/or position data from the OPS while the OPS is rotating relative to the mob
1. A system comprising: a logic device configured to communicate with an orientation and/or position sensor (OPS) rotationally coupled to a mobile structure, wherein the logic device is configured to: receive orientation and/or position data from the OPS while the OPS is rotating relative to the mobile structure; anddetermine rotationally corrected orientation and/or position data referenced to the mobile structure, a rotationally actuated sensor assembly mounted to the mobile structure, and/or an absolute coordinate frame, wherein the rotationally corrected orientation and/or position data is based, at least in part, on the received orientation and/or position data. 2. The system of claim 1, further comprising the rotationally actuated sensor assembly, wherein the rotationally actuated sensor assembly comprises a remote sensor assembly coupled to the mobile structure, the OPS is mounted within a housing of the remote sensor assembly, and the logic device is configured to: transmit remote sensor beams using the remote sensing assembly;receive remote sensor returns corresponding to the rotationally corrected orientation and/or position data; andgenerate remote sensor image data based on the remote sensor returns and the rotationally corrected orientation and/or position data. 3. The system of claim 2, wherein: the OPS comprises a global navigation satellite system sensor;the remote sensor assembly comprises a radar assembly;the radar assembly comprises a radar antenna, the OPS, and an actuator;the actuator is configured to rotate the radar antenna and/or the OPS about an axis of the radar assembly while the remote sensor returns are received by the logic device; andthe rotational corrected orientation and/or position data comprises an absolute orientation of the radar antenna referenced to the absolute coordinate frame. 4. The system of claim 2, further comprising a display in communication with the logic device, wherein the OPS comprises one or more of an accelerometer, a gyroscope, a GNSS, a magnetometer, a float level, and/or a compass, wherein the logic device is configured to: render the remote sensor image data using the display, wherein the rendered remote sensor image data is referenced to the absolute coordinate frame and/or a coordinate frame of the mobile structure. 5. The system of claim 1, wherein the logic device is configured to: determine a mounting angle offset between a reference frame for the OPS and a rotational axis corresponding to rotational motion of the OPS; andtransform the received orientation and/or position data using the mounting angle offset to align the transformed orientation and/or position data to the rotational axis. 6. The system of claim 5, wherein the logic device, for the determine the mounting angle offset, is configured to: determine roll and pitch components of a shift in a gyroscope portion of the received orientation and/or position data that corresponds to the OPS transitioning from a non-rotating state to a rotating state; andcombine the roll and pitch components to form the mounting angle offset. 7. The system of claim 1, wherein the logic device is configured to: receive angles of rotation for the OPS corresponding to the received orientation and/or position data;determine a rotational velocity for the OPS based on the received angles of rotation; andremove the rotational velocity from a corresponding component of a gyroscope portion of the received orientation and/or position data to determine a rotationally corrected gyroscope portion of the received orientation and/or position data. 8. The system of claim 1, wherein the logic device is configured to: receive an angle of rotation for the OPS corresponding to the received orientation and/or position data;determine a magnetic offset based, at least in part, on a magnetometer portion of the received orientation and/or position data;determine a calibrated magnetometer portion by removing the magnetic offset from the magnetometer portion; androtate the calibrated magnetometer portion in a direction opposite to the received angle of rotation to determine a rotationally corrected magnetometer portion of the received orientation and/or position data. 9. The system of claim 1, wherein the logic device is configured to: receive an angle of rotation for the OPS corresponding to the received orientation and/or position data; androtate an accelerometer portion of the received orientation and/or position data in a direction opposite to the received angle of rotation to determine a rotationally corrected accelerometer portion of the received orientation and/or position data. 10. A method comprising: receiving orientation and/or position data from an orientation and/or position sensor (OPS) rotationally coupled to a mobile structure while the OPS is rotating relative to the mobile structure; anddetermining rotationally corrected orientation and/or position data referenced to the mobile structure, a rotationally actuated sensor assembly mounted to the mobile structure, and/or an absolute coordinate frame, wherein the rotationally corrected orientation and/or position data is based, at least in part, on the received orientation and/or position data. 11. The method of claim 10, wherein the rotationally actuated sensor assembly comprises a remote sensor assembly coupled to the mobile structure, and the OPS is mounted within a housing of the remote sensor assembly, the method further comprising: transmitting remote sensor beams using the remote sensing assembly;receiving remote sensor returns corresponding to the rotationally corrected orientation and/or position data; andgenerating remote sensor image data based on the remote sensor returns and the rotationally corrected orientation and/or position data. 12. The method of claim 11, wherein: the remote sensor assembly comprises a radar assembly;the OPS comprises one or more of an accelerometer, a gyroscope, a GNSS, a magnetometer, a float level, and/or a compass;the radar assembly comprises a radar antenna, the OPS, and an actuator; andthe actuator is configured to rotate the radar antenna and/or the OPS about an axis of the radar assembly while the remote sensor returns are received by the logic device. 13. The method of claim 11, further comprising: rendering the remote sensor image data, wherein: the OPS comprises a global navigation satellite system sensor;the rotational corrected orientation and/or position data comprises an absolute orientation of at least a portion of the remote sensing assembly referenced to the absolute coordinate frame; andthe rendered remote sensor image data is referenced to the absolute coordinate frame and/or a coordinate frame of the mobile structure. 14. The method of claim 10, further comprising: determining a mounting angle offset between a reference frame for the OPS and a rotational axis corresponding to rotational motion of the OPS; andtransforming the received orientation and/or position data using the mounting angle offset to align the transformed orientation and/or position data to the rotational axis. 15. The method of claim 14, wherein the determining the mounting angle offset comprises: determining roll and pitch components of a shift in a gyroscope portion of the received orientation and/or position data that corresponds to the OPS transitioning from a non-rotating state to a rotating state; andcombining the roll and pitch components to form the mounting angle offset. 16. The method of claim 10, further comprising: receiving angles of rotation for the OPS corresponding to the received orientation and/or position data;determining a rotational velocity for the OPS based on the received angles of rotation; andremoving the rotational velocity from a corresponding component of a gyroscope portion of the received orientation and/or position data to determine a rotationally corrected gyroscope portion of the received orientation and/or position data. 17. The method of claim 10, further comprising: receiving an angle of rotation for the OPS corresponding to the received orientation and/or position data;determining a magnetic offset based, at least in part, on a magnetometer portion of the received orientation and/or position data;determining a calibrated magnetometer portion by removing the magnetic offset from the magnetometer portion; androtating the calibrated magnetometer portion in a direction opposite to the received angle of rotation to determine a rotationally corrected magnetometer portion of the received orientation and/or position data. 18. The method of claim 10, further comprising: receiving an angle of rotation for the OPS corresponding to the received orientation and/or position data; androtating an accelerometer portion of the received orientation and/or position data in a direction opposite to the received angle of rotation to determine a rotationally corrected accelerometer portion of the received orientation and/or position data.
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이 특허에 인용된 특허 (5)
Bonta Gerald A. (Carlisle MA) Ogar George W. (Wakefield MA) Peregrim Theodore J. (Bedford MA) Mangiapane Rosario (Burlington MA), All weather tactical strike system (AWTSS) and method of operation.
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