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Inertial navigation system with automatic redundancy and dynamic compensation of gyroscope drift error

  • US 5,194,872 A
  • Filed: 11/14/1990
  • Issued: 03/16/1993
  • Est. Priority Date: 11/14/1990
  • Status: Expired due to Term
First Claim
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1. An inertial navigation system, with inherent redundancy comprising:

  • three, two-input axis wheel-reversable rotor gyroscopes, each of said gyroscopes disposed whereby any two of said gyroscopes provide three orthogonal sense axes, each of said gyroscopes including at least two outputs for providing first and second output signals corresponding to sensed angular rates along said two input axes, and wherein said input axes of said three gyroscopes form three pairs of parallel input axes, each pair of parallel input axes corresponding to one of said orthogonal sense axes;

    means for selecting at least three gyroscope output signals, each of said selected gyroscope output signals corresponding to one gyroscope output from one associated gyroscope input axis selected from each of said three pairs of parallel input axes; and

    inertial navigation means, responsive to at least said three selected gyroscope output signals, for computing the relative position of a vehicle with reference to a predetermined coordinate system.

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