Azimuth determination system and method therefor

• US 8,099,876 B1
• Filed: 11/21/2008
• Issued: 01/24/2012
• Est. Priority Date: 11/21/2008
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Truncale, Angelo, Atmur, Robert J., Justin, Joseph E., Barsamian, Brian
• Primary Examiner(s): FULTON, CHRISTOPHER W
• Application Number:
  US12/276,056
• Time in Patent Office: 1,159 Days
• Field of Search: 333/24, 333/21
• US Class Current: 33/324
• CPC Class Codes: G01C 19/38 with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation

Abstract

An azimuth determination system has a platform. A plurality of gimbals is attached to the platform to allow the platform to rotate about multiple axes. A pair of gryos is attached to the platform. A leveling device is attached to the platform to indicate when the platform is at a desired position. A control device attached to the plurality of gimbals to move the platform to the desired position indicated by the leveling device. An electronics system is to provide power to the azimuth determination system and to determine azimuth by positioning the gyros in a first position with an input axis of the gyros in the horizontal plane and orthogonal to the Earth Rate vector to calculate a first output and rotating the gyros 180° about the vertical to a second position to calculate a second output, the platform is then inverted and an additional set of two readings is taken. The four outputs are combined to produce the azimuth value and a gyro induced bias error. The azimuth value of the autocollimator line of sight is transferred to the laboratory reference mirror.

Claims

1. An azimuth determination system comprising:

a platform;

a plurality of gimbals attached to the platform to allow the platform to rotate about multiple axes;

a pair of gryos attached to the platform;

a leveling device attached to the platform to indicate when the platform is at a desired position;

a control device attached to the plurality of gimbals to move the platform to the desired position indicated by the leveling device; and

an electronics system to provide power to the azimuth determination system and to determine azimuth by positioning the gyros in a first position with an input axis of the gyros orthogonal to the Earth Rate vector to calculate a first output and rotating the gyros 180°

about the vertical to a second position to calculate a second output, the platform inverted and rotated to calculate a third and fourth outputs, wherein the four outputs are combined to produce the azimuth value and gyro induced bias error.

2. An azimuth determination system in accordance with claim 1 further comprising a rotary table attached to the platform.

3. An azimuth determination system in accordance with claim 2 further comprising a heat exchanger positioned between the platform and the rotary table.

4. An azimuth determination system in accordance with claim 3 wherein the heat exchanger comprises:

a first set of disks; and

a second set of disks, wherein the first set of disks and the second set of disks are mounted alternately between an inner hub and an outer hub.

7. An azimuth determination system in accordance with claim 1 wherein the control device comprises:

a first motor to bring an inner gimbal of the plurality of gimbals to a desired position; and

a second motor to move the platform to the desired position indicated by the leveling device.

8. An azimuth determination system in accordance with claim 7 wherein the first motor is a stepper motor and the second motor is a piezo motor.

9. An azimuth determination system in accordance with claim 1 further comprising a plurality of thermal controllers to control a temperature of the system.

10. An azimuth determination system in accordance with claim 1 further comprising at least one heating device positioned on each gyro to control a temperature of each gyro.

11. An azimuth determination system in accordance with claim 1 further comprising an end cap placed on each end of each gyro to insulate each end of each gyro and to secure each end of each gyro to the platform.

12. An azimuth determination system in accordance with claim 1 further comprising a trunnion heating device placed on each platform gimbal trunnion.

13. An azimuth determination system in accordance with claim 1 wherein the leveling device has a covering to minimize thermal gradients and temperature variations.

14. An azimuth determination system in accordance with claim 1 wherein the electronics system comprises:

a power supply may be used to power components of the system; and

a computer system to collect and analyze data from the gyros and to send commands to the control device to move the platform to the desired position indicated by the leveling device.

15. An azimuth determination system in accordance with claim 14 wherein the electronics system further comprises an Uninterruptable Power Supply (UPS).

5. An azimuth determination system in accordance with claim further comprising a rotary table attached to the platform, the rotary table limited to rotating approximately ±

90°

to reduce noise.

6. An azimuth determination system in accordance with claim further comprising proximity electronics attached to the platform.

16. An azimuth determination system comprising:

a rotary table;

a platform;

a heat exchanger positioned between the platform and the rotary table;

proximity electronics attached to the platform;

a plurality of gimbals attached to the platform to allow the platform to rotate about multiple axes;

a pair of gryos attached to the platform;

at least one heating device positioned on each gyro to control a temperature of each gyro;

a plurality of end caps, wherein one end cap is placed on each end of each gyro with heating devices for thermal control;

a trunnion heating device placed on each platform gimbal trunnion;

a leveling device attached to the platform to indicate when the platform is at a desired position, wherein the leveling device has a covering to minimize thermal gradients and temperature variations.

17. An azimuth determination system in accordance with claim 16 wherein the heat exchanger comprises:

a first set of disks;

a second set of disks, wherein the first set of disks and the second set of disks are mounted alternately between an inner hub and an outer hub.

18. An azimuth determination system in accordance with claim 16 wherein the electronics system comprises:

a power supply may be used to power components of the system; and

a computer system to collect and analyze data from the gyros and to send commands to the control device to move the platform to the desired position indicated by the leveling device.

19. A gyrocompassing method to calculate azimuth free of gyro induced bias error comprising:

positioning a pair of gyros in a first position with an input axis of the gyros orthogonal to the Earth Rate vector to calculate a first output;

rotating the gyros 180°

about the vertical to a second position to calculate a second output; and

a control device attached to the plurality of gimbals to move the platform to the desired position indicated by the leveling device, wherein the control device comprises;

a first motor to bring an inner gimbal of the plurality of gimbals to a desired position; and

a second motor to move the platform to the desired position indicated by the leveling device; and

an electronics system to provide power to the azimuth determination system and to determine azimuth by positioning the gyros in a first position with an input axis of the gyros in the horizontal plane and orthogonal to the Earth Rate vector to calculate a first output and rotating the gyros 180°

about the vertical to a second position to calculate a second output, the platform is inverted and an additional set of two readings is taken, wherein the four outputs are combined to produce the azimuth value and a gyro induced bias error;

calculating the azimuth, the azimuth equal to Sine<sup>−

1</sup>(First Output−

Second Output)/2ω

_ie-h, wherein ω

_ie-h is the horizontal component of earth rate.

20. A gyrocompassing method to calculate azimuth free of gyro induced bias error in accordance with claim 19 further comprising:

relating the azimuth angle using an autocollimator by determining an angle to a reference mirror on an instrument mount, with the first output and the second output calculated with the gyros in the first position and the second position; and

transferring the angle to the reference mirror using a penta-reflector.