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Automatic correction of key error sources in an inertial navigator

  • US 6,032,099 A
  • Filed: 11/02/1996
  • Issued: 02/29/2000
  • Est. Priority Date: 11/02/1996
  • Status: Expired due to Fees
First Claim
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1. An inertial navigator, comprising:

  • a plurality of gyros, said gyros providing a north gyro input signal, an east gyro input signal, and a down gyro input signal;

    a plurality of accelerometers;

    means for converting measurements from said accelerometers to a system east velocity and a system north velocity; and

    a control system comprising a first control loop and a second control loop;

    wherein said first control loop comprises a first rate damping control block responsive to said system east velocity and an external east velocity measurement, said first control loop generating an observable signal proportional to a north gyro drift rate when said accelerometers and said gyros are at rest and the first control loop is in a steady state;

    wherein said second control loop comprises a second rate damping control block responsive to said system north velocity and an external north velocity measurement, said second control loop generating an adjusted system north velocity using an output of said second rate damping control block; and

    wherein said second control loop is connected to an integral control block responsive to a difference between said adjusted system north velocity and said external north velocity measurement, said integral control block outputting an observable signal proportional to a down gyro drift rate when the second control loop is in a steady state.

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