Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS)
First Claim
1. A self-calibrated azimuth and attitude accuracy enhancing system, comprising:
- a first one-axis gyro measuring an inertial angular rate;
a second one-axis gyro measuring an inertial angular rate wherein said first one-axis gyro and said second one-axis gyro are not identical in direction;
a first accelerometer measuring an acceleration;
a second accelerometer measuring an acceleration wherein said first accelerometer and said second accelerometer are not identical in direction; and
a system processor processing said measurements of said first one-axis gyro, said second one-axis gyro, said first accelerometer, and said second accelerometer for determining an azimuth and attitude wherein said system is located.
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Abstract
A method and system for Self-calibrated Azimuth and Attitude Accuracy Enhancing are disclosed, wherein SAAAEMS approach is based on fully auto-calibration self-contained INS principles, not depending on magnetometers for azimuth/heading determination, and thus the system outputs and performance are not affected by the environmental magnetic fields. In order to reduce the system size and cost, this new innovative methods and algorithms are used for SAAAEMS system configuration and integration. Compared to a conventional INS for gyrocompassing, AGNC'"'"'s approach uses a smaller number of high accuracy sensors: SAAAEMS uses only one 2-axis high accuracy gyro (for example, one DTG) instead of 3-axis; the third axis gyro is a MEMS gyro. It uses only 2 high accuracy accelerometers instead of 3, since the two accelerometers are used only for gyrocompassing not for navigation. These two changes to the conventional INS system configuration remarkably reduce the whole system size and cost. SAAAEMS, uses dynamic gyrocompassing processing for isolation of Base motion disturbance/interference and vibration. SAAAEMS provides a method and system for using automatic methods for system calibration.
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Citations
16 Claims
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1. A self-calibrated azimuth and attitude accuracy enhancing system, comprising:
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a first one-axis gyro measuring an inertial angular rate; a second one-axis gyro measuring an inertial angular rate wherein said first one-axis gyro and said second one-axis gyro are not identical in direction; a first accelerometer measuring an acceleration; a second accelerometer measuring an acceleration wherein said first accelerometer and said second accelerometer are not identical in direction; and a system processor processing said measurements of said first one-axis gyro, said second one-axis gyro, said first accelerometer, and said second accelerometer for determining an azimuth and attitude wherein said system is located. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A self-calibrated azimuth and attitude accuracy enhancing method, comprising the steps of:
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(a) powering on a SAAAEMS (self-calibrated azimuth and attitude accurate enhancing method and system) system and positioning said system on a stationary base; (b) waiting for a predetermined period of time for gyros to fully start; (c) getting two channel gyro and two channel accelerometer measurement data; (d) performing sensor calibration and error compensation for both two channel gyro and two channel accelerometer measurement data; (e) performing low pass filtering for both two channel gyro and two channel accelerometer measurement data; (f) calculating the initial SAAAEMS unit attitude and heading/azimuth using said filtered two channel gyro and two channel accelerometer measurement data; and (g) repeating from step (c) and obtaining real-time continuous SAAAEMS unit initial attitude and heading/azimuth, until said system enters into a dynamic gyrocompassing operation mode. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification