Dynamic attitude measurement method and apparatus
First Claim
1. A system for correcting a predicted attitude of an accelerating body, comprising:
- a processor for receiving external aiding data and for calculating a centripetal acceleration correction in response to the external aiding data; and
,an adaptive filter, coupled to the processor, for applying the centripetal acceleration correction to a tangential acceleration vector and correcting the predicted attitude of the accelerating body in response to the tangential acceleration vector.
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Accused Products
Abstract
A method and system senses the attitude of an accelerating object by measuring acceleration with accelerometers in three orthogonal axes and measuring angular rate with angular rate sensors disposed about each such axis to compute attitude of the object accurately relative to a vertical axis. A processor updates a quaternion representation of attitude based upon the angular rate of the object, and a corrective rate signal is determined from level frame acceleration as a reference for a Kalman filter in calculating the attitude of the object. When velocity or airspeed is available from an external source, an aiding algorithm is employed to provide accurate attitude representations throughout all flight regimes.
127 Citations
4 Claims
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1. A system for correcting a predicted attitude of an accelerating body, comprising:
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a processor for receiving external aiding data and for calculating a centripetal acceleration correction in response to the external aiding data; and
,an adaptive filter, coupled to the processor, for applying the centripetal acceleration correction to a tangential acceleration vector and correcting the predicted attitude of the accelerating body in response to the tangential acceleration vector. - View Dependent Claims (2, 3, 4)
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Specification
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- Resources
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Current AssigneeAceinna Transducer Systems Company Limited
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Original AssigneeCrossbow Technology Incorporated (Moog Incorporated)
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InventorsHorton, Michael A., Rios, Jose
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Primary Examiner(s)Nghiem; Michael
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Assistant Examiner(s)Washburn; Douglas N
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Application NumberUS11/026,256Time in Patent Office859 DaysField of Search702/151, 702/153, 702/150, 702/152, 702/141, 702/144, 702/147, 702/166US Class Current702/153CPC Class CodesG01C 21/183 Compensation of inertial me...G01S 19/49 whereby the further system ...
