Method for calibrating an inertial measurement unit
First Claim
1. In a system that includes an inertial measurement unit having an internal memory device and an internal processor, a prep-station having test and calibration software, and a rate table that subjects the inertial measurement unit to a known plurality of motion and environmental conditions, a method of using the inertial measurement unit comprising:
- loading the inertial measurement unit on the prep-station;
loading the processor, via the prep-station, with the test and calibration software and values of the known motion and environmental conditions;
placing the inertial measurement unit on the rate table;
subjecting the inertial measurement unit, during a test, to the known plurality of motion and environmental conditions while the inertial measurement unit is on the rate table; and
executing the test software, at the processor, during the test to read outputs of the inertial measurement unit, determine errors, and calculate correction coefficients, wherein the outputs of the inertial measurement unit are sent to the processor via a path that does not include slip rings.
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Abstract
A method for testing inertial measurement devices on a multi-axis rate table without having to utilize slip rings to transfer signals between the inertial measurement devices and remote processors by incorporating a processor internal to the inertial measurement devices and transferring the signals directly to the processors for determining and storing the calibration coefficients of the inertial measurement devices internally so that they are self calibrating.
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Citations
15 Claims
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1. In a system that includes an inertial measurement unit having an internal memory device and an internal processor, a prep-station having test and calibration software, and a rate table that subjects the inertial measurement unit to a known plurality of motion and environmental conditions, a method of using the inertial measurement unit comprising:
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loading the inertial measurement unit on the prep-station; loading the processor, via the prep-station, with the test and calibration software and values of the known motion and environmental conditions; placing the inertial measurement unit on the rate table; subjecting the inertial measurement unit, during a test, to the known plurality of motion and environmental conditions while the inertial measurement unit is on the rate table; and executing the test software, at the processor, during the test to read outputs of the inertial measurement unit, determine errors, and calculate correction coefficients, wherein the outputs of the inertial measurement unit are sent to the processor via a path that does not include slip rings. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of performing calibration tests on an inertial measurement unit, the method comprising:
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providing a processor internal to the inertial measurement unit; connecting the processor to receive outputs of the inertial measurement unit, wherein the outputs of the inertial measurement unit do not pass through slip rings; loading the processor with test and calibration software and value of known motion and environmental conditions; and executing the test and calibration software at the processor while subjecting the inertial measurement unit to the known motion and environmental conditions, wherein excuting the test and calibration software includes the steps of (i) reading the outputs of the inertial measurement unit, (ii) determining errors, (iii) calculating correction coefficents at the processorm and (v) storing the correction coefficients at the inertial measurement unit. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification