Miniaturized inertial measurement and navigation sensor device and associated methods
First Claim
1. An inertial measurement unit comprising:
- a base;
a plurality of assemblies mounted in orthogonal fashion to the base in axial planar alignment, each of the plurality of assemblies comprising;
a plurality of angle rate sensors mounted for alignment with each other in the assembly;
a plurality of temperature sensors mounted in the assembly, each temperature sensor operable for sensing a temperature of a corresponding angle rate sensor; and
a plurality of accelerometers mounted in the assembly;
a signal processor mounted on the base, the signal processor adapted for signal communication with the plurality of angle rate sensors, the plurality of temperature sensors, and the plurality of accelerometers; and
an application resident on the signal processor for;
processing signals from the plurality of angle rate sensors in each assembly with use of signals from the corresponding plurality of temperature sensors;
fusing the processed signals from the plurality of angle rate sensors in each assembly for providing virtual gyro data channels; and
fusing signals from the plurality of accelerometers in each assembly for providing 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.
26 Citations
1 Claim
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1. An inertial measurement unit comprising:
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a base; a plurality of assemblies mounted in orthogonal fashion to the base in axial planar alignment, each of the plurality of assemblies comprising; a plurality of angle rate sensors mounted for alignment with each other in the assembly; a plurality of temperature sensors mounted in the assembly, each temperature sensor operable for sensing a temperature of a corresponding angle rate sensor; and a plurality of accelerometers mounted in the assembly; a signal processor mounted on the base, the signal processor adapted for signal communication with the plurality of angle rate sensors, the plurality of temperature sensors, and the plurality of accelerometers; and an application resident on the signal processor for; processing signals from the plurality of angle rate sensors in each assembly with use of signals from the corresponding plurality of temperature sensors; fusing the processed signals from the plurality of angle rate sensors in each assembly for providing virtual gyro data channels; and fusing signals from the plurality of accelerometers in each assembly for providing virtual accelerometer data channels.
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Specification
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- Resources
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Current AssigneeTanenhaus and Associates, Inc.
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Original AssigneeTanenhaus and Associates, Inc.
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InventorsTanenhaus, Martin E.
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Primary Examiner(s)Hellner, Mark
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Application NumberUS14/494,228Time in Patent Office1,099 DaysField of Search702104US Class CurrentCPC Class CodesG01C 19/02 Rotary gyroscopesG01C 21/165 combined with non-inertial ...G01K 13/00 Thermometers specially adap...G01P 15/14 by making use of gyroscopes...
