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31. 发明授权

US07409292B2 Method and system for degimbalization of vehicle navigation data 失效
标题翻译：车辆导航数据去角化的方法和系统
公开(公告)号：US07409292B2
公开(公告)日：2008-08-05
申请号：US11441907
申请日：2006-05-26
申请人： Charles P. Eckert , Reed R. May , Maurice A. Shrader-Frechette , Delroy J. Sowada , Michael G. Symonds , Michael O. Vaujin , Jeff S. Willis
发明人： Charles P. Eckert , Reed R. May , Maurice A. Shrader-Frechette , Delroy J. Sowada , Michael G. Symonds , Michael O. Vaujin , Jeff S. Willis
IPC分类号： G01C21/30
CPC分类号： G01C21/18 , H01Q1/18
摘要： A method and system for degimbalization of sensor outputs is provided. Data output from an embedded GPS inertial navigation system (EGI), which is mounted within a gimbaled system on a vehicle, is processed to provide degimballed navigation data. Generally, motion of the EGI is due to the vehicle motion and the gimbal motion. To provide navigation information relating solely to the vehicle, effects of the gimbal motion within the EGI outputs can be removed.
摘要翻译：提供了一种用于传感器输出消除偏振的方法和系统。处理安装在车辆上的万向系统中的嵌入式GPS惯性导航系统（EGI）的数据输出，以提供消音导航数据。通常，EGI的运动是由于车辆运动和万向运动。为了提供与车辆有关的导航信息，可以消除EGI输出中的万向运动的影响。

32. 发明申请

US20070288165A1 Method and system for degimbalization of vehicle navigation data 失效
标题翻译：车辆导航数据去角化的方法和系统
公开(公告)号：US20070288165A1
公开(公告)日：2007-12-13
申请号：US11441907
申请日：2006-05-26
申请人： Charles Eckert , Reed May , Maurice Shrader-Frechette , Delroy Sowada , Michael Symonds , Michael Vaujin , Jeff Willis
发明人： Charles Eckert , Reed May , Maurice Shrader-Frechette , Delroy Sowada , Michael Symonds , Michael Vaujin , Jeff Willis
IPC分类号： G01C21/00
CPC分类号： G01C21/18 , H01Q1/18
摘要： A method and system for degimbalization of sensor outputs is provided. Data output from an embedded GPS inertial navigation system (EGI), which is mounted within a gimbaled system on a vehicle, is processed to provide degimballed navigation data. Generally, motion of the EGI is due to the vehicle motion and the gimbal motion. To provide navigation information relating solely to the vehicle, effects of the gimbal motion within the EGI outputs can be removed.
摘要翻译：提供了一种用于传感器输出消除偏振的方法和系统。处理安装在车辆上的万向系统中的嵌入式GPS惯性导航系统（EGI）的数据输出，以提供消音导航数据。通常，EGI的运动是由于车辆运动和万向运动。为了提供与车辆有关的导航信息，可以消除EGI输出中的万向运动的影响。

33. 发明申请

US20070050139A1 HANDHELD PLATFORM STABILIZATION SYSTEM EMPLOYING DISTRIBUTED ROTATION SENSORS 有权
标题翻译：使用分布式旋转传感器的手持式平台稳定系统
公开(公告)号：US20070050139A1
公开(公告)日：2007-03-01
申请号：US11379783
申请日：2006-04-22
申请人： Adam Sidman
发明人： Adam Sidman
IPC分类号： G01C21/00
CPC分类号： G01C21/18 , F16M11/041 , F16M11/048 , F16M11/18 , F16M11/2064 , F16M13/00 , F16M13/04 , F16M2200/028 , F16M2200/044 , G03B17/561
摘要： A stabilization system including a platform supported by two or more rotatably-coupled gimbal frames each having a pivot assembly disposed at its rotation axis to couple an actuator to a rotation sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the rotation axis, and a controller including means for accepting the sensor signals and for producing each motor signal needed to dispose the platform in a predetermined angular position with respect to each rotation axis independent of changes in the base orientation. A motion simulator embodiment includes controller means for accepting an external slew signal sequence and means for producing the motor signals needed to move the platform along a predetermined sequence of positions represented by the slew signal sequence.
摘要翻译：一种稳定系统，包括由两个或更多个可旋转耦合的万向节框架支撑的平台，每个框架具有设置在其旋转轴线处的枢轴组件，以将致动器耦合到旋转传感器，旋转传感器具有相对于旋转固定设置的旋转敏感传感器轴线轴和控制器，其包括用于接收传感器信号并且用于产生相对于每个旋转轴线将平台布置在预定角度位置中所需的每个马达信号的装置，而与基座方位的变化无关。运动模拟器实施例包括用于接受外部转换信号序列的控制器装置和用于产生沿着由转换信号序列表示的预定位置的位置移动平台所需的电动机信号的装置。

34. 发明申请

US20060071121A1 Gimbal system 有权
公开(公告)号：US20060071121A1
公开(公告)日：2006-04-06
申请号：US10956738
申请日：2004-10-01
申请人： Timothy Wescott , Gregory Dent , James Weaver
发明人： Timothy Wescott , Gregory Dent , James Weaver
IPC分类号： B64C27/00
CPC分类号： G01C21/18
摘要： A gimbal system. The gimbal system may include space-saving features configured to accommodate one or more payload components, thus increasing the payload capacity of the gimbal ball without necessarily increasing the outer dimensions of the gimbal ball. Alternatively, or in addition, the gimbal system may include a motor configured to move at least one gimbal relative to another gimbal about a first axis, with the motor peripherally mounted distal the axis.

35. 发明授权

US06687645B2 Motion and trajectory data generator for a multi-gimbaled rotating platform 有权
标题翻译：运动和轨迹数据生成器，用于多平衡旋转平台
公开(公告)号：US06687645B2
公开(公告)日：2004-02-03
申请号：US09894489
申请日：2001-06-28
申请人： Randall K. Curey , Daniel A. Tazarles
发明人： Randall K. Curey , Daniel A. Tazarles
IPC分类号： G01C1700
CPC分类号： G01C21/18 , G01C19/28
摘要： A system and method for generating motion and trajectory data for a multi-gimbaled rotating platform. The system includes a motion generating unit for generating a set of motion equations for each degree of rotational freedom of the multi-gimbaled rotating platform, where each set of motion equations defines the rotational movement of the platform about a gimbal pivot axis between a starting position and an ending position. The movement characteristics of the gimbals are provided to the motion generating unit for generating a set of motion equations which define the movement of the gimbals between the starting position and the ending position of the rotating platform. The set of motion equations simulating movement of the rotating platform may be further utilized to generate trajectory data for the object being supported by the platform, so that the effect of the motion of the rotating platform on the object can be simulated without requiring the rotating platform to be actually moved in a field test.
摘要翻译：一种用于产生用于多平衡旋转平台的运动和轨迹数据的系统和方法。该系统包括运动产生单元，用于为多平衡旋转平台的每个旋转自由度产生一组运动方程，其中每组运动方程式定义平台围绕起重位置的万向枢转轴线的旋转运动和结束位置。将万向节的运动特性提供给运动产生单元，用于产生一组运动方程，其确定万向架在旋转平台的起始位置和结束位置之间的移动。可以进一步利用模拟旋转平台的运动的运动方程组来生成由平台支撑的物体的轨迹数据，从而可以模拟旋转平台在物体上的运动的影响，而不需要旋转平台在实地测试中实际移动。

