Laser gyro dither strippr gain correction method and apparatus

• US 5,486,920 A
• Filed: 10/01/1993
• Issued: 01/23/1996
• Est. Priority Date: 10/01/1993
• Status: Expired due to Term

• Current Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Original Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Inventors: Fritze, Keith R., Cary, Gregory E., Berndt, Dale F., Killpatrick, Joseph E.
• Primary Examiner(s): Turner, Samuel A.
• Application Number:
  US08/137,669
• Time in Patent Office: 844 Days
• Field of Search: 356/350, 372/94
• US Class Current: 356/474
• CPC Class Codes: G01C 19/664 means for removing the dither signal

Abstract

A sampling method and apparatus for sampling a dither signal includes the step of sensing a number of peak amplitudes P₁, P₂, P₃ . . . P_n each of the number of peak amplitudes having a corresponding times t₁, t₂, t₃ . . . t_n while simultaneously sensing a number of ring laser gyro output angles at each of the corresponding times t₁, t₂, t₃ . . . t_n. A value of the gyro net output, Δφ, is calculated as Δφ=(φ_n -φ_n-1)-(α_n -α_n-1)K, where K is a correction factor. Alternatively, the stripped gyro angle output may be calculated as φ_g =φ_n -α_n K. Where φ_g is substantially equivalent to the sum of all of the changes in the stripped gyro angle, that is the sum of all Δφ'"'"'s. The correction may include corrections for gain, phase angle, nonlinearity, temperature bias and scale factors.

Claims

1. A method for determining a stripped change in gyro angle comprising the steps of:

(a) sensing a plurality of peak amplitudes P₁, P₂, P₃ . . . P_n from a dither drive signal wherein each of the plurality of peak amplitudes has corresponding times t₁, t₂, t₃ . . . t_n ;

(b) simultaneously sensing a plurality of ring laser gyro output angles at each of the corresponding times t₁, t₂, t₃ . . . t_n ; and

(c) determining a stripped change in gyro angle, Δ

φ

, according to a relationship wherein Δ

φ

=(φ

_n -φ

_n-1)-(α

_n -α

_n-1)K, where K is a correction factor, φ

_n is an unstripped gyro angle sampled at time t_n and t_n-1, and α

is a dither angle.

2. The method for determining a stripped change in gyro angle of claim 1 further comprising the step of summing values of Δ

φ

with Δ

α

_n into an integrator to correct the value of K where Δ

α

_n is a change in dither angle.

3. The method for determining a stripped change in gyro angle of claim 2 wherein the step of summing values of Δ

φ

with Δ

α

_n into an integrator to correct the value of K further comprises the steps of;

(a) increasing the dither angle by the correction factor, K, to derive a corrected dither angle;

(b) taking the difference between a previous corrected dither angle and the corrected dither angle to derive a change in dither angle; and

(c) taking the difference between a current gyro angle and the change in dither angle and combining a previous gyro angle to derive a change to the correction factor K.

4. The method for determining a stripped change in gyro angle of claim 3 further comprising the step of increasing the change in correction factor K by a second gain factor to obtain an updated correction factor change.

5. A dither signal stripper apparatus for a ring laser gyro, the ring laser gyro having a dither pickoff, wherein the dither pickoff has a dither pickoff output, the dither pickoff output includes a plurality of zero crossings and peaks, the dither signal stripper apparatus comprising:

(a) control means for deriving a stripped gyro angle signal having a control output which is activated at each of the plurality of zero crossings and peaks of the dither pickoff output;

(b) first analog to digital conversion means for converting the dither pickoff output to a first digital dither pickoff output, wherein the first analog to digital conversion means is coupled to the control output and is responsive to the control output so as to be activated at zero crossings and peaks of the dither pickoff output; and

(c) second analog to digital conversion means for converting the dither pickoff output to a second digital dither pickoff output.

6. The dither signal stripper apparatus of claim 5, wherein the dither signal stripper apparatus further comprises up/down count logic means having a count output, the dither signal stripper apparatus further comprising:

(a) logic means for analog to digital control having an input connected to receive the first digital dither pickoff output, a sample request enable output and a dither angle output, wherein the sample request enable output is responsive to an external sample request;

(b) first latch means for storing a count having an enable input connected to the control output, wherein the first latch means has a first latch output, the count representing a laser gyro sensing angle;

(c) second latch means for storing the count having an enable input connected to the sample request enable output, wherein the second latch means has a second latch output; and

(d) multiplexer means for providing an angle data signal on a data bus in response to a bus address request signal having a first multiplexer input connected to the dither angle output, a second multiplexer input connected to the first latch output, and a third multiplexer input connected to the second latch output.

15. The dither signal stripper apparatus of claim 5, wherein the control means comprises a microprocessor.

16. The dither signal stripper apparatus of claim 5, wherein the first analog to digital conversion means is embedded in the microprocessor.

7. An apparatus for generating a dither stripper gain factor for use in a ring laser gyro, the apparatus for generating comprising:

(a) a means for providing a dither signal on a dither signal output;

(b) means for amplifying connected at an input to the dither signal output, the amplifying means having an amplified output;

(c) means for analog-to-digital conversion having an input connected to receive the amplified output and having a digital output which supplies a digital signal representative of the amplified output;

(d) means for adding gain having a first input connected to the digital output and having a gain output, the gain adding means operating so as to multiply a value of the digital output by a gain factor, wherein the means for adding gain also has a gain factor input;

(e) means for scaling having an input connected to the gain output and having a dither angle output;

(f) means for providing a nonlinearity correction connected to the dither angle output having a nonlinearity corrected dither angle output;

(g) first means for subtracting a previous dither angle from the nonlinearity corrected dither angle output, the first means for subtracting including an input connected to receive the nonlinearity corrected dither angle output and having a first difference value output;

(h) second means for subtracting a current gyro angle and adding a previous gyro angle, the second subtracting means including an input connected to the first difference value output and having a second difference value output;

(i) a gain multiplier means for multiplying having an input connected to the second difference value output and having a switched output wherein the gain multiplier means multiplies the second difference value output to produce a gain correction factor at a gain correction factor output switch wherein a polarity of the gain correction factor is switched to follow the polarity of the dither angle output; and

(j) means, connected to the gain correction factor output switch, for transferring the gain correction factor to the means for adding gain by connection to the gain factor input.

8. The apparatus for generating a dither stripper gain factor for use in a ring laser gyro of claim 7, wherein the transferring means further comprises a register means connected at a data input to the gain correction factor output switch, the register means including a data output connected to the gain factor input.

9. The apparatus for generating a dither stripper gain factor of claim 7 wherein the gain multiplier means multiplies by a first factor gain for a first time period after start of a ring laser gyro and by a second gain factor thereafter to produce a gain correction factor.

10. An apparatus for measuring a phase error angle for use in a ring laser gyro, the apparatus for measuring comprising:

(a) a means for providing a dither signal on a dither signal output;

(b) means for amplifying connected at an input to the dither signal output, the amplifying means having an amplified output;

(c) means for analog-to-digital conversion having an input connected to receive the amplified output and having a digital output which supplies a digital signal representative of the amplified output;

(d) means for adding gain having a first input connected to the digital output and having a gain output, the gain adding means operating so as to multiply a value of the digital output by a gain factor;

(e) means for scaling having an input connected to the gain output and having a dither angle output;

(f) means for providing an error angle correction connected to the dither angle output having an error angle corrected dither angle output and having an error angle correction input;

(g) means for subtracting a previous dither angle from the error angle corrected dither angle output, the means for subtracting including an input connected to receive the error angle corrected dither angle output and having a difference value output;

(h) means for subtracting a current gyro angle and adding a previous gyro angle, the subtracting and adding means including an input connected to the difference value output and having a summing output;

(i) a gain multiplier means for multiplying having an input connected to the summing output and having a switched output wherein the gain multiplier means multiplies the difference value to produce a phase error angle at an output switch wherein a polarity of the phase error angle is switched to follow a polarity of the dither angle output; and

(j) means connected to the output switch for transferring the phase error angle to the means for providing an error angle correction.

11. The apparatus for measuring a phase error angle of claim 10, wherein the transferring means further comprises:

(a) register means having a data input connected to the output switch, the first register means also having a data output; and

(b) a polarized switch having an input connected to receive the data output and having an output connected to the error angle correction input wherein the polarized switch switches a polarity sign of the phase error angle correction to following the dither signal output.

