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    • 1. 发明公开
      EP3407023A1 INERTIAL NAVIGATION SYSTEM 有权
    • INERTIAL NAVIGATION SYSTEM
    • EP3407023A1
    • 2018-11-28
    • EP18173352.8
    • 2018-05-18
    • Atlantic Inertial Systems Limited
    • FAULKNER, Nicholas Mark , SHEARD, John Keith
    • G01C25/00 , G01C21/16 , G05D1/10 , F41G7/36
    • An inertial measurement system for a spinning projectile comprising: a first, roll gyro with an axis oriented substantially parallel to the spin axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system; a controller, arranged to: compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; operate a Kalman filter that receives a plurality of measurement inputs including at least the roll angle, pitch angle and yaw angle and that outputs at least a roll angle error; initialise the Kalman filter with a roll angle error uncertainty representative of a substantially unknown roll angle; generate at least one pseudo-measurement from stored expected flight data, the or each pseudo-measurement corresponding to an expected measurement input of the Kalman filter; provide said pseudo-measurements) to the corresponding measurement input of the Kalman filter; and apply the roll angle error from the Kalman filter as a correction to the roll angle; wherein the Kalman filter is arranged to calculate the roll angle error as a function of the pseudo-measurement(s). This process allows navigation approach in which integrated navigation is initialised immediately after power-up, even though the roll angle is unknown or only known to a very coarse degree. The navigation Kalman filter configured with this pseudo-measurement update process allows reliable and rapid convergence to an accurate navigation solution without the need for a discrete upfinding process as it is not reliant on any knowledge of the initial roll angle.
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
    • 2. 发明公开
      EP3213034A1 INERTIAL NAVIGATION SYSTEM WITH COMPENSATION OF ROLL SCALE FACTOR ERROR 有权
    • INERTIAL NAVIGATION SYSTEM WITH COMPENSATION OF ROLL SCALE FACTOR ERROR
    • 具有卷积因子误差补偿的惯性导航系统
    • EP3213034A1
    • 2017-09-06
    • EP15790207.3
    • 2015-10-27
    • Atlantic Inertial Systems Limited
    • SHEARD, John Keith , FAULKNER, Nicholas Mark
    • G01C21/16 , G01C25/00 , F41G7/36 , F42B15/01 , G05D1/10
    • G01C21/16 , F41G7/36 , F42B15/01 , G01C25/005
    • An inertial measurement system (200) for a longitudinal projectile, comprising a first, roll gyro to be oriented substantially parallel to the longitudinal axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system. The system further comprises a controller (225, 250), arranged: —to compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; —for at least two time points, to compare the computed pitch and yaw angles with expected values for the pitch and yaw angles; —for each of said at least two time points, to calculate a roll angle error based on the difference between the computed pitch and yaw angles and the expected pitch and yaw angles; —to calculate a roll angle error difference between said at least two time points; —to calculate the total roll angle subtended between said at least two time points; —to calculate a roll angle scale factor error based on said computed roll angle error difference and said total subtended roll angle and apply the calculated roll angle scale factor error to the output of the roll gyro.
    • 一种用于纵向射弹的惯性测量系统，包括：平行于射弹纵轴取向的第一滚转陀螺仪和相对于滚转陀螺仪设置的第二和第三陀螺仪，以限定三维坐标系统。 由陀螺仪确定包括滚转角，俯仰角和偏航角的当前射弹姿态。 对于至少两个时间点，将所确定的俯仰角和偏航角与期望值进行比较，并且基于所确定的和期望的俯仰角和偏航角之间的差来确定侧倾角误差。 在这两个时间点之间计算横滚角误差差和总横摇角。 基于所述侧倾角误差差和总对向侧倾角确定侧倾角比例因子误差，并将其应用于侧倾陀螺仪的输出。 这提供了即使在发射后立即在高滚动速率阶段期间改进了滚动轴速率陀螺仪比例因子的校准。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
    • 3. 发明公开
      EP2594890A1 Ratio-metric horizon sensing using an array of thermopiles 有权
    • Ratio-metric horizon sensing using an array of thermopiles
    • Horizo​​ntsensor mit einer Anordnung vonThermosäulen
    • EP2594890A1
    • 2013-05-22
    • EP12193042.4
    • 2012-11-16
    • Simmonds Precision Products, Inc.
