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Air data aided inertial measurement unit

  • US 10,101,174 B2
  • Filed: 08/22/2016
  • Issued: 10/16/2018
  • Est. Priority Date: 08/22/2016
  • Status: Active Grant
First Claim
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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.

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