Utilization of a magnetic sensor to compensate a MEMS-IMU/GPS and de-spin strapdown on rolling missiles

• US 6,208,936 B1
• Filed: 06/18/1999
• Issued: 03/27/2001
• Est. Priority Date: 06/18/1999
• Status: Expired due to Term

• Current Assignee: Rockwell Collins, Inc. (Rtx Corporation)
• Original Assignee: Rockwell Collins, Inc. (Rtx Corporation)
• Inventors: Rowe, David W., Minor, Roy R.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Arthur, Gertrude
• Application Number:
  US09/335,654
• Time in Patent Office: 648 Days
• Field of Search: 701/220, 701/221, 701/200, 244/166, 244/171, 731/78.R
• US Class Current: 701/220
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01S 19/18 Military applications
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G05D 1/108 animated with a rolling movement

Abstract

A magnetic sensor that measures the angle of the sensor'"'"'s sensitive axis relative to a local magnetic field compensates the navigation solution of a MEMS-IMU/GPS navigation system. A stable navigation solution is thereby maintained. The magnetic sensor is mounted on a body axis of the vehicle perpendicular the spin axis of the vehicle. As the vehicle spins, the magnetic sensor provides an analog output voltage that varies sinusoidally with vehicle roll with the zero crossings occurring when the sensor'"'"'s sensitive axis is perpendicular to the local magnetic field. The magnetic sensor measurements combined with knowledge of the local magnetic field relative to the local level reference are used to correct the navigation solution'"'"'s roll error. Following high rate sampling of accelerometers and gyros, and algorithm to computational de-spin in the navigation solution is executed whereby navigation processing may be implemented with a non-rolled vehicle body frame algorithm.

Claims

1. A method for compensating the roll attitude error in the navigation solution for a rolling vehicle, comprising:

sampling navigation data for a rolling vehicle;

generating an inertial attitude error estimate from the sampled navigation data;

monitoring an output of a magnetic field sensor, the magnetic field sensor having a sensitive axis being disposed perpendicular to an axis of rotation of the rolling vehicle, the output of the magnetic field sensor being generated as the rolling vehicle passes through a local magnetic field;

detecting a zero crossing point in the output of the magnetic field sensor;

calculating a measurement residual based on the navigation data at a time corresponding to the zero crossing point; and

updating the inertial attitude error estimate with the calculated measurement residual whereby the navigation solution remains stable.

2. A method as claimed in claim 1, further comprising the steps of saving navigation data to an information storage medium for subsequent retrieval and processing and then retrieving navigation data from the information storage medium for processing.

3. A method as claimed in claim 1, said sampling step including the step of sampling outputs of a MEMS/IMU and GPS receiver processor.

4. A method as claimed in claim 1, the zero crossing point corresponding to an instance where the sensitive axis of the magnetic field sensor is perpendicular to the local magnetic field.

5. A method as claimed in claim 1, the magnetic field sensor being a magnetoresistance ratio sensor.

6. A method as claimed in claim 1, the local magnetic field being the magnetic field of the earth.

7. A method as claimed in claim 1, said step of calculating a measurement residual being executed with an extended Kalman filter.

8. A method for computationally de-spinning strapdown inertial sensor measurements for navigation on a rolling vehicle, comprising:

sampling navigation data of a rolling vehicle, the sampled data including accelerometer data, roll data, pitch data and yaw data for the rolling vehicle;

integrating roll data of the sampled data over a predetermined interval;

computing a roll angle change transform;

updating the roll angle change transform with incremental roll change data;

transforming and integrating accelerometer data with the roll angle change transform whereby the accelerometer data is de-spun;

transforming and integrating pitch and yaw data with the roll angle change transform whereby the pitch and yaw data are de-spun; and

computing a navigation solution strapdown at a predetermined navigation processing rate.

9. A method as claimed in claim 8, the predetermined interval of said step of integrating roll data being selected so that incremental changes in roll data do not exceed a smaller angle.

10. A method as claimed in claim 8, the predetermined interval of said step for integrating roll data being selected so that incremental changes in roll data do not exceed 0.05 radians.

11. A method as claimed in claim 8, said step of transforming and integrating pitch and yaw data including the step of integrating at a rate sufficient to minimize sculling and coning effects.

12. A method as claimed in claim 8, said step of transforming and integrating pitch and yaw data including integrating over a short enough time interval to ensure that small angle approximations of transforming pitch and yaw data are not exceeded.

13. A method as claimed in claim 8, said step of transforming and integrating accelerometer data including the step of integrating at a rate sufficient to minimize sculling and coning effects.

14. A method as claimed in claim 8, said step of transforming and integrating accelerometer data including integrating over a short enough time interval to ensure that small angle approximations of transforming accelerator data are not exceeded.

15. A method as claimed in claim 8, the predetermined navigation processing rate being a typical strapdown navigation processing rate.

16. A method as claimed in claim 8, the predetermined navigation processing rate being sufficient to minimize non-linearities induced by pitch and yaw rates.

17. A method for computing a navigation solution in a rolling vehicle, comprising:

sampling navigation data of a rolling vehicle, the sampled data including accelerometer data, roll data, pitch data and yaw data for the rolling vehicle;

calculating a measurement residual based upon the output of a magnetic sensor that detects the orientation of the rolling vehicle with respect to a local magnetic field;

updating an inertial attitude error estimate with the calculated measurement residual whereby the navigation solution remains stable;

computationally de-spinning accelerometer and pitch and yaw data; and

computing a navigation solution strapdown at a predetermined navigation processing rate with the de-spun accelerometer, pitch and yaw data.

18. A method as claimed in claim 17, the magnetic sensor being a magnetoresistance ratio sensor.

19. A method as claimed in claim 17, said step of computationally de- spinning accelerometer and pitch and yaw data including the step of integrating a rate sufficient to minimize sculling and coning effects.

20. A method as claimed in claim 17, the predetermined navigation processing rate being a typical strapdown navigation processing rate.