    • Durkee, Scott Robert
    • F41G7/36 , G01S3/783 , F41G7/34 , F42B15/01
    • G01S3/783 , F41G7/346 , F41G7/36 , F42B15/01
    • An example method includes receiving output voltage data from an array of at least four thermopiles placed around the circumference of a projectile such that for any rotation of the projectile during flight thereof, at least a pair of the thermopile having upwardly-facing fields of view referenced to the earth-fixed coordinate system. The method includes determining the pair of upwardly-facing thermopiles based on the output voltage data from the array, with the respective pair of thermopiles including a thermopile p and next adjacent thermopile p + 1. The method includes determining a ratio of the output voltage data from thermopiles p and p + 1, and applying the ratio to a function associating, for any pair of thermopiles n and n + 1, a ratio of output voltage data from thermopiles n and n + 1, and a roll angle θ n of thermopile n referenced to the earth-fixed coordinate system.
    • 一个示例性方法包括从围绕射弹圆周放置的至少四个热电堆的阵列接收输出电压数据，使得对于抛射体在其飞行期间的任何旋转，至少一对具有向上的视场参考的热电堆 到地球固定坐标系。 该方法包括基于来自阵列的输出电压数据确定一对向上的热电堆，相应的一对热电堆包括热电堆p和下一个相邻的热电堆p + 1。该方法包括确定输出电压数据 从热电堆p和p + 1，并将该比率应用于与任何一对热电堆n和n + 1相关联的功能，来自热电堆n和n + 1的输出电压数据与热电堆的滚动角度¸n n参考地固定坐标系。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
    • 6. 发明公开
      EP0230729A3 Strap down seeker roll reference 失效
    • Strap down seeker roll reference
    • 绑带搜索者滚动参考
    • EP0230729A3
    • 1989-01-18
    • EP86309096.5
    • 1986-11-20
    • RAYTHEON COMPANY
    • Fitzgerald, Robert J. , Grosso, Vincent A. , Defonzo, Richard J.
    • F41G7/26 , F41G7/36
    • G05D1/108 , F41G7/222
    • A roll reference for a strap down seeker in a spinning projectile is developed by: (a) determining the frequency spectrum of signals out of an accelerometer (41) disposed in such missile to be sensitive to roll, precession and nutation forces; (b) separating the signals caused by the roll forces; and (c) processing the separated signals to determine the roll reference. The output signal from the accelerometer (41) is an amplitude and frequency modulated signal proportional to the spin frequency, the spin frequency minus the precession frequency, and the spin frequency minus the nutation frequency. The bandpass limited output signal passes to a tracking filter (45), first synchronous detector (47) and a first zero crossing detector (49). The output of the tracking filter (45) passes to a second zero crossing detector (53) and a second synchronous detector (55). The outputs from the synchronous detectors (47,55) are used by a microprocessor (51) to calculate nutation and precession frequencies respectively.
    • （a）确定设置在这种导弹上的加速度计（41）中的信号的频谱对滚动，岁差和章动力敏感; （b）分离由滚动力引起的信号; 和（c）处理分离的信号以确定翻滚参考。 来自加速度计（41）的输出信号是与自旋频率，自旋频率减去进动频率以及自旋频率减去章动频率成比例的振幅和频率调制信号。 带通限制输出信号传递到跟踪滤波器（45），第一同步检测器（47）和第一过零点检测器（49）。 跟踪滤波器（45）的输出传递到第二过零检测器（53）和第二同步检测器（55）。 微处理器（51）使用同步检测器（47,55）的输出分别计算章动和进动频率。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
    • 7. 发明公开
      EP0230729A2 Strap down seeker roll reference 失效
    • Strap down seeker roll reference
    • RollbezugssystemfürkörperfesteSucher。
    • EP0230729A2
    • 1987-08-05
    • EP86309096.5
    • 1986-11-20
    • RAYTHEON COMPANY
    • Fitzgerald, Robert J. , Grosso, Vincent A. , Defonzo, Richard J.
