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1. 发明授权

US06538745B1 Shock-tolerant multioscillator ring laser gyro 有权
标题翻译：耐震多腔振荡器激光陀螺仪
公开(公告)号：US06538745B1
公开(公告)日：2003-03-25
申请号：US09499910
申请日：2000-02-08
申请人： Daniel A. Tazartes , John G. Mark , Brian T. Lottman , Shaw W. Fann
发明人： Daniel A. Tazartes , John G. Mark , Brian T. Lottman , Shaw W. Fann
IPC分类号： G01C1966
CPC分类号： G01C19/667
摘要： The invention is a method and apparatus for processing signals with frequencies fL and fR from a multioscillator ring laser gyro, the method being repeated at regular time intervals. The difference f&Dgr;&thgr;, of fL and fR is a measure of the angular rotation rate of the ring laser gyro and the sum fF of fL and fR divided by 2 is the Faraday bias frequency. The first step of the method comprises determining two or more of the values MLP, MRP, MFP, and M&Dgr;&thgr;P of a set of functions ML(fL), MR(fR), MF(fF), and M&Dgr;&thgr;(f&Dgr;&thgr;). The second step comprises storing two or more processed values MLS, MRS, MFS, and M&Dgr;&thgr;S of the functions ML(fL), MR(fR), MF(fF), and M&Dgr;&thgr;(f&Dgr;&thgr;) if the corresponding values of MLP, MRP, MFP, and M&Dgr;&thgr;P are valid. A processed value is derived from the value for the present time interval and zero or more processed values for prior time intervals. The third step comprises determining f&Dgr;&thgr;P or a function thereof from zero or more valid function values obtained as a result of executing the first step during the current time interval, zero or more processed values obtained as a result of executing the second step during a prior time interval, and zero or more extrapolated values obtained by extrapolating the processed values obtained as a result of executing the second step during a prior time interval to the present time interval.
摘要翻译：本发明是用于处理来自多振荡器环形激光陀螺仪的频率为fL和fR的信号的方法和装置，该方法以规则的时间间隔重复。 fL和fR的差fDELTAtheta是环形激光陀螺仪的角度旋转速率的度量，fL和fR的和fF除以2是法拉第偏置频率。该方法的第一步包括确定一组函数ML（fL），MR（fR），MF（fF）和MDELTAta（fDTATA））的值MLP，MRP，MFP和MDELTAthetaP中的两个或多个。第二步包括如果MLP，MRP等的相应值存储两个或更多个功能ML（fL），MR（fR），MF（fF）和MDELTAtheta（fDELTAtheta）的处理值MLS，MRS，MFS和MDELTATATA， MFP和MDELTAthetaP均有效。从当前时间间隔的值和先前时间间隔的零个或多个处理值导出处理值。第三步骤包括从作为在当前时间间隔期间执行第一步骤的结果而获得的零个或多个有效函数值确定fDELTAthetaP或其函数，作为在之前时间执行第二步骤的结果而获得的零个或多个处理值间隔，以及通过外推作为在先前时间间隔期间执行第二步骤的结果获得的处理值而获得的零个或多个外推值到当前时间间隔。

2. 发明授权

US06298287B1 System and method of compensating for pressure sensor errors and noise in inertial vertical loop data 有权
标题翻译：在惯性垂直环路数据中补偿压力传感器误差和噪声的系统和方法
公开(公告)号：US06298287B1
公开(公告)日：2001-10-02
申请号：US09624457
申请日：2000-07-24
申请人： Daniel A. Tazartes , Brian T. Lottman , Dean E. Lottman , John G. Mark
发明人： Daniel A. Tazartes , Brian T. Lottman , Dean E. Lottman , John G. Mark
IPC分类号： B64D1304
CPC分类号： G01C5/06 , G01C21/165
摘要： A system and method for improving the accuracy of altitude determinations in an inertial navigation system. The system utilizes pressure measurements which are taken by a barometric altimeter and converted into an estimated pressure altitude using any known pressure-to-altitude conversion. A pressure correction value is then generated using a correction value generating formula that is a function of altitude. The pressure correction value is then multiplied by a pressure offset value for the barometric altimeter to generate a pressure offset error for the barometric altimeter. This pressure offset error is used in the present invention to modify the pressure altitude estimation in order to generate an altitude determination having an improved accuracy. The present invention further determines an amount of observation noise in the barometric altimeter that is a function of pressure noise and altitude, where the altitude estimation is further modified to account for the observation noise. Thus, the system and method of the present invention improves the accuracy of altitude determinations in inertial navigation system over prior systems by directly accounting for errors in pressure measurements taken by a barometric altimeter due to offset and noise.
摘要翻译：一种用于提高惯性导航系统中高度确定精度的系统和方法。该系统利用气压高度计拍摄的压力测量，并使用任何已知的压力 - 高度转换将其转换为估计的压力高度。然后使用作为高度的函数的校正值生成公式来生成压力校正值。然后将压力校正值乘以气压高度计的压力偏移值，以产生气压高度计的压力偏移误差。在本发明中使用该压力偏移误差来改变压力高度估计，以便产生具有改进的精度的高度确定。本发明进一步确定气压高度计中的观测噪声量，其是压力噪声和高度的函数，其中高度估计被进一步修改以考虑观测噪声。因此，本发明的系统和方法通过直接考虑由于偏移和噪声由气压高度计进行的压力测量的误差，从而提高了惯例导航系统中的惯量导航系统的高度确定精度。

3. 发明授权

US06266583B1 System and method for improving the accuracy of pressure altitude determinations in an inertial navigation system 有权
标题翻译：用于提高惯性导航系统中压力高度确定精度的系统和方法
公开(公告)号：US06266583B1
公开(公告)日：2001-07-24
申请号：US09539268
申请日：2000-03-30
申请人： Daniel A. Tazartes , Brian T. Lottman , Dean E. Lottman , John G. Mark
发明人： Daniel A. Tazartes , Brian T. Lottman , Dean E. Lottman , John G. Mark
IPC分类号： G02B2310
CPC分类号： G01C5/005 , G01C21/165
摘要： A system and method for improving the accuracy of altitude determinations in an inertial navigation system. Pressure measurements available to the inertial navigation system are used to initially calculate an estimated pressure altitude using the standard day model for the atmosphere. Temperature measurements are further utilized in the physical relationship between temperature, pressure, and altitude to compute a second computed altitude. A change between subsequent second computed altitudes is calculated and compared with a respective change in the computed pressure altitude in order to generate a correction value. The correction value is then used to modify the computed pressure altitude to generate a more accurate determination of the absolute altitude of the inertial navigation system. The correction value is utilized to account for changes in atmospheric conditions which may be encountered by an aircraft and to further reduce the effects of erroneous temperature and pressure measurements in subsequent altitude determinations. Thus, the system and method of the present invention provides an absolute altitude determination having improved stability and improved accuracy over prior systems.
摘要翻译：一种用于提高惯性导航系统中高度确定精度的系统和方法。用于惯性导航系统的压力测量用于使用大气的标准日模型来初始计算估计的压力高度。温度测量进一步用于温度，压力和高度之间的物理关系，以计算第二个计算的高度。计算随后的第二计算高度之间的变化，并与计算出的压力高度的相应变化进行比较，以便产生校正值。然后使用校正值来修改计算的压力高度，以产生对惯性导航系统的绝对高度的更准确的确定。校正值被用于考虑飞机可能遇到的大气条件的变化，并进一步减少随后的高度测定中错误的温度和压力测量的影响。因此，本发明的系统和方法提供了相对于现有系统具有改进的稳定性和改进的精度的绝对高度确定。

4. 发明授权

US06634207B1 Accelerometer compensation in an inertial navigation system 有权
标题翻译：惯性导航系统中的加速度计补偿
公开(公告)号：US06634207B1
公开(公告)日：2003-10-21
申请号：US09686165
申请日：2000-10-10
申请人： Brian T. Lottman , Daniel A. Tazartes
发明人： Brian T. Lottman , Daniel A. Tazartes
IPC分类号： G01C2500
CPC分类号： G01C21/16 , G01C25/00
摘要： The invention is a method and apparatus for improving the accuracy of an inertial navigation system. The method comprises (1) obtaining a measure of the angular velocity of a body frame of reference having a first axis, a second axis, and a third axis, (2) obtaining a measure of the acceleration of a first reference point in the direction of the first axis, a second reference point in the direction of the second axis, and a third reference point in the direction of the third axis, the first, second, and third reference points being fixed in the body frame, and (3) determining compensated acceleration values. A compensated acceleration value is the difference of the measure of acceleration of a reference point and a compensation quantity. A compensation quantity is an estimate of the portion of the acceleration of the reference point resulting from the rotation of the body frame. The method further comprises establishing the optimum navigation center based on a criterion of goodness. The criterion of goodness is minimal weighted acceleration error where acceleration error is a function of the direction of the angular velocity vector and weighted acceleration error is obtained by multiplying the acceleration error by a weighting function and integrating the result over all directions of the angular velocity vector.
摘要翻译：本发明是提高惯性导航系统精度的方法和装置。该方法包括：（1）获得具有第一轴线，第二轴线和第三轴线的车身参考系的角速度的测量，（2）获得第一参考点在方向上的加速度的量度的第一轴，第二基准点和第三轴的第三基准点，第一，第二和第三参考点固定在车体框架中，（3）确定补偿加速度值。补偿加速度值是参考点的加速度和补偿量之间的差值。补偿量是由身体框架的旋转导致的参考点的加速度的部分的估计。该方法还包括基于良好标准建立最佳导航中心。良好的标准是最小加权加速度误差，其中加速度误差是角速度矢量方向的函数，加权加速度误差是通过将加速度误差乘以加权函数并将结果积分在角速度矢量的所有方向上而得到的。

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