Method for calibrating and verifying the attitude of a compass

• US 6,466,871 B1
• Filed: 10/03/2000
• Issued: 10/15/2002
• Est. Priority Date: 10/03/1999
• Status: Expired due to Fees

• Current Assignee: Azimuth Technologies Ltd. (Elbit Systems Limited)
• Original Assignee: Azimuth Technologies Ltd. (Elbit Systems Limited)
• Inventors: Reisman, Shlomo, Bronsteyn, Boris
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/678,398
• Time in Patent Office: 742 Days
• Field of Search: 701/224, 701/200, 701/207, 701/213, 701/215, 701/220, 701/221, 701/223, 333/61, 333/70, 333/33, 333/56, 333/57, 333/62, 333/40, 333/65, 342/52, 892/03, 892/05
• US Class Current: 701/224
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

A method for calibrating the attitude of a compass in relation to the platform on which the compass is installed. The compass includes an attitude determining device and an optical sighting device and the compass is integrally mounted on a platform. The method includes the steps of determining the angle between the optical sighting device and the attitude determining device, determining the attitude between the optical sighting device and the platform, and determining the attitude between the attitude determining device and the platform.

Claims

1. A method for verifying the attitude of a compass, the compass comprising an attitude determining device, a tilt sensor and an inertial sensor, the method comprising the steps of:

determining the attitude of said compass with reference to the earth'"'"'s axis from said attitude determining device; and

determining the tilt of said compass from said tilt sensor;

determining the angular velocity of said compass from said inertial sensor;

determining a predicted azimuth value from said angular velocity and said compass attitude; and

comparing the azimuth of said compass, obtained from said step of determining the attitude of said compass with reference to the earth'"'"'s axis, with the predicted azimuth value, and comparing the elevation of said compass, obtained from said step of determining the attitude of said compass with reference to the earth'"'"'s axis with the elevation obtained from said step of determining the tilt, thereby verifying the attitude of said compass.

2. The method according to claim 1, wherein said attitude determining device comprises a plurality of antennas having a common longitudinal axis.

3. A method for verifying the azimuth of a compass, the compass comprising an attitude determining device and an inertial sensor, the method comprising the steps of:

determining the attitude of said compass with reference to the earth'"'"'s axis from said attitude determining device; and

determining the angular velocity of said compass from said inertial sensor;

determining a predicted azimuth value from said angular velocity and said compass attitude; and

comparing the azimuth of said compass obtained from said step of determining the attitude of said compass with reference to the earth'"'"'s axis, with the predicted azimuth value.

4. A method according to claim 3, wherein said compass further comprises a tilt sensor and wherein the method further comprises the step of:

determining the elevation of said compass utilizing said tilt sensor.

5. The method according to claim 3, wherein said attitude determining device comprises a plurality of antennas having a common longitudinal axis.

6. A method for determining the azimuth of a target from a platform remotely located from said target, said platform comprising a base, a rotating component connected to the base, an elevating component connected to the rotating component, an attitude determining device attached to the rotating component and a rangefinder connected to the elevating component, the method comprising the steps of:

a) determining the attitude of said platform from the attitude determining device;

b) determining the distance from the distance from the platform to the target using said rangefinder;

c) assuming a first iteration value of elevation α

1 of the elevating component;

d) determining an assumed position (N_a, E_a) and height h_a of the target from the attitude of said platform and said distance;

e) obtaining the height (h_dtm) for said target from Digital Terrain Map (DTM) data;

f) comparing the calculated height h_a with the height (h_dtm);

g) if height h_a is not approximately equal (within predetermined parameters) to h_dtm;

i) select a second iteration value of elevation α

2; and

ii) repeat steps d)-f).

7. The method according to claim 6, wherein said attitude determining device comprises a plurality of antennas having a common longitudinal axis.

8. A method for determining the azimuth of an elevating component connected to a rotating component, said rotating component connected to a platform, the method comprising the steps of:

determining the azimuth of the rotating component;

calculate the elevation of said rotating component utilizing the tilt sensor; and

calculating the elevation of the elevating component according to the method of claim 6;

thereby to determine the azimuth.