    • F41G7/26 , F41G7/36
    • G05D1/108 , F41G7/222
    • A roll reference for a strap down seeker in a spinning projectile is developed by: (a) determining the frequency spectrum of signals out of an accelerometer (41) disposed in such missile to be sensitive to roll, precession and nutation forces; (b) separating the signals caused by the roll forces; and (c) processing the separated signals to determine the roll reference. The output signal from the accelerometer (41) is an amplitude and frequency modulated signal proportional to the spin frequency, the spin frequency minus the precession frequency, and the spin frequency minus the nutation frequency. The bandpass limited output signal passes to a tracking filter (45), first synchronous detector (47) and a first zero crossing detector (49). The output of the tracking filter (45) passes to a second zero crossing detector (53) and a second synchronous detector (55). The outputs from the synchronous detectors (47,55) are used by a microprocessor (51) to calculate nutation and precession frequencies respectively.
    • 通过以下方式开发用于纺丝抛射体中的带子引导器的卷轴参考：（a）确定从设置在这种导弹中的加速度计（41）的信号的频谱对辊，进动和章动力敏感; （b）分离由滚动力引起的信号; 和（c）处理分离的信号以确定卷参考。 来自加速度计（41）的输出信号是与自旋频率，自旋频率减去进动频率和旋转频率减去章动频率成比例的幅度和频率调制信号。 带通限制输出信号传递到跟踪滤波器（45），第一同步检测器（47）和第一过零检测器（49）。 跟踪滤波器（45）的输出传递到第二过零检测器（53）和第二同步检测器（55）。 来自同步检测器（47,55）的输出由微处理器（51）用于分别计算章动和进动频率。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
    • 9. 发明公开
      EP3205973A1 A MISSILE FOR USE IN A LASER BEAM RIDING MISSILE GUIDANCE SYSTEM 有权 转让
    • A MISSILE FOR USE IN A LASER BEAM RIDING MISSILE GUIDANCE SYSTEM
    • 一种用于激光束导引头导引系统的导弹
    • EP3205973A1
    • 2017-08-16
    • EP17154263.2
    • 2017-02-01
    • Thales Holdings UK Plc
    • Mallon, Paddy , McConnell, George
    • F41G7/26 , F41G7/22 , F41G7/00 , F41G7/36
    • F41G7/26 , F41G7/008 , F41G7/226 , F41G7/2293 , F41G7/36
    • A method for aligning a missile with a target in a laser beam riding missile guidance system, the system including a laser transmitter for generating and projecting a laser information field towards the target and an optical sight for aiming the laser beam towards the target, the method comprising: determining a point in the laser information field with which the missile is currently aligned; determining a distance of the target from the missile; determining an angular displacement between the missile's current direction of travel and the direction in which the target lies from the missile; determining, based on said distance and angular displacement, a new point in the laser information field with which the missile should be aligned to reach the target; and controlling missile guidance systems on board the missile to bring the missile into alignment with the new point in the laser information field.
    • 一种用于在激光束导引引导系统中将导弹与目标对准的方法，所述系统包括用于产生激光信息场并将激光信息场投射到目标的激光发射器和用于将激光束瞄准目标的光学瞄准器，所述方法 包括：确定导弹当前对准的激光信息字段中的点; 确定目标距导弹的距离; 确定导弹的当前行进方向与目标与导弹相对的方向之间的角位移; 基于所述距离和角位移确定激光信息字段中与导弹应该对齐以达到目标的新点; 并控制导弹上的导弹制导系统，使导弹与激光信息领域的新点对齐。
    • 基本信息 添加关注 加入工作空间 PDF全文 PDF下载 全文下载 相似专利 双屏查看 权利要求书 说明书全文 Global Dossier Espacenet 法律信息 同族专利 专利引用
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