North finder

• US 8,930,138 B2
• Filed: 06/13/2011
• Issued: 01/06/2015
• Est. Priority Date: 06/17/2010
• Status: Active Grant

• Current Assignee: Rafael Advanced Defense Systems Limited (Government of Israel)
• Original Assignee: Rafael Advanced Defense Systems Limited (Government of Israel)
• Inventors: Kadosh, Igal, Katzman, Nadav, Naroditsky, Michael, Elya, Ofir
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): LANG, MICHAEL DEAN
• Application Number:
  US13/704,445
• Publication Number:
  US 20130090848A1
• Time in Patent Office: 1,303 Days
• Field of Search: 701/501, 701/505
• US Class Current: 701/501
• CPC Class Codes: G01C 19/36 with north-seeking action by magnetic means, e.g. gyromagnetic compasses
• CPC Class Codes: G01C 19/38 with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
• CPC Class Codes: G01C 19/42 for indicating rate of turn; for integrating rate of turn
• CPC Class Codes: G01C 21/166 Mechanical, construction or arrangement details of inertial navigation systems

Abstract

An attitude determination system provided with North-finding capability, comprises: a) a stage consisting of a rotating platform provided with a high precision positioning controller; b) an Inertial Navigation System (INS) comprising inertial sensors, wherein said inertial sensors comprise gyroscopes and accelerometers, and wherein at least one gyroscope is of a precision suitable to find the direction of true North; and, c) a control unit for controlling input signals and output signals of the stage and the INS and combining the signals in order to provide attitude data of the system.

Claims

1. An autonomous attitude determination system provided with True-North finding capability, comprising:

a) an inertial-type True North finding unit which comprises a rotating stage, at least one high precision gyroscope, at least one accelerometer, and a north finding calculation algorithm;

b) an INS unit which comprises, as an integral part, said at least one high precision gyroscope and at least one associated accelerometer of said North finding unit, and further comprises additional gyroscopes and additional accelerometers that complement said INS unit to include a total of three perpendicular gyroscopes and three perpendicular accelerometers, said INS unit further comprise an INS calculating algorithm;

wherein during a static state the attitude determination system outputs attitude relative to the True North as calculated by said True North finding algorithm, while said True North finding unit further provides during said static state initial conditions to said INS unit;

and wherein during a dynamic state, said attitude determination system outputs attitude direction as calculated by said INS calculation algorithm of said INS unit, which in turn also uses said initial conditions as provided from said True North finding unit.

2. The system according to claim 1, wherein during a dynamic state, the INS unit further outputs velocity and position.

3. The system according to claim 1, wherein transfers from a static state to a dynamic state or from a dynamic state to a static state are determined by said INS sensors.

4. The system according to claim 1, further comprising a monitoring unit which verifies validity of the attitude determination, and upon detection of poor accuracy, the system performs, if conditions allow, a static-state initialization which involves new determination of the True North by the True North finding unit.

5. An autonomous method for determining a True-North and attitude during static and dynamic states, which comprises:

a) providing an inertial type True North determination unit, which comprises a rotating stage, at least one high precision gyroscope, and at least one accelerometer, and further providing a North finding calculation algorithm for determining the true north based on settings of said True North determination unit;

b) providing an INS unit, which comprises as an integral part, said at least one high precision gyroscope and at least one associated accelerometer of said True North finding unit, and which further comprises additional gyroscopes and additional accelerometers that complement said INS unit to include a total of three perpendicular gyroscopes and three perpendicular accelerometers, and further providing an INS calculation algorithm; and

c) during a static state calculating and determining by said North finding algorithm an attitude relative to True North, and further providing to said INS unit during said static state said determined attitude relative to the rue North as an initial condition; and

d) during a dynamic state, calculating and determining by said calculation algorithm of said INS unit an attitude direction, while using in said calculation the initial conditions as provided by said True North finding unit.

6. The method according to claim 5, further determining by the INS unit position and velocity.

7. The method according to claim 5, further determining transfers from a static state to a dynamic state or from a dynamic state to a static state using sensors of the INS unit.

8. The method according to claim 5, further comprising a step of monitoring and verifying the validity of the attitude determination, and upon detection of a poor accuracy, performing a static-state initialization, which involves new determination of the True North by the True North unit.