Self calibrating gyroscope system
First Claim
1. A gyroscope system comprising:
- a plurality of gyroscopes, each adapted to sense rate about a respective sense axis, each of said sensed rates exhibiting bias error and scale factor error;
a scale factor error estimator coupled to at least one of said gyroscopes to produce an estimate of scale factor error of such coupled ones of said gyroscopes;
a bias error estimator coupled to such coupled ones of said gyroscopes to produce an estimate of bias error of such coupled ones of said gyroscopes; and
a compensator responsive to sensed rates of such coupled ones of said gyroscopes, said bias error estimate, and said scale factor estimate to produce rate outputs for such coupled ones of said gyroscopes;
said rate outputs exhibiting reduced bias error and reduced scale factor error as compared to bias error and scale factor error of corresponding rates sensed by such coupled ones of said gyroscopes.
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Abstract
A self-calibrating gyroscope system provides improved estimates of, and compensation or calibration for, scale factor errors and bias errors. The gyroscope system employs a plurality of gyroscope units having sense or input axes in a mutually non-parallel arrangement. The number of gyroscope units is preferably at least one more than the number of axes for which rate estimates is required. A Mode Reversal technique is used to obtain an estimate of bias error for a selected gyroscope. A Random Closed-Loop Scale Factor technique is used to obtain an estimate of scale factor error for a selected gyroscope. Because the Mode Reversal technique temporarily disrupts operation of the affected gyroscope, each of the gyroscopes may be taken offline temporarily, in turn, for calibration, and thereafter returned to normal operation. Because at least one redundant gyroscope is provided, when a selected gyroscope is offline, rate information from the remaining operating gyroscopes can be used to derive a reference rate about the axis of the offline gyroscope.
49 Citations
24 Claims
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1. A gyroscope system comprising:
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a plurality of gyroscopes, each adapted to sense rate about a respective sense axis, each of said sensed rates exhibiting bias error and scale factor error; a scale factor error estimator coupled to at least one of said gyroscopes to produce an estimate of scale factor error of such coupled ones of said gyroscopes; a bias error estimator coupled to such coupled ones of said gyroscopes to produce an estimate of bias error of such coupled ones of said gyroscopes; and a compensator responsive to sensed rates of such coupled ones of said gyroscopes, said bias error estimate, and said scale factor estimate to produce rate outputs for such coupled ones of said gyroscopes;
said rate outputs exhibiting reduced bias error and reduced scale factor error as compared to bias error and scale factor error of corresponding rates sensed by such coupled ones of said gyroscopes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A gyroscope system comprising:
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a plurality of gyroscopes; a controller coupled to the plurality of gyroscopes; said controller having; a rate controller coupled to at least one of said plurality of gyroscopes, said rate controller receiving from said at least one of said plurality of gyroscopes a signal containing rate information of said gyroscope and responsive thereto producing an uncompensated gyroscope rate signal; and a rate error compensator responsive to at least said uncompensated gyroscope rate signal for producing a compensated gyroscope rate signal. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A method of operating a gyroscope system having a plurality of gyroscopes, comprising:
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operating the gyroscope system with a number of gyroscopes at least one greater than the number of rate estimate axes required for navigation of a vehicle; selecting one gyroscope for calibration; taking the selected gyroscope offline; determining an estimate of bias error of said selected gyroscope; updating a bias error compensation parameter used in compensating a rate estimate of said selected gyroscope with said bias error estimate; and returning said selected gyroscope online. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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Specification