Process and device for minimizing in an inertial measurement system the error due to a perturbing motion in the retrieval of the velocity
First Claim
1. A process for minimizing, in a strapdown inertial measurement system, an error due to a perturbing motion in retrieval of a velocity, said velocity being retrieved by implementing a velocity retrieval process using measured accelerometric and gyrometric data combined with specific coefficients, said process comprising:
- (a) defining an error criterion which indicates the error due to said perturbing motion in the retrieval of the velocity and which is determined from said specific coefficients;
(b) calculating, in accordance with the error criterion defined in step (a), values of said specific coefficients which enable said error criterion to be minimized; and
(c) integrating said values of the coefficients calculated in step (b) into said velocity retrieval process.
1 Assignment
0 Petitions
Accused Products
Abstract
A process and a device are provided in a strapdown inertial measurement system for minimizing the error due to any perturbing motion in the retrieval of the velocity. The device is connected to an assembly of accelerometers and to an assembly of gyrometers and it includes a first peripheral computer for carrying out vector multiplications, a second peripheral computer for carrying out vector products, and a central computer connected to the first and second peripheral computers and coordinating the various calculations.
14 Citations
9 Claims
-
1. A process for minimizing, in a strapdown inertial measurement system, an error due to a perturbing motion in retrieval of a velocity, said velocity being retrieved by implementing a velocity retrieval process using measured accelerometric and gyrometric data combined with specific coefficients, said process comprising:
-
(a) defining an error criterion which indicates the error due to said perturbing motion in the retrieval of the velocity and which is determined from said specific coefficients; (b) calculating, in accordance with the error criterion defined in step (a), values of said specific coefficients which enable said error criterion to be minimized; and (c) integrating said values of the coefficients calculated in step (b) into said velocity retrieval process. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A strapdown inertial measurement system comprising:
-
an assembly of accelerometers for measuring accelerometric data; an assembly of gyrometers for measuring gyrometric data; and a device for minimizing an error due to a perturbing motion in retrieval of a velocity, said device comprising; a first peripheral computer for carrying out vector multiplications based on the accelerometric data and the gyrometric data; a second peripheral computer for carrying out vector products based on the accelerometric data and the gyrometric data; and a central computer connected to said first and second peripheral computers for coordinating the vector multiplications and vector products carried out by the first and second peripheral computers to (i) define an error criterion which indicates the error due to the perturbing motion in the retrieval of the velocity and which is determined from specific coefficients, (ii) calculate, in accordance with the error criterion defined in operation (i), values of the specific coefficients which enable the error criterion to be minimized and (iii) integrating the values of the specific coefficients calculated in operation (ii) into the retrieval of the velocity.
-
Specification