Skewed axis inertial sensor assembly
First Claim
1. An inertial sensor assembly comprising:
- a support frame for supporting first, second, third, fourth, fifth, and sixth gyros, the peripheral portions of said support frame surrounding a coordinate reference point of a right hand orthogonal XYZ coordinate system including ±
XYZ reference axes passing through said coordinate reference point, and in which said X and Y reference axes define an XY plane, said Y and Z reference axes define a YZ plane, and said X and Z reference axes define an XZ plane;
said first and second gyros being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and spaced apart from said YZ plane in the -X direction therefrom, said first and second gyros having the extension of their respective input axes intersecting at a first intersection point in the XZ plane, and in which said first and second gyro input axes are at a first selected angle relative to said XY plane, and in which the angle value between said +X axis and the perpendicular projection of said first gyro input axis onto said XY plane measure in the counter-clockwise direction is a selected second angle value, and in which the angle between said +X axis and the perpendicular projection of said second gyro input axis on said XY plane measured in the clockwise direction is also said selected second angle value, and wherein said first intersection point is spaced apart from said YZ plane in the +X direction therefrom;
said third gyro being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and spaced apart from said YZ plane in the +X direction therefrom, said third gyro having the extension of its input axis which lies in said XZ plane and is at said first selected angle relative to said XY plane;
said fourth and fifth gyros being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and spaced apart from said YZ plane in the +X direction therefrom, said fourth and fifth gyros having the extension of their respective input axes intersecting at a second intersection point in said XZ plane, and in which said fourth and fifth gyro input axes are at a said first selected angle relative to said XY plane, and in which the angle between said +X axis and the perpendicular projection of said fourth gyro input axis on said XY plane is a third selected angle value measured in the counter-clockwise direction, and in which the angle between said +X axis and the perpendicular projection of said fifth gyro input axis on said XY plane measured in the clockwise direction is also said selected third angle value, and wherein said second intersection point is spaced apart from said YZ plane in the +X direction therefrom; and
said sixth gyro being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and slanted apart from said YZ plane in the -X direction therefrom, said sixth gyro having its input axis in parallel with said Z axis and the extension thereof intersecting the extension of said third gyro input axis at a third intersection point, and wherein said third intersection point lies in said XZ plane and is spaced apart from said YZ plane in the -X direction therefrom and spaced apart from said XY plane in the +Z direction therefrom.
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Accused Products
Abstract
In the present invention six gyros and six accelerometers are mounted to a support frame generally comprised of a block of a selected material. The relationship of each input axis of each of the gyros and accelerometers is selected to permit all of the sensors to be mounted on the block so as to provide minimal size and weight of the combination of the block and the six gyros and six accelerometers. More specifically, first, second and third pairs of gyros (totaling six gyros) and six accelerometers are mounted to the block such that the input axis of each gyro and accelerometer is in non-colinear alignment with any other input axis, and that the input axes of the first, second, and third pairs of gyros intersect at mutually exclusive first, second, and third intersection points, and such that each input axis of all six of the accelerometers intersect at a common accelerometer intersection point, and wherein the first, second, and third gyro intersection points and the accelerometer intersection point lie in a plane which is substantially a plane of symmetry of the combination of the block, the six gyros, and the six accelerometers.
44 Citations
16 Claims
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1. An inertial sensor assembly comprising:
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a support frame for supporting first, second, third, fourth, fifth, and sixth gyros, the peripheral portions of said support frame surrounding a coordinate reference point of a right hand orthogonal XYZ coordinate system including ±
XYZ reference axes passing through said coordinate reference point, and in which said X and Y reference axes define an XY plane, said Y and Z reference axes define a YZ plane, and said X and Z reference axes define an XZ plane;said first and second gyros being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and spaced apart from said YZ plane in the -X direction therefrom, said first and second gyros having the extension of their respective input axes intersecting at a first intersection point in the XZ plane, and in which said first and second gyro input axes are at a first selected angle relative to said XY plane, and in which the angle value between said +X axis and the perpendicular projection of said first gyro input axis onto said XY plane measure in the counter-clockwise direction is a selected second angle value, and in which the angle between said +X axis and the perpendicular projection of said second gyro input axis on said XY plane measured in the clockwise direction is also said selected second angle value, and wherein said first intersection point is spaced apart from said YZ plane in the +X direction therefrom; said third gyro being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and spaced apart from said YZ plane in the +X direction therefrom, said third gyro having the extension of its input axis which lies in said XZ plane and is at said first selected angle relative to said XY plane; said fourth and fifth gyros being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and spaced apart from said YZ plane in the +X direction therefrom, said fourth and fifth gyros having the extension of their respective input axes intersecting at a second intersection point in said XZ plane, and in which said fourth and fifth gyro input axes are at a said first selected angle relative to said XY plane, and in which the angle between said +X axis and the perpendicular projection of said fourth gyro input axis on said XY plane is a third selected angle value measured in the counter-clockwise direction, and in which the angle between said +X axis and the perpendicular projection of said fifth gyro input axis on said XY plane measured in the clockwise direction is also said selected third angle value, and wherein said second intersection point is spaced apart from said YZ plane in the +X direction therefrom; and said sixth gyro being mounted to said support frame and spaced apart from said XY plane in the +Z direction therefrom and slanted apart from said YZ plane in the -X direction therefrom, said sixth gyro having its input axis in parallel with said Z axis and the extension thereof intersecting the extension of said third gyro input axis at a third intersection point, and wherein said third intersection point lies in said XZ plane and is spaced apart from said YZ plane in the -X direction therefrom and spaced apart from said XY plane in the +Z direction therefrom. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An inertial sensor assembly comprising:
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a block of material; and six gyros and six accelerometers mounted to said block such that the input axis of each gyro and accelerometer is in non-colinear alignment with any other input axis, and first, second, and third pairs of gyros of said six gyros intersect at a common gyro intersection point exclusive of one another, and such that each input axis of all six of said accelerometers intersect at a common accelerometer intersection point, and wherein said three gyro intersection points and said accelerometer intersection point lie in a plane which is substantially a plane of symmetry of the combination of said block and said six gyros and said six accelerometers.
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13. An inertial sensor assembly comprising:
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a block of material; and six gyros mounted to said block such that the input axis of each gyro is in non-colinear alignment with any other input axis, and the input axes of each of first, second, and third pairs of gyros of said six gyros intersect at first, second, and third gyro intersection points exclusive of one another, and wherein said first, second, and third gyro intersection points lie in a plane. - View Dependent Claims (14)
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15. An inertial sensor assembly comprising:
a block of material; and
six gyros mounted to said block such that the input axis of each gyro is in non-colinear alignment with any other input axis, and first, second, third and fourth ones of said gyros having their respective input axis intersecting a common plane, and in which the input axis of fifth and sixth ones of said gyros lie in said common plane.- View Dependent Claims (16)
Specification