Cooperative calibration of heading sensors

• US 8,209,140 B2
• Filed: 12/17/2009
• Issued: 06/26/2012
• Est. Priority Date: 12/17/2009
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Bailey, Michael B.
• Primary Examiner(s): Dunn, Drew A
• Assistant Examiner(s): Henson, Mischita
• Application Number:
  US12/641,031
• Publication Number:
  US 20110153250A1
• Time in Patent Office: 922 Days
• Field of Search: 702 94- 95, 702/152
• US Class Current: 702/94
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of 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 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

A primary device that includes a heading sensor and a remote secondary device cooperate to calibrate the heading sensor. The secondary device cooperates by measuring its Earth relative position and transmitting the position to the primary device. The primary device calculates a true heading from the positions of both devices and subtracts the true heading from a measured heading to the secondary device to form a heading calibration angle. The process may be extended to calculate a pitch calibration angle.

Claims

1. A method of cooperative calibration of a heading sensor, comprising:

(a) providing a primary device including a heading sensor that provides measurements of heading, an optical sighting system with a fixed relative alignment to the heading sensor, a position sensor, a processor, memory and a communication link;

(b) providing a secondary device including a position sensor and a communication link;

(c) aiming the primary device'"'"'s optical sighting system to acquire the secondary device;

(d) measuring with said heading sensor a sensed heading and a sensed pitch from the primary device to the secondary device;

(e) measuring with the respective position sensors the positions relative to a fixed Earth coordinate system of said primary and secondary devices;

(f) receiving at said primary device via the communication links the position of the secondary device;

(g) from said positions of said primary and secondary devices, calculating with said processor a true heading and a true pitch from the primary and secondary positions;

(h) subtracting with said processor the true and sensed headings to form a heading calibration angle and the sensed and true pitch to form a pitch calibration angle; and

(i) recording the heading calibration angle and the pitch calibration angle in said memory to compensate further heading and pitch measurements.

2. The method of claim 1, wherein said processor creates a third position having the latitude and longitude of the secondary device and the elevation of the primary device, transforms the position of the primary device, secondary device and third position into Earth centered Earth Fixed (ECEF) coordinates, calculates a first vector between the primary and secondary positions, calculates a second vector between the primary and third positions, calculates an angle between the first and second vectors as a true pitch and subtracts the sensed and true pitch to form a pitch calibration that is stored in memory.

3. A method of cooperative calibration of a heading sensor, comprising:

(a) providing a primary device including a heading sensor that provides measurements of heading, an optical sighting system with a fixed relative alignment to the heading sensor, a position sensor, a processor memory and a communication link;

(b) providing a secondary device including a position sensor and a communication link;

(c) aiming the primary device'"'"'s optical sighting system to acquire the secondary device and transmitting a request for cooperative calibration via the communication links to said secondary device to measure its position and transmit the position via the communication links back to the primary device;

(d) measuring with said heading sensor a sensed heading to the secondary device;

(e) measuring with the respective position sensors the positions of said primary and secondary devices;

(f) receiving at said primary device via the communication links the position of the secondary device;

(g) from said positions of said primary and secondary devices, calculating with said processor a true heading from said primary device to said secondary device;

(h) subtracting with said processor the true and sensed headings to form a heading calibration angle; and

(i) recording the heading calibration angle in said memory to compensate further heading measurements.

4. The method of claim 3, wherein said primary and secondary position sensors measure position relative to a fixed Earth coordinate system.

5. The method of claim 4, wherein said primary and secondary position sensors comprise Global Positioning System (GPS) receivers that provide position measurements with a time code, said processor calculating the true heading from time synchronized measurements of the positions of the primary and secondary devices.

6. The method of claim 4, wherein said processor uses the latitude and longitude of the primary and secondary positions to calculate a geodesic path from the primary to the secondary position on the surface of an ellipsoidal Earth model and provides the initial heading along this path as the true heading.

7. The method of claim 3, further comprising:

aiming the primary device'"'"'s optical system to acquire a different secondary device;

repeating steps (d) through (h) to compute another heading calibration angle;

averaging with said processor the heading calibration angles; and

storing the average heading calibration angle in said memory.

8. The method of claim 3, wherein said heading sensor comprises at least one magnetometer and at least one gyroscope.

9. The method of claim 3, wherein said processor calculates the heading calibration angle without use of a declination table.

10. A method of cooperative calibration of a heading sensor, comprising:

(a) providing a primary device including a heading sensor that provides measurements of heading, an optical sighting system with a fixed relative alignment to the heading sensor, a position sensor, a processor, memory and a communication link;

(b) providing a secondary device including a position sensor and a communication link;

(c) aiming the primary device'"'"'s optical sighting system to acquire the secondary device;

(d) measuring with said heading sensor a sensed heading to the secondary device, wherein said heading sensor comprises at least one magnetometer to sense the Earth'"'"'s magnetic field and measure the sensed heading to the secondary device;

(e) measuring with the respective position sensors the positions of said primary and secondary devices;

(f) receiving at said primary device via the communication links the position of the secondary device;

(g) from said positions of said primary and secondary devices, calculating with said processor a true heading from said primary device to said secondary device;

(h) subtracting with said processor the true and sensed headings to form a heading calibration angle, said calculation of the heading calibration angle from the true and sensed heading encompassing errors induced by mechanical alignment between the optical sighting system and the heading sensor, magnetic local fields, magnetic declination and magnetic tilt; and

(i) recording the heading calibration angle in said memory to compensate further heading measurements.

