Procedure for measuring angles and trajectories by means of gyros and inertial systems
First Claim
1. A method for measuring spatial angles at at least two different measurement positions by means of an apparatus including three gyros comprising the steps of:
- moving said apparatus in a first predetermined order to each of said measurement positions in order to make measurements with respect to predetermined reference directions at said measurement positions, said gyros continuously outputting gyro signals;
continuously registering said gyro signals;
registering reference data at each of said measurement positions, said reference data having a predetermined relationship with said measurement positions at which said spatial angles are to be determined;
registering a first time t at which said reference data are registered;
moving said apparatus in a second predetermined order opposite to said first predetermined order and registering reference data and registering a second time t at which said reference data are registered for each of said measurement positions;
calculating for each of two corresponding reference data, a difference of said first registered time t and said second registered time t at which the reference data are registered, and a difference of said registered gyro signals at which the reference data are registered, said registered time difference and said registered gyro signals difference being used as input for a measurement equation for optimally estimating a system error time function;
optimally estimating said system error time function using said measurement equation; and
correcting said registered gyro signals by means of said estimated system error time function, thereby producing measurements of said spatial angles at said measurement positions.
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Abstract
The calibration of time-depending measurement uncertainties of gyros and inertial systems by the differences of angular and/or velocity and/or positional measurements which are carried out and repetitiously executed with a view to undetermined reference directions and/or fixed locations varying with time. The differentiation allows to forego precise reference data. Measurement uncertainties can be corrected through calibration subsequently to the measurement process. For the measurement of spatial angles a three-axis gyro measurement package comprising a computer and the possibility of feeding or automaticly reading-in of reference data characterizing the reference directions. The reference data can be a number, a marker of the measurement point or in the case of positional measurements a terrestrial aiming point. When measuring angular characteristics, i.e. the interdependence of angles and external forces or moments, the latter are considered as references. For the measurement of contours the distance has to be fed in or read in, or computed by accelerometers within an integrated inertial system, respectively. By such a system and through the application of the invention the measurement accuracy of movements and gravity anomalies can be increased while refraining from external references otherwise necessary under the present state of the art.
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Citations
9 Claims
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1. A method for measuring spatial angles at at least two different measurement positions by means of an apparatus including three gyros comprising the steps of:
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moving said apparatus in a first predetermined order to each of said measurement positions in order to make measurements with respect to predetermined reference directions at said measurement positions, said gyros continuously outputting gyro signals; continuously registering said gyro signals; registering reference data at each of said measurement positions, said reference data having a predetermined relationship with said measurement positions at which said spatial angles are to be determined; registering a first time t at which said reference data are registered; moving said apparatus in a second predetermined order opposite to said first predetermined order and registering reference data and registering a second time t at which said reference data are registered for each of said measurement positions; calculating for each of two corresponding reference data, a difference of said first registered time t and said second registered time t at which the reference data are registered, and a difference of said registered gyro signals at which the reference data are registered, said registered time difference and said registered gyro signals difference being used as input for a measurement equation for optimally estimating a system error time function; optimally estimating said system error time function using said measurement equation; and correcting said registered gyro signals by means of said estimated system error time function, thereby producing measurements of said spatial angles at said measurement positions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification