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1. 发明授权

US06178363B1 Inertially augmented GPS landing system 有权
标题翻译：惯性增强的GPS着陆系统
公开(公告)号：US06178363B1
公开(公告)日：2001-01-23
申请号：US09219552
申请日：1998-12-22
申请人： Melville D. McIntyre , Leonard R. Anderson
发明人： Melville D. McIntyre , Leonard R. Anderson
IPC分类号： G06F1900
CPC分类号： G01S19/52 , G01S19/08 , G01S19/15 , G01S19/20 , G01S19/41 , G01S19/49 , G01S19/51 , G05D1/0676
摘要： An airplane precision approach guidance system and method. The airplane precision approach guidance system includes: (i) GPS landing system (GLS) components (12) for receiving and processing signals from GPS satellites (30) and a GPS ground station (32) and generating a first set of velocities; (ii) an inertial reference system (IRS)(20) for generating a second set of velocities; and (iii) guidance software (24) for generating a cross-runway velocity and a lateral distance from runway centerline based on received runway centerline information and the generated first and second set of velocities. The airplane precision approach guidance system also includes flight instruments (26) and an autopilot system (28) for receiving and processing the information produced by the guidance software. The guidance software may be executed by a conventional airplane processor, such as the GLS processor, the IRS processor or the airplane's autopilot processor, or by a separate stand-alone processor. The runway centerline information may be stored at the ground station or in local memory. The ground station can also provide differential GPS information. In airplanes that include redundant systems, voting is used to determine which IRS supplies the second set of velocities.
摘要翻译：飞机精密进近导航系统及方法。飞机精密进近导航系统包括：（i）GPS接收系统（GLS）组件（12），用于接收和处理来自GPS卫星（30）和GPS地面站（32）的信号并产生第一组速度; （ii）用于产生第二组速度的惯性参考系（IRS）（20）; 以及（iii）用于基于接收到的跑道中心线信息和所生成的第一和第二组速度产生横越跑道速度和从跑道中心线的横向距离的引导软件（24）。飞机精密进近导航系统还包括飞行仪表（26）和自动驾驶仪系统（28），用于接收和处理指导软件产生的信息。引导软件可以由诸如GLS处理器，IRS处理器或飞机的自动驾驶仪处理器之类的常规飞机处理器执行，或者由单独的独立处理器执行。跑道中心线信息可以存储在地面站或本地存储器中。地面站也可以提供差分GPS信息。在包括冗余系统的飞机中，投票用于确定哪个IRS提供第二组速度。

2. 发明授权

US4269073A Gyroscope closed-loop speed controller 失效
标题翻译：陀螺仪闭环速度控制器
公开(公告)号：US4269073A
公开(公告)日：1981-05-26
申请号：US927453
申请日：1978-07-24
申请人： Melville D. McIntyre
发明人： Melville D. McIntyre
IPC分类号： G01C19/08 , G01C19/06 , H02P7/00
CPC分类号： G01C19/065 , Y10T74/1282
摘要： A closed-loop controller for controlling the frequency of the power applied to a gyroscope synchronous motor to rotate the seismic mass (wheel) of the gyro so as to compensate for movement of the gyro case about the spin axis of the gyro is disclosed. The controller includes a sensor for sensing fluctuations in the current drawn by the gyro, said fluctuations being directly related to the fluctuations in the load angle of the gyro caused by movement of the gyro case about the spin axis. The current fluctuations create an analog voltage, which is amplified by several orders of magnitude. The result is used to modulate the frequency of the applied power so as to compensate for the load angle fluctuations caused by case movement about the spin axis. In essence, the controller reduces the frequency of the hunting mode of the gyro to a level below which movement of the gyro case about its spin axis has substantially no undesirable effect. In addition, the controller phase shifts the feedback modulation signal so as to damp hunting excursions at the lower hunting mode frequency. Finally, noise signals, particularly noise signals at the motor excitation frequency, are filtered out to prevent such signals from saturating the feedback electronics.
摘要翻译：公开了一种闭环控制器，用于控制施加到陀螺仪同步电动机的功率的频率以旋转陀螺仪的地震质量（车轮），以补偿陀螺仪壳体围绕陀螺仪的旋转轴的运动。控制器包括用于感测由陀螺仪画出的电流的波动的传感器，所述波动直接与陀螺仪壳体围绕旋转轴的运动引起的陀螺仪的负载角度的波动有关。电流波动产生模拟电压，放大几个数量级。结果用于调制所施加的功率的频率，以便补偿由围绕旋转轴的情况移动引起的负载角波动。实质上，控制器将陀螺仪的振荡模式的频率降低到低于该陀螺仪壳体围绕其旋转轴线的运动基本上没有不期望的影响的水平。此外，控制器相位移动反馈调制信号，以便在较低的寻线模式频率下抑制振荡偏移。最后，噪声信号，特别是马达激励频率的噪声信号被滤除，以防止这些信号使反馈电子装置饱和。

3. 发明授权

US06549829B1 Skipping filter for inertially augmented landing system 有权
标题翻译：跳过过滤器用于惯性增强着陆系统
公开(公告)号：US06549829B1
公开(公告)日：2003-04-15
申请号：US10001077
申请日：2001-10-31
申请人： Leonard R. Anderson , Steven B. Krogh , Melville D. McIntyre , Timothy Murphy
发明人： Leonard R. Anderson , Steven B. Krogh , Melville D. McIntyre , Timothy Murphy
IPC分类号： G01S502
CPC分类号： G01S19/49 , G01S19/15 , G01S19/20 , G01S19/41 , G01S19/52
摘要： The present method and apparatus consists of storing past values of estimated IRU error and using these past values to update the coasting filter when switching from GPS to inertial mode. Through the storage of past IRU error estimates, it is possible to avoid misdirected guidance from an erroneous GPS signal. The MMR and ground station can require up to 6 seconds to identify a failed GLS signal.
摘要翻译：本方法和装置包括存储估计的IRU误差的过去值，并且使用这些过去值来在从GPS切换到惯性模式时更新惯性滤波器。通过存储过去的IRU误差估计，可以避免错误的GPS信号的误导引导。 MMR和地面站可能需要长达6秒的时间来识别失败的GLS信号。

4. 发明授权

US4303978A Integrated-strapdown-air-data sensor system 失效
公开(公告)号：US4303978A
公开(公告)日：1981-12-01
申请号：US142135
申请日：1980-04-18
申请人： Jack C. Shaw , John F. Gilbert , Guy R. Olbrechts , Melville D. McIntyre
发明人： Jack C. Shaw , John F. Gilbert , Guy R. Olbrechts , Melville D. McIntyre
IPC分类号： G01C21/16 , G06F15/50 , G05D1/00
CPC分类号： G01C21/16
摘要： A plurality of inertial measuring unit (IMU) modules (41A, B, C and D) each comprising gyros and accelerometers (61, 65 and 67) for sensing inertial information along two orthogonal axes, are strapdown mounted in an aircraft, preferably such that the sense axes of the IMUs are skewed with respect to one another. Inertial and temperature signals produced by the IMU modules, plus pressure signals produced by a plurality of pressure transducer modules (43A, B and C) and air temperature signals produced by total air temperature sensors (45A and B) are applied to redundant signal processors (47A, B and C). The signal processors convert the raw analog information signals into digital form, error compensate the incoming raw digital data and, then, manipulate the compensated digital data to produce signals suitable for use by the automatic flight control, pilot display and navigation systems of the aircraft. The signal processors include: an interface system comprising a gyro subsystem (47), an accelerometer and air calibration data subsystem (50) and an air data and temperature subsystem (52); a computer (54); an instruction decoder ( 56); and, a clock (58). During computer interrupt intervals raw digital data is fed to the computer (54) by the interface subsystems under the control of the instruction decoder (56). The computer includes a central processing unit that compensates raw digital gyro and accelerometer data to eliminate bias, scale factor, dynamic and temperature errors, as necessary. The central processing unit also modifies the gyro and accelerometer data to compensate for relative misalignment between the sense axes of the gyros and accelerometers and for the skewed orientation of these sense axes relative to the yaw, roll and pitch axes of the aircraft. Further, accelerometer data is transformed from body coordinate form to navigational coordinate form and the result used to determine the velocity and position of the aircraft. Finally, the central processing unit develops initializing alignment signals and develops altitude, speed and corrected temperature and pressure signals.

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