11. A method of cooperative calibration of a heading sensor, comprising:

(a) providing a primary device including a heading sensor that provides measurements of heading, an optical sighting system with a fixed relative alignment to the heading sensor, a position sensor, a processor, memory and a communication link;

(b) providing a secondary device including a position sensor and a communication link;

(c) aiming the primary device'"'"'s optical sighting system to acquire the secondary device;

(d) measuring with said heading sensor a sensed heading to the secondary device, wherein said heading sensor comprises at least one gyroscope to exploit the Earth'"'"'s rotation and measure the sensed heading to the secondary device;

(e) measuring with the respective position sensors the positions of said primary and secondary devices;

(f) receiving at said primary device via the communication links the position of the secondary device;

(g) from said positions of said primary and secondary devices, calculating with said processor a true heading from said primary device to said secondary device;

(h) subtracting with said processor the true and sensed headings to form a heading calibration angle, said calculation of the heading calibration angle from the true and sensed heading encompassing errors induced by mechanical alignment between the optical sighting system and the heading sensor and drift of the gyroscope; and

(i) recording the heading calibration angle in said memory to compensate further heading measurements.

12. A method of cooperative calibration of a heading sensor, comprising:

(a) providing a primary device including a three-axis heading sensor that provides measurements of heading and pitch, an optical sighting system with a fixed relative alignment to the heading sensor, a Global Position System (GPS) receiver, a processor, memory and a communication link;

(b) providing a secondary device including a GPS receiver and a communication link;

(c) aiming the primary device'"'"'s optical sighting system to acquire the secondary device;

(d) measuring with said heading sensor a sensed heading and a sensed pitch to the secondary device;

(e) sending a request from the primary device via the communication links to the secondary device for cooperative calibration;

(f) measuring with the respective GPS receivers time-synchronized positions relative to a fixed Earth coordinate system of said primary and secondary devices;

(g) receiving at said primary device via the communication links the position of the secondary device;

(h) from said positions of said primary and secondary devices, calculating with said processor a true heading and a true pitch from said primary device to said secondary device;

(i) subtracting with said processor the true and sensed headings to form a heading calibration angle and the true and sensed pitch to form a pitch calibration angle; and

(j) recording the heading and pitch calibration angles in said memory to compensate further heading and pitch measurements.

13. The method of claim 12, wherein said processor uses the latitude and longitude of the primary and secondary positions to calculate a geodesic path from the primary to the secondary position on the surface of an ellipsoidal Earth model and provides the initial heading along this path as the true heading and wherein said processor creates a third position having the latitude and longitude of the secondary device and the elevation of the primary device, transforms the position of the primary device, secondary device and third position into Earth centered Earth Fixed (ECEF) coordinates, calculates a first vector between the primary and secondary positions, calculates a second vector between the primary and third positions, calculates an angle between the first and second vectors as the true pitch.

14. The method of claim 12, wherein said heading sensor comprises at least three magnetometers to sense different orthogonal components of the Earth'"'"'s magnetic field and provide the sensed heading and sensed pitch to the secondary device, said calculation of the heading calibration angle from the true and sensed heading encompassing errors induced by mechanical alignment between the optical sighting system and the heading sensor, magnetic local fields, magnetic declination and magnetic tilt.

15. A primary device, comprising:

an optical sighting system for acquiring a secondary device that includes an Earth relative position sensor;

a heading sensor configured to provide measurements of heading with respect to true north and pitch to the secondary device when acquired by the optical sighting system;

an Earth relative position sensor configured to measure position of the primary device;

a communication link configured to receive the position of the secondary device measured by its Earth relative position sensor;

a processor configured to (a) compute a true heading relative to true North and a true pitch to the secondary device from the position measurements of the primary and remote devices and (b) compute heading and pitch calibration angles from the difference of the true and measured heading and pitch; and

memory for recording the heading and pitch calibration rotation to compensate further heading and pitch measurements.

16. The primary device of claim 15, wherein said processor is configured to send a request for cooperative calibration via the communication link to the secondary device to measure its position and transmit the position via the communication links back to the primary device.

17. The primary device of claim 15, wherein said primary and secondary Earth relative position sensors comprise Global Positioning System (GPS) receivers that provide position measurements with a time code, said processor calculating the true heading from time synchronized measurements of the positions of the primary and secondary devices.

18. The primary device of claim 15, wherein said processor uses the latitude and longitude of the primary and secondary positions to calculate a geodesic path from the primary to the secondary position on the surface of an ellipsoidal Earth model and provides the initial heading along this path as the true heading and wherein said processor creates a third position having the latitude and longitude of the secondary device and the elevation of the primary device, transforms the position of the primary device, secondary device and third position into Earth centered Earth Fixed (ECEF) coordinates, calculates a first vector between the primary and secondary positions, calculates a second vector between the primary and third positions, calculates an angle between the first and second vectors as the true pitch.

19. The primary device of claim 15, wherein said heading sensor comprises at least three magnetometers to sense different orthogonal components of the Earth'"'"'s magnetic field and provide the sensed heading and sensed pitch to the secondary device, said calculation of the heading calibration angle from the true and sensed heading encompassing errors induced by mechanical alignment between the optical sighting system and the heading sensor, magnetic local fields, magnetic declination and magnetic tilt.