Inertial measurement system with self correction
First Claim
1. A method, comprising:
- a. providing an angular rate sensor and a direction-of-gravity reference; and
b. determining bias error of said angular rate sensor about a vertical axis based on data substantially from said angular rate sensor and from said direction-of-gravity reference.
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Accused Products
Abstract
A method of navigation includes providing an angular rate sensor and a direction-of-gravity reference. The method also includes determining bias error of the angular rate sensor about a vertical axis based on data substantially from the angular rate sensor and from the direction-of-gravity reference. In one embodiment, the first angular rate sensor is moved from a first position around a substantially horizontal axis to a second position around the substantially horizontal axis. The first angular rate sensor provides angular rate data for attitude at the first position and for compass heading at the second position. Data from the first angular rate sensor and from the direction-of-gravity reference is processed with a program for determining a bias error correction for the first angular rate sensor while the first angular rate sensor is in the first position. Bias error correction determined while the first angular rate sensor is in the first position is used to correct angular rate of the first angular rate sensor while the first angular rate sensor is in the second position.
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Citations
39 Claims
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1. A method, comprising:
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a. providing an angular rate sensor and a direction-of-gravity reference; and b. determining bias error of said angular rate sensor about a vertical axis based on data substantially from said angular rate sensor and from said direction-of-gravity reference. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method, comprising
a. providing an angular rate sensor and an inertial sensor; - and
b. determining bias error of said angular rate sensor about a vertical axis based on data substantially from said angular rate sensor and from said inertial sensor. - View Dependent Claims (20, 21)
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22. A method of navigation, comprising
a. providing an angular rate sensor and a direction-of-gravity reference; -
b. moving said angular rate sensor from a first position around a substantially horizontal axis to a second position around said substantially horizontal axis, wherein said angular rate sensor provides angular rate data for attitude at said first position and for compass heading at said second position; c. processing data from said angular rate sensor and from said direction-of-gravity reference with a program for determining a bias error correction for said angular rate sensor while said angular rate sensor is in said first position; and d. using said bias error correction determined while said angular rate sensor is in said first position to correct angular rate of said angular rate sensor while said angular rate sensor is in said second position. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. A sensing unit, comprising:
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a direction-of-gravity reference and an angular rate sensor; an actuator mounted to provide movement of said angular rate sensor from a first position around a substantially horizontal axis to a second position around said substantially horizontal axis, wherein said angular rate sensor provides angular rate data for attitude at said first position and wherein said angular rate sensor provides angular rate data for compass heading at said second position; and a processor connected to receive data from said angular rate sensor and from said direction-of-gravity reference, wherein said processor runs a program for determining a bias error correction for said angular rate sensor while said angular rate sensor is in said first position and for using said bias error correction to correct angular rate determined by said angular rate sensor while said angular rate sensor is in said second position. - View Dependent Claims (37, 38, 39)
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Specification