Miniaturized inertial measurement and navigation sensor device and associated methods
First Claim
1. An inertial measurement unit comprising:
- a base;
three assemblies mounted in orthogonal fashion to the base in axial planar alignment, each assembly comprising;
eight angle rate sensors mounted to be aligned with each other in the assembly;
eight temperature sensors mounted in the assembly, each sensor for sensing a temperature of a corresponding angle rate sensor; and
eight accelerometers mounted in the assembly;
a signal processor mounted on the base, the signal processor adapted for signal communication with the eight angle rate sensors, the eight temperature sensors, and the eight accelerometers; and
an application resident on the signal processor for;
improving a precision of the signals from the eight angle rate sensors in each assembly with the use of signals from the respective eight temperature sensors;
fusing the improved-precision signals from the eight angle rate sensors in each assembly to provide three respective virtual gyro data channels; and
fusing signals from the eight accelerometers in each assembly to provide three respective virtual accelerometer data channels.
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Abstract
A miniaturized inertial measurement and navigation sensor device and a flexible, simplified GUI operating in real time are provided to create an optimum IMU/INS. The IMU includes multiple angle rate sensors, accelerometers, and temperature sensors to provide stability device. A navigation GUI tests algorithms prior to embedding them in real-time IMU hardware. MATLAB code is converted to C++ code tailored for real-time operation. Any point in the algorithm suite structure can be brought out as a data channel to investigate the pattern of operation. The data channels permit zooming in on the algorithm'"'"'s operation for the open-loop angle, velocity and position drift measurements for bias-compensated channels. The GUI can be used to verify results of an extended Kalman filter solution as well as the implementation of the real-time attitude and heading reference system. When the code has been verified, it is compiled and downloaded into a target processor.
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Citations
23 Claims
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1. An inertial measurement unit comprising:
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a base; three assemblies mounted in orthogonal fashion to the base in axial planar alignment, each assembly comprising; eight angle rate sensors mounted to be aligned with each other in the assembly; eight temperature sensors mounted in the assembly, each sensor for sensing a temperature of a corresponding angle rate sensor; and eight accelerometers mounted in the assembly; a signal processor mounted on the base, the signal processor adapted for signal communication with the eight angle rate sensors, the eight temperature sensors, and the eight accelerometers; and an application resident on the signal processor for; improving a precision of the signals from the eight angle rate sensors in each assembly with the use of signals from the respective eight temperature sensors; fusing the improved-precision signals from the eight angle rate sensors in each assembly to provide three respective virtual gyro data channels; and fusing signals from the eight accelerometers in each assembly to provide three respective virtual accelerometer data channels. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for making an inertial measurement unit comprising:
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mounting to a base three assemblies in orthogonal fashion to the base in axial planar alignment, each assembly comprising; eight angle rate sensors mounted to be aligned with each other in the assembly; eight temperature sensors mounted in the assembly, each sensor for sensing a temperature of a corresponding angle rate sensor; and eight accelerometers mounted in the assembly; mounting a signal processor on the base, the signal processor adapted for signal communication with the eight angle rate sensors, the eight temperature sensors, and the eight accelerometers; installing an application on the signal processor for; improving a precision of the signals from the eight angle rate sensors in each assembly with the use of signals from the respective eight temperature sensors; fusing the improved-precision signals from the eight angle rate sensors in each assembly to provide three respective virtual gyro data channels; and fusing signals from the eight accelerometers in each assembly to provide three respective virtual accelerometer data channels; and mounting a signal output device on the base, for outputting signals from the signal processor to a remote processor for providing data enabling a calculation of at least one of a change in attitude, a change in position, a change in angular rate, a change in velocity, and a change in acceleration of the unit over a plurality of finite time increments. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for providing a inertial measurement data on a substrate comprising:
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receiving a signal from each of three assemblies positioned in orthogonal fashion in axial planar alignment, each assembly comprising; eight angle rate sensors mounted to be aligned with each other in the assembly; eight temperature sensors mounted in the assembly, each sensor for sensing a temperature of a corresponding angle rate sensor; and eight accelerometers mounted in the assembly; improving a precision of the signals from the eight angle rate sensors in each assembly with the use of signals from the respective eight temperature sensors; fusing the improved-precision signals from the eight angle rate sensors in each assembly to provide three respective virtual gyro data channels; fusing signals from the eight accelerometers in each assembly to provide three respective virtual accelerometer data channels; and transmitting the fused signals from the three virtual gyro data channels, the three virtual accelerometer data channels, and the signal processor to a remote processor for providing data enabling a calculation of at least one of a change in attitude, a change in position, a change in angular rate, a change in velocity, and a change in acceleration of the unit over a plurality of finite time increments. - View Dependent Claims (22, 23)
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Specification