Method for determining roll rate gyro bias in an attitude heading reference system

• US 7,430,460 B2
• Filed: 03/23/2005
• Issued: 09/30/2008
• Est. Priority Date: 03/23/2005
• Status: Active Grant

• Current Assignee: S-Tec Corporation (Genesys Aerosystems Group, Inc.)
• Original Assignee: Ricardo A. Price
• Inventors: Price, Ricardo A.
• Primary Examiner(s): Keith; Jack W
• Assistant Examiner(s): Dager; Jonathan M
• Application Number:
  US11/088,697
• Publication Number:
  US 20060217852A1
• Time in Patent Office: 1,287 Days
• Field of Search: 701/3, 701/4, 701/7, 701/10, 701/14, 74/5, 74/53.4, 74/54.1, 74/51.4, 734/88, 735/042, 244/3.2, 244/75.1, 244/76.C, 244/76.R, 244/175, 244/179, 333/18, 333/21, 342/357.14, 702/87, 702/104, 702/141, 702/144, 702/146, 702/147, 702/151, 702/153
• US Class Current: 701/3
• CPC Class Codes: G01C 19/42 for indicating rate of turn; for integrating rate of turn
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: Y10T 74/1232 Erecting

Abstract

A method and computer program product for determining the roll rate gyro bias of an attitude and heading reference system from true air speed, heading rate and body accelerations using centripetal force equations.

Claims

1. A method for correcting a bias of a roll rate gyro utilized in an Attitude and Heading Reference System, said method comprising:

(a) monitoring the heading rate of an aircraft;

(b) monitoring at least the lateral and vertical body accelerations of the aircraft;

(c) monitoring the true airspeed of the aircraft;

(d) calculating a bank angle from the above using centripetal force equations;

(e) comparing said calculated bank angle with the bank angle derived from integrating the output of said roll rate gyro; and

(f) when the aircraft is flying in a low-dynamic state, adjusting said bias so that the bank angle derived from integrating the output of said roll rate gyro converges with the bank angle calculated from the centripetal force equations; and

(g) using the bias adjusted bank angle to erect the attitude and heading reference system while the aircraft is flying.

2. The method of claim 1, wherein the bank angle calculated from the centripetal force equations is determined according to the equation:

ROT=K*[Ay*COS(Bank)+Az*SIN(Bank)]/V

where Bank is bank angle, ROT is heading rate, V is true airspeed, Ay is lateral acceleration, Az is vertical acceleration, and K is a units conversion constant.

3. The method of claim 1, wherein the bank angle calculated from the centripetal force equations is determined according to the equation:

Yaw Rate=K*[Ay*COS(Bank)+Az*SIN(Bank)]/V

where Bank is bank angle, Yaw Rate is yaw rate as sensed directly from a yaw rate gyro, V is true airspeed, Ay is lateral acceleration, Az is vertical acceleration, and K is a units conversion constant.

4. The method of claim 1, wherein steps (a) through (g) are performed on a continuous periodic basis while the aircraft is in flight.

5. The method of claim 1, wherein steps (e) and (f) are performed by means of a Kalman filter.

6. A computer program product for correcting a bias of a roll rate gyro utilized in an Attitude and Heading Reference System, said program product comprising:

a computer readable storage medium having a computer readable program embodied in said medium, said computer readable program having;

first computer instructions for monitoring the heading rate of an aircraft;

second computer instructions for monitoring at least the lateral and vertical body accelerations of the aircraft;

third computer instructions for monitoring the true airspeed of the aircraft;

fourth computer instructions for calculating a bank angle from the above using centripetal force equations;

fifth computer instructions for comparing said calculated bank angle with the bank angle derived from integrating the output of said roll rate gyro; and

sixth computer instructions for, when the aircraft is flying in a low-dynamic state, adjusting said bias so that the bank angle derived from integrating the output of said roll rate gyro converges with the bank angle calculated from the centripetal force equations; and

seventh computer instructions for using the bias adjusted bank angle to erect the attitude and heading reference system of the aircraft while the aircraft is flying.

7. The computer program product of claim 6, wherein the bank angle calculated from the centripetal force equations is determined according to the equation:

ROT=K*[Ay*COS(Bank)+Az*SIN(Bank)]/V

where Bank is bank angle, ROT is heading rate, V is true airspeed, Ay is lateral acceleration, Az is vertical acceleration, and K is a units conversion constant.

8. The computer program product of claim 6, wherein the bank angle calculated from the centripetal force equations is determined according to the equation:

Yaw Rate=K*[Ay*COS(Bank)+Az*SIN(Bank)]/V

where Bank is bank angle, Yaw Rate is yaw rate as sensed directly from a yaw rate gyro, V is true airspeed, Ay is lateral acceleration, Az is vertical acceleration, and K is a units conversion constant.

9. The computer program product of claim 6, wherein said computer instructions are performed on a continuous periodic basis while the aircraft is in flight.

10. The computer program product of claim 6, wherein said fifth and sixth computer instructions implement a Kalman filter.