Instrument alignment devices and methods

• US 6,621,460 B2
• Filed: 05/21/2001
• Issued: 09/16/2003
• Est. Priority Date: 05/21/2001
• Status: Expired due to Term

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Challoner, A. Dorian
• Primary Examiner(s): Wong, Don
• Assistant Examiner(s): Dinh, Trinh Vo
• Application Number:
  US09/862,882
• Publication Number:
  US 20020178815A1
• Time in Patent Office: 848 Days
• Field of Search: H01/Q.300, 343/766, 343/882, 343/757, 343/758, 343/754, 342/359, 342/357, 342/358
• US Class Current: 343/766
• CPC Class Codes: G01C 19/42 for indicating rate of turn; for integrating rate of turn
• CPC Class Codes: G01C 21/166 Mechanical, construction or arrangement details of inertial navigation systems
• CPC Class Codes: H01Q 1/125 Means for positioning

Abstract

An apparatus and method, for determining an instrument boresight heading. The apparatus comprises an instrument having a boresight, an elevation positioner for positioning the elevation of the instrument boresight having an elevation axis, an azimuth positioner for positioning the azimuth of the instrument boresight having an azimuth axis and a sensor including a gyro having a sensitive axis. The method comprises recording a first output of a gyro of an azimuth positioner having an instrument boresight azimuth heading in a first position, rotating the azimuth positioner to a second position, recording a second output of the gyro and rotating the azimuth positioner to a third position, recording a third output of the gyro and determining the azimuth heading relative to true north from the first, second and third output.

Claims

1. An apparatus for determining an instrument boresight heading, comprising:

an instrument having a boresight;

an elevation positioner for positioning the elevation of the instrument boresight having an elevation axis;

an azimuth positioner for positioning the azimuth of the instrument boresight having an azimuth axis; and

a sensor including a gyro having a sensitive axis;

wherein the azimuth of the instrument boresight relative to true north is determined from an output of the gyro obtained at a plurality of different positions of the azimuth positioner and the instrument boresight is aligned relative to true north.

2. The apparatus of claim 1, wherein the instrument, sensor and elevation positioner are attached to the azimuth positioner.

3. The apparatus of claim 2, wherein the azimuth positioner is mounted on a vertical post.

4. The apparatus of claim 1, wherein the instrument, sensor and azimuth positioner are attached to the elevation positioner.

5. The apparatus of claim 1, wherein the sensitive axis of the gyro is substantially normal to the azimuth and elevation axes.

6. The apparatus of claim 1, wherein the sensor further includes an accelerometer.

7. The apparatus of claim 6, wherein the accelerometer is co-aligned with the gyro.

8. A method of determining an instrument boresight azimuth heading, comprising:

recording a first output of a gyro of an azimuth positioner having an instrument boresight azimuth heading in a first position;

rotating the azimuth positioner to a second position;

recording a second output of the gyro;

rotating the azimuth positioner to a third position;

recording a third output of the gyro;

determining the azimuth heading relative to true north from the first, second and third output; and

aligning the azimuth heading of the instrument boresight relative to true north.

9. The method of claim 8, wherein a sensitive axis of the gyro is substantially normal to both an azimuth axis and an elevation axis.

10. The method of claim 8, wherein the second position is substantially 90°

from the first position and the third position is substantially 180°

from the first position.

11. The method of claim 10, wherein the azimuth relative to true north is determined approximately by the relation, arctan $\arctan $

[2

y2-(y1+y3)y1-y3]

where y₁ is the first output, y₂ is the second output and y₃ is the third output.

12. A method of determining a local vertical, comprising:

recording a first output of an accelerometer of an azimuth gimbal having an instrument boresight azimuth heading in a first position;

rotating the azimuth positioner to a second position;

adjusting a first tilt angle of the azimuth positioner until a second output of the accelerometer is substantially equivalent to the first output;

rotating the azimuth positioner to a third position; and

adjusting a second tilt angle of the azimuth positioner until a third output of the is substantially equal to the first output.

13. The method of claim 12, wherein a sensitive axis of the accelerometer is substantially normal to both an azimuth axis and an elevation axis.

14. The method of claim 12, wherein the second position is substantially 90°

from the first position and the third position is substantially 180°

from the first position.

15. A boresight alignment device, comprising:

a turntable rotatable at a rotation rate including;

an accelerometer having a first output; and

a gyro having a second output;

wherein the accelerometer and the gyro are substantially co-aligned with an in-plane axis of the turntable;

an index pulse generator for sensing the rotation rate;

a phase lock loop controller communicatively coupled to the index pulse generator and having a third output and a fourth output out of phase by a phase offset and fifth output; and

a motor for turning the turntable having a motor driver driven by the fifth output;

wherein the first output and the third output are combined to produce a gravity vector position and the second output and the fourth output are combined to produce an Earth rotation vector position.

16. The device of claim 15, wherein the index pulse generator comprises an index coil and pole.

17. The device of claim 15, wherein the gravity vector position and the Earth rotation vector position are shown on a display.

18. The device of claim 15, wherein the phase offset is set according to a desired elevation position.