36. 发明申请

US20030007795A1 Stabilized camera and marker buoy for media coverage of aquatic events 有权
标题翻译：稳定的相机和标记浮标，用于媒体报道水生事件
公开(公告)号：US20030007795A1
公开(公告)日：2003-01-09
申请号：US10236847
申请日：2002-09-07
发明人： David E. Grober
IPC分类号： G03B017/00
CPC分类号： B60R11/04 , A61G13/10 , B63B29/12 , F16M11/10 , F16M11/18 , F16M11/2014 , F16M13/00 , F16M13/02 , G01C21/18 , H01Q1/18
摘要： A buoy incorporating a stabilized camera system can take the place of an aquatic event course marker or rounding buoy. The buoy with its camera system stabilized in either two or three orthogonal axis from the motion of the waves, allows audio and visual recording of events occurring directly adjacent to the buoy, without interfering with the event. Additionally, remote controls allow the stabilized camera to be controlled by a remotely located camera operator who directs the camera to follow event action as it passes or rounds the buoy.
摘要翻译：结合了稳定相机系统的浮标可以代替水生事件课程标记或圆形浮标。其相机系统的浮标在距离波动的两个或三个正交轴上稳定，允许音频和视频记录直接与浮标相邻的事件，而不会干扰事件。另外，遥控器允许稳定的摄像机由位于遥控器的摄像机操作员来控制，照相机操作者指导摄像机在通过或回绕浮标时跟随事件动作。

37. 发明授权

US06456905B2 Method and apparatus for limiting attitude drift during turns 有权
标题翻译：在转弯期间限制姿态漂移的方法和装置
公开(公告)号：US06456905B2
公开(公告)日：2002-09-24
申请号：US09746128
申请日：2000-12-22
申请人： Kenneth P. Katz , James J. Lehfeldt , Joseph M. Oberg , William G. Sample , Ronald D. Wilson
发明人： Kenneth P. Katz , James J. Lehfeldt , Joseph M. Oberg , William G. Sample , Ronald D. Wilson
IPC分类号： G06F100
CPC分类号： G01C21/18 , G01C19/30 , G01C21/16
摘要： An apparatus, method and computer program product useful for supplying the pilot of an aircraft with aircraft attitude information. During bank angles exceeding a predefined limit, the roll gyro is slaved to a roll angle estimator for improved system accuracy.
摘要翻译：一种用于向飞机飞行员提供飞机姿态信息的装置，方法和计算机程序产品。在超过预定义限度的行程角度期间，滚动陀螺仪被从属于侧倾角估计器，以提高系统精度。

38. 发明授权

US06212476B1 Apparatus to measure the earth's local gravity and magnetic field in conjunction with global positioning attitude determining 有权
标题翻译：用于测量地球局部重力和磁场的设备，结合全球定位姿态决定
公开(公告)号：US06212476B1
公开(公告)日：2001-04-03
申请号：US09309864
申请日：1999-05-11
申请人： Koen Antonie Noy , Robert Alan Estes , Hatem Salem Morsy
发明人： Koen Antonie Noy , Robert Alan Estes , Hatem Salem Morsy
IPC分类号： E21B4722
CPC分类号： E21B47/022 , G01C17/30 , G01C21/18 , G01S19/14 , G01S19/53
摘要： A processor uses signals from at least two GPS receivers and a 3-component accelerometer located on a stable non-magnetic platform to determine the roll, yaw and pitch angles of the platform, thus providing a measurement of geographic north. The processor also uses signals from a 3-component magnetometer on the platform to determine the magnetic north and thence the magnetic declination. A proton magnetometer is used to provide a check on the measurements of the 3-component magnetometer. Additionally, three single component magnetometers provide a measure of the local magnetic field gradient and serve to monitor artificially induced magnetic fields. An alternate embodiment of the invention uses at least three GPS receivers and may dispense with the 3-component of accelerometer to determine geographic north. Temporal local variations of the earth's magnetic field are tracked and used to correct conventional magnetic well surveys. For use in offshore drilling applications where the rig is on a drillship, the platform floats on water away from the drillship and tethered to a buoy. Signals from an inertial motion sensor are used by the processor to correct the observations of the GPS sensors, the magnetometers and the accelerometers for the motion of the platform in water.
摘要翻译：处理器使用位于稳定非磁性平台上的至少两个GPS接收器和3组分加速度计的信号来确定平台的滚动，偏航和俯仰角，从而提供对北部地理位置的测量。处理器还使用来自平台上的3分量磁力计的信号来确定磁北极，从而确定磁偏角。质子磁强计用于提供对三组分磁强计测量的检查。另外，三个单分量磁力计提供局部磁场梯度的测量，并用于监测人为感应的磁场。本发明的替代实施例使用至少三个GPS接收器，并且可以免除加速度计的3分量以确定北部地理位置。跟踪和使用地球磁场的时间局部变化来纠正传统的磁场测量。对于钻机在钻井船上的海上钻井应用场合，该平台将浮在水面上，远离钻井船并拴在浮标上。来自惯性运动传感器的信号由处理器用于校正GPS传感器，磁力计和加速度计对于平台在水中的运动的观察。

39. 发明授权

US5440817A Vertical reference and attitude system 失效
标题翻译：垂直参考和姿态系统
公开(公告)号：US5440817A
公开(公告)日：1995-08-15
申请号：US64225
申请日：1993-05-19
申请人： William S. Watson , Drew A. Karnick
发明人： William S. Watson , Drew A. Karnick
IPC分类号： G01C9/04 , G01C15/10 , G01C21/18 , G01C9/06
CPC分类号： G01C21/18
摘要： The present invention provides a vertical reference that includes sensors providing signals indicative of angular tilt from the predetermined reference axis and the rate of angular tilt; an integrator to integrate the angular rate signal to provide a dynamic angular tilt signal; a pendulum to provide a signal indicative of angular displacement relative to the predetermined axis; a first amplifier for filtering and amplifying the dynamic angular tilt signal and the angular displacement signal to produce a first amplified signal; a second amplifier for filtering and amplifying the dynamic angular tilt signal and the angular displacement signal to produce a second amplified signal; and a dual input amplifier for combining and amplifying the first and second amplified signals to produce an output signal indicative of vertical reference and attitude. In another embodiment of the present invention a vertical reference apparatus includes a cascaded second-order filter or control loop having a first second-order loop that receives its inputs from the pendulum and the angular rate sensor and a second second-order loop that receives as its inputs the output signal of the first loop and the angular rate sensor. The output of the second loop is provided to a control system for the structure whose orientation is desired to be measured or stabilized. In this alternative embodiment of the present invention each control loop includes a summing amplifier, a summing damped integrator, an inverting amplifier, and an integrator.
摘要翻译：本发明提供一种垂直参考，其包括提供指示来自预定参考轴的角度倾斜和角度倾斜率的信号的传感器; 积分器，用于积分角速率信号以提供动态角度倾斜信号; 钟摆以提供指示相对于预定轴线的角位移的信号; 用于滤波和放大动态角度倾斜信号和角位移信号以产生第一放大信号的第一放大器; 第二放大器，用于滤波和放大动态角度倾斜信号和角位移信号以产生第二放大信号; 以及用于组合和放大第一和第二放大信号以产生指示垂直参考和姿态的输出信号的双输入放大器。在本发明的另一个实施例中，垂直参考装置包括级联的二阶滤波器或控制回路，其具有第一二阶回路，其接收来自摆和角速率传感器的输入，以及第二二阶回路，其接收为它输入第一个回路和角速度传感器的输出信号。将第二回路的输出提供给用于要求测量或稳定其取向的结构的控制系统。在本发明的这个替代实施例中，每个控制回路包括一个求和放大器，一个加法阻尼积分器，一个反相放大器和一个积分器。

40. 发明授权

US5203220A Optical tracking and stabilizing system with a gimbal mounted mirror for establishing a line of sight 失效
标题翻译：光学跟踪和稳定系统，带有云台安装的镜子，用于建立视线
公开(公告)号：US5203220A
公开(公告)日：1993-04-20
申请号：US887860
申请日：1992-05-26
申请人： Harold Lerman
发明人： Harold Lerman
IPC分类号： F41G3/22 , G01C21/18 , G02B23/00
CPC分类号： G01C21/18 , F41G3/225 , G02B23/00 , Y10T74/1218
摘要： An optical tracking and stabilizing system which generates an error signal to control a gimbal set, which error signal has first and second components. The first error signal component is a low frequency domain position servo error signal and the second error signal component is a high frequency domain inertial stable platform error signal.
摘要翻译：一种光学跟踪和稳定系统，其产生误差信号以控制万向节组，该误差信号具有第一和第二分量。第一误差信号分量是低频域位置伺服误差信号，第二误差信号分量是高频域惯性稳定平台误差信号。

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