12. A method for determining a stripped gyro angle comprising the steps of:

(a) sensing a plurality of peak amplitudes P₁, P₂, P₃ . . . P_n from a dither drive signal wherein each of the plurality of peak amplitudes has corresponding times t₁, t₂, t₃ . . . t_n ;

(b) simultaneously sensing a plurality of ring laser gyro output angles at each of the corresponding times t₁, t₂, t₃ . . . t_n ; and

(c) determining a stripped gyro angle, φ

_g, according to a relationship wherein φ

_g =φ

_n -α

_n K, where K is a correction factor, φ

_n is an unstripped gyro angle sampled at time t_n and α

_n is a dither angle at time t_n.

13. The method for determining a gyro angle of claim 12 wherein the step of determining a stripped gyro angle, φ

_g further comprises the step of increasing the dither angle by the correction factor, K, to derive a change in the correction factor K.

14. The method for determining a stripped change in gyro angle of claim 13 further comprising the step of increasing the change in the correction factor K by a second gain factor to obtain an updated correction factor change.

17. A method for determining a stripped gyro angle comprising the steps of:

(a) sensing a plurality of peak amplitudes P₁, P₂, P₃ . . . P_n from a dither drive signal wherein each of the plurality of peak amplitudes has corresponding times t₁, t₂, t₃ . . . t_n ;

(b) simultaneously sensing a plurality of ring laser gyro output angles at each of the corresponding times t₁, t₂, t₃ . . . t_n ; and

(c) determining a stripped gyro angle, φ

, according to a relationship wherein φ

=φ

_n -α

_n K, where K is a correction factor, φ

_n is an unstripped gyro angle sampled at time t_n and α

_n is a dither angle at time t_n.

18. The method for determining a stripped gyro angle of claim 17 wherein the step of determining a stripped gyro angle, φ

further comprises the step of increasing the dither angle by the correction factor, K, to derive a change to the correction factor K.

19. The method for determining a stripped gyro angle of claim 18 further comprising the step of increasing the change to the correction factor K by a second gain factor to obtain an updated correction factor change.

20. An apparatus for generating a dither stripper gain factor for use in a ring laser gyro, the apparatus for generating comprising:

(a) a means for providing a dither signal on a dither signal output;

(b) means for amplifying connected at an input to the dither signal output, the amplifying means having an amplified output;

(c) means for analog-to-digital conversion having an input connected to receive the amplified output and having a digital output which supplies a digital signal representative of the amplified output;

(d) means for adding gain having a first input connected to the digital output and having a gain output, the gain adding means operating so as to multiply a value of the digital output by a gain factor, wherein the means for adding gain also has a gain factor input;

(e) means for scaling having an input connected to the gain output and having a dither angle output;

(f) means for providing a nonlinearity correction connected to the dither angle output having a nonlinearity corrected dither angle output;

(g) a gain multiplier means for multiplying having an input connected to the nonlinearity corrected dither angle output and having a switched output wherein the gain multiplier means multiplies the nonlinearity corrected dither angle output to produce a gain factor correction at a gain correction factor output switch wherein a polarity of the gain correction factor is switched to follow the polarity of the dither angle output; and

(h) means, connected to the gain correction factor output switch, for transferring the gain correction factor to the means for adding gain by connection to the gain factor input.

21. The apparatus for generating a dither stripper gain factor of claim 20 wherein the gain multiplier means multiplies by a first factor gain for a first time period after start of a ring laser gyro and by a second gain factor thereafter to produce an updated gain correction factor.

22. An apparatus for measuring a phase error angle for use in a ring laser gyro, the apparatus for measuring comprising:

(a) a means for providing a dither signal on a dither signal output;

(b) means for amplifying connected at an input to the dither signal output, the amplifying means having an amplified output;

(c) means for analog-to-digital conversion having an input connected to receive the amplified output and having a digital output which supplies a digital signal representative of the amplified output;

(d) means for adding gain having a first input connected to the digital output and having a gain output, the gain adding means operating so as to multiply a value of the digital output by a gain factor;

(e) means for scaling having an input connected to the gain output and having a dither angle output;

(f) means for providing an error angle correction connected to the dither angle output having an error angle corrected dither angle output and having an error angle correction input; and

(g) means connected to the error angle corrected dither angle output for transferring the phase error angle to the means for providing an error angle correction.