High bandwidth inertial measurement unit
First Claim
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1. An inertial measurement unit comprising:
- a) a system of low bandwidth gyros for sensing angular rates;
b) a system of high bandwidth accelerometers for sensing angular accelerations;
c) means for deriving gyro-less angular rates from the sensed angular accelerations; and
d) means for blending the sensed angular rates and the derived gyro-less angular rates to produce a virtual angular rate output for the inertial measurement unit, wherein the virtual angular rate output possesses the higher bandwidth associated with the accelerometers, such that an overall bandwidth of the inertial measurement unit is aligned with the bandwidth of the accelerometers.
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Abstract
An inertial measurement unit is disclosed which includes a system of gyros for sensing angular rates, a system of accelerometers for sensing angular accelerations, an integrator for deriving gyro-less angular rates from the sensed angular accelerations, and a complimentary filter for blending the sensed angular rates and the gyro-less angular rates to produce a virtual angular rate output for the inertial measurement unit.
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20 Claims
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1. An inertial measurement unit comprising:
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a) a system of low bandwidth gyros for sensing angular rates; b) a system of high bandwidth accelerometers for sensing angular accelerations; c) means for deriving gyro-less angular rates from the sensed angular accelerations; and d) means for blending the sensed angular rates and the derived gyro-less angular rates to produce a virtual angular rate output for the inertial measurement unit, wherein the virtual angular rate output possesses the higher bandwidth associated with the accelerometers, such that an overall bandwidth of the inertial measurement unit is aligned with the bandwidth of the accelerometers. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of inertial measurement comprising the steps of:
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a) sensing angular rates using a system of low bandwidth gyros; b) sensing angular accelerations using a system of high bandwidth accelerometers; c) deriving gyro-less angular rates from the sensed angular accelerations; and d) blending the sensed angular rates and the derived gyro-less angular rates to produce a total virtual angular rate output possessing the higher bandwidth associated with the accelerometers. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification