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Procedure for measuring angles and trajectories by means of gyros and inertial systems

  • US 5,331,578 A
  • Filed: 09/11/1991
  • Issued: 07/19/1994
  • Est. Priority Date: 09/14/1990
  • Status: Expired due to Fees
First Claim
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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:

  • 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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