Method of Calibrating an Inertial Assembly Comprising a Dynamic Phase Between Two Static Phases
First Claim
1. A method of calibrating an inertial unit having accelerometers and inertial rotation sensors, comprising the following steps:
- during a first static stage, in which the inertial unit is in a first orientation, taking measurements by means of the accelerometers and the inertial rotation sensors;
during a dynamic stage, changing the orientation of the inertial unit, at least in part in azimuth, from the first orientation towards a second orientation, while taking measurements by means of the inertial rotation sensors;
during a second static stage, in which the inertial unit is in the second position, taking measurements by means of the accelerometers and of the inertial rotation sensors; and
for each static stage estimating a direction, an amplitude, and a mean speed of rotation for apparent gravity in an inertial frame of reference, calculating variation in orientation between the static stages, and deducing therefrom the accelerometer biases.
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Abstract
A method of calibrating an inertial unit is provided. During a first static stage, in which the inertial unit is in a first orientation, measurements are taken by means of the accelerometers and the inertial rotation sensors. During a dynamic stage, the orientation of the inertial unit is changed, at least in part in azimuth, from the first orientation towards a second orientation, while taking measurements by means of the inertial rotation sensors. During a second static stage, in which the inertial unit is in the second position, measurements are taken by means of the accelerometers and of the inertial rotation sensors. For each static stage, a direction, an amplitude, and a mean speed of rotation for apparent gravity in an inertial frame of reference is estimated, variation is calculated in orientation between the static stages, and the accelerometer biases is deduced therefrom.
18 Citations
5 Claims
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1. A method of calibrating an inertial unit having accelerometers and inertial rotation sensors, comprising the following steps:
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during a first static stage, in which the inertial unit is in a first orientation, taking measurements by means of the accelerometers and the inertial rotation sensors; during a dynamic stage, changing the orientation of the inertial unit, at least in part in azimuth, from the first orientation towards a second orientation, while taking measurements by means of the inertial rotation sensors; during a second static stage, in which the inertial unit is in the second position, taking measurements by means of the accelerometers and of the inertial rotation sensors; and for each static stage estimating a direction, an amplitude, and a mean speed of rotation for apparent gravity in an inertial frame of reference, calculating variation in orientation between the static stages, and deducing therefrom the accelerometer biases. - View Dependent Claims (2, 3, 4, 5)
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Specification