Digital processor for use with an accelerometer based angular rate sensor
First Claim
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1. A circuit for deriving from an acceleration signal produced by an accelerometer moving with a periodic frequency ω
- an angular rate signal, comprising;
sign switching means operatively connected to the accelerometer for multiplying the acceleration signal by a zero mean periodic function of frequency ω
;
first conversion means operatively connected to said signal switching means for converting said multiplied acceleration signal to a first frequency e signal;
first counter means operatively connected to said first conversion means for generating a digital angular rate signal in response to said first frequency signal wherein said counter means includes a counter circuit responsive to the frequency ω
for counting cycles of said first frequency signal over a complete cycle of said frequency ω
.
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Abstract
In a structure utilizing a pair of accelerometers vibrating in a direction normal to their force sensing axes, a circuit utilizing voltage-to-frequency converters is utilized to convert the analog output signals from the accelerometers to digital signals representing the translational motion and the angular rate rotation of the structure.
58 Citations
17 Claims
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1. A circuit for deriving from an acceleration signal produced by an accelerometer moving with a periodic frequency ω
- an angular rate signal, comprising;
sign switching means operatively connected to the accelerometer for multiplying the acceleration signal by a zero mean periodic function of frequency ω
;first conversion means operatively connected to said signal switching means for converting said multiplied acceleration signal to a first frequency e signal; first counter means operatively connected to said first conversion means for generating a digital angular rate signal in response to said first frequency signal wherein said counter means includes a counter circuit responsive to the frequency ω
for counting cycles of said first frequency signal over a complete cycle of said frequency ω
. - View Dependent Claims (2, 3, 4)
- an angular rate signal, comprising;
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5. A circuit for deriving from a pair of accelerometers which are being vibrated in a direction substantially normal to their force sensing axes at a frequency ω
- an angular rate signal representing the angular rate of rotation of the accelerometers, comprising;
sign switching means operatively connected to the accelerometers for multiplying the acceleration signals from the accelerometers by a zero mean periodic function of ω
;first conversion means operatively connected to said sign switching means for converting said multiplied acceleration signals to a first frequency signal; and first counter means operatively connected to said first conversion means for generating from said first frequency signal a digital angular rate signal representing the rate of rotation of the accelerometers. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
- an angular rate signal representing the angular rate of rotation of the accelerometers, comprising;
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16. A circuit for deriving from acceleration signals produced by a first and a second accelerometer which are being vibrated at a frequency ω
- within a frame of reference in a direction normal to their sensitive axis a force signal representing acceleration of the frame of reference along the sensitive axis and an angular rotation signal representing the angular rotation of the frame of reference about an axis normal to the direction of vibration comprising;
a pulse generator circuit for generating pulses having a frequency functionally related to the frequency ω
;a preprocessor circuit operatively connected to both of the accelerometers including a first summing circuit for combining the acceleration signals into an analog force signal substantially without components representing angular rotation and a second summing circuit for combining the acceleration signals into an analog rate signal substantially without components representing force; a sign switching circuit connected to said pulse generating circuit said second summing circuit for multiplying said analog rate signal by the zero mean function signal sgncosω
t;a first voltage to frequency converter circuit connected to said first summing circuit for converting said analog force signal into a first frequency signal; a second voltage to frequency converter circuit connected to said sign switching circuit for converting said multiplied analog rate signal to a second frequency signal; a first counter circuit connected to said pulse generator circuit for said first voltage to frequency circuit for counting the cycles of said first frequency signal over a predetermined portion of frequency ω
to generate a digital force signal; anda second counter circuit connected to said pulse generator circuit and said second voltage to frequency circuit for counting the cycles of said second frequency signal over said predetermined portion of frequency ω
to generate a digital rate signal. - View Dependent Claims (17)
- within a frame of reference in a direction normal to their sensitive axis a force signal representing acceleration of the frame of reference along the sensitive axis and an angular rotation signal representing the angular rotation of the frame of reference about an axis normal to the direction of vibration comprising;
Specification