Air data aided inertial measurement unit
First Claim
1. An inertial measurement unit (IMU) comprising:
- an inertial sensor assembly comprising;
a plurality of accelerometers, each of the plurality of accelerometers configured to sense acceleration of the IMU along one of a plurality of axes;
a plurality of rate gyroscopes, each of the plurality of rate gyroscopes configured to sense rotational rate of the IMU along one of the plurality of axes; and
a plurality of temperature sensors configured to sense temperature of an operating environment of the plurality of accelerometers and the plurality of rate gyroscopes;
an inertial sensor compensation and correction module configured to apply a set of error compensation values to acceleration sensed by the plurality of accelerometers and to rotational rate sensed by the plurality of rate gyroscopes to produce a compensated acceleration and a compensated rotational rate of the IMU, wherein the set of error compensation values comprises temperature-dependent error compensation values, and wherein the inertial sensor compensation and correction module is configured to apply the set of error compensation values by determining the temperature-dependent error compensation values based on sensed temperature from each of the plurality of temperature sensors; and
a Kalman estimator module configured to;
determine a change in integrated acceleration of the IMU over a time interval based on the compensated acceleration and the compensated rotational rate of the IMU;
determine a set of error correction values based on a difference between the change in the integrated acceleration of the IMU and a change in true airspeed of the IMU; and
provide the set of error correction values to the inertial sensor compensation and correction module;
wherein the inertial sensor compensation and correction module is further configured to;
apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to produce an error-corrected acceleration and an error-corrected rotational rate; and
output the error-corrected acceleration and the error-corrected rotational rate.
1 Assignment
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Accused Products
Abstract
An inertial measurement unit (IMU) includes an inertial sensor assembly including a plurality of accelerometers and a plurality of rate gyroscopes, an inertial sensor compensation and correction module, and a Kalman estimator module. The inertial sensor compensation and correction module is configured to apply a set of error compensation values to sensed acceleration and rotational rate to produce a compensated acceleration and a compensated rotational rate of the IMU. The Kalman estimator module is configured to determine a set of error correction values based on a difference between a change in integrated acceleration of the IMU and a change in true airspeed of the IMU. The inertial sensor compensation and correction module is further configured to apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to output an error-corrected acceleration and an error-corrected rotation rate.
13 Citations
18 Claims
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1. An inertial measurement unit (IMU) comprising:
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an inertial sensor assembly comprising; a plurality of accelerometers, each of the plurality of accelerometers configured to sense acceleration of the IMU along one of a plurality of axes; a plurality of rate gyroscopes, each of the plurality of rate gyroscopes configured to sense rotational rate of the IMU along one of the plurality of axes; and a plurality of temperature sensors configured to sense temperature of an operating environment of the plurality of accelerometers and the plurality of rate gyroscopes; an inertial sensor compensation and correction module configured to apply a set of error compensation values to acceleration sensed by the plurality of accelerometers and to rotational rate sensed by the plurality of rate gyroscopes to produce a compensated acceleration and a compensated rotational rate of the IMU, wherein the set of error compensation values comprises temperature-dependent error compensation values, and wherein the inertial sensor compensation and correction module is configured to apply the set of error compensation values by determining the temperature-dependent error compensation values based on sensed temperature from each of the plurality of temperature sensors; and a Kalman estimator module configured to; determine a change in integrated acceleration of the IMU over a time interval based on the compensated acceleration and the compensated rotational rate of the IMU; determine a set of error correction values based on a difference between the change in the integrated acceleration of the IMU and a change in true airspeed of the IMU; and provide the set of error correction values to the inertial sensor compensation and correction module; wherein the inertial sensor compensation and correction module is further configured to; apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to produce an error-corrected acceleration and an error-corrected rotational rate; and output the error-corrected acceleration and the error-corrected rotational rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
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sensing acceleration of an inertial measurement unit (IMU) along a plurality of axes via a plurality of accelerometers of the IMU; sensing rotational rate of the IMU along the plurality of axes via a plurality of rate gyroscopes of the IMU; sensing temperature of an operating environment of the plurality of accelerometers and the plurality of rate gyroscopes via a plurality of temperature sensors of the IMU; applying a set of error compensation values to each of the sensed acceleration and the sensed rotational rate to produce a compensated acceleration and a compensated rotational rate of the IMU, wherein the set of error compensation values comprises temperature-dependent error compensation values, and wherein applying the set of error compensation values comprises determining the temperature-dependent error correction values based on the sensed temperature from each of the plurality of temperature sensors; determining a change in integrated acceleration of the IMU over a time interval based on the compensated acceleration and the compensated rotational rate of the IMU; determining a set of error correction values based on a difference between the change in the integrated acceleration of the IMU and a change in true airspeed of the IMU; applying the set of error correction values to each of the compensated acceleration and the compensated rotational rate to produce an error-corrected acceleration and an error-corrected rotational rate; and outputting the error-corrected acceleration and the error-corrected rotational rate. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification