Self-calibration for an inertial instrument based on real time bias estimator
First Claim
1. An inertial measurement apparatus comprising:
- first and second inertial instruments adapted to generate respective sensed signals representative of an inertial attribute to be measured;
means adapted to combine first and second bias error signals with the respective sensed signals thereby generating respective output signals;
bias estimator adapted to receive said output signals and generate respective first and second bias correction signals corresponding to the first and second inertial instruments;
the bias estimator calculating the first and second bias correction signals based on first and second measurements made during respective first and second time intervals where a sign of one of the first and second bias error signals changes from one state during the first time interval to the other state during the second time interval;
bias estimator adapted to generate first and second corrected output signals based on a combination of the first and second bias correction signals with the respective output signals.
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Abstract
An exemplary inertial measurement apparatus incorporates self-calibrating bias correction signals. First and second inertial instruments generate respective input signals representative of an inertial attribute to be measured. A bias estimator generates first and second bias correction signals. First and second summation nodes receive the respective input signals and the respective first and second bias correction signals. The first and second summation nodes provide respective summed signals to the first and second inertial instruments. The first and second inertial instruments generate respective output signals representative of a value of the inertial attribute based on the respective summed signals. The bias estimator calculates the first and second bias correction signals based on first and second measurements made during respective first and second time intervals where a sign of one of the first and second bias error signals changes from one state during the first time interval to the other state during the second time interval.
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Citations
14 Claims
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1. An inertial measurement apparatus comprising:
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first and second inertial instruments adapted to generate respective sensed signals representative of an inertial attribute to be measured; means adapted to combine first and second bias error signals with the respective sensed signals thereby generating respective output signals; bias estimator adapted to receive said output signals and generate respective first and second bias correction signals corresponding to the first and second inertial instruments; the bias estimator calculating the first and second bias correction signals based on first and second measurements made during respective first and second time intervals where a sign of one of the first and second bias error signals changes from one state during the first time interval to the other state during the second time interval; bias estimator adapted to generate first and second corrected output signals based on a combination of the first and second bias correction signals with the respective output signals. - View Dependent Claims (2, 3, 4, 5)
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6. An inertial measurement apparatus comprising:
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first and second means for generating respective sensed signals representative of an inertial attribute to be measured; means adapted to combine first and second bias error signals with the respective sensed signals thereby generating respective output signals; bias estimator means, adapted to receive said output signals, for generating respective first and second bias correction signals corresponding to the first and second means; the bias estimator means calculating the first and second bias correction signals based on first and second measurements made during respective first and second time intervals where a sign of one of the first and second bias error signals changes from one state during the first time interval to the other state during the second time interval; bias estimator means adapted to generate first and second corrected output signals based on a combination of the first and second bias correction signals with the respective output signals. - View Dependent Claims (7, 8, 9, 10)
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11. A method for utilizing self-calibrating bias signals in an inertial measurement apparatus comprising:
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generating first and second sensed signals each representative of a same inertial attribute to be determined, where each of the first and second sensed signals is generated based on the same parameters sensed at the same location; combining first and second bias error signals with the respective first and second sensed signals to generate respective first and second output signals; generating first and second bias correction signals that correspond to the respective first and second output signals; calculating the first and second bias correction signals based on measurements made during first and second time intervals where a sign of the first bias error signal is changed from one state during the first time interval to another state during the second time interval; generating first and second corrected output signals representative of a value of the inertial attribute based on the first and second output signals and the first and second bias correction signals, respectively. - View Dependent Claims (12, 13, 14)
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Specification