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1. 发明授权

US10061008B2 Combined orbit and attitude determination system and methods 有权
公开(公告)号：US10061008B2
公开(公告)日：2018-08-28
申请号：US14733410
申请日：2015-06-08
申请人： The Boeing Company
发明人： John Y. Liu
IPC分类号： G01S3/786 , G01C21/24 , G01S3/784 , G01S5/16
CPC分类号： G01S3/7867 , G01C21/24 , G01S3/784 , G01S3/786 , G01S5/16
摘要： A system and methods for calculating an attitude and a position of an object in space are disclosed. Measurements in relation to an object, stars, and a signal timing are received at a combined orbit and attitude determination system to provide received measurements. An estimated separation angle error, an estimated position error, and an estimated attitude error are estimated based upon the received measurements to provide estimated errors.

2. 发明授权

US09709399B2 Approach for control redistribution of coriolis vibratory gyroscope (CVG) for performance improvement 有权
公开(公告)号：US09709399B2
公开(公告)日：2017-07-18
申请号：US14594893
申请日：2015-01-12
申请人： The Boeing Company
发明人： John Y. Liu
IPC分类号： G01C19/56 , G01C19/5776 , G01C19/5719 , G01C19/5726 , G01C19/5705
CPC分类号： G01C19/56 , G01C19/5705 , G01C19/5719 , G01C19/5726 , G01C19/5776
摘要： Provided herein is a Coriolis vibratory gyroscope (“CVG”). The CVG includes a first plurality of actuators electrically coupled to the vibratory member and arranged about a drive axis of the CVG and operable to obtain a control signal from the controller and provide a voltage sufficient to cause and maintain the vibratory member to vibrate in a first mode of oscillation; a second plurality of actuators electrically coupled to the vibratory member and arranged about a sense axis of the CVG and operable to detect a voltage based on a second mode of oscillation of the vibratory member caused by a rotation of the CVG about an axis of rotation and to provide a counter-balancing signal sufficient to null the voltage based on the second mode of oscillation, wherein the controller is operable to determine a rate of the rotation of the CVG based, in part, on the counter-balancing signal.

3. 发明申请

US20160202060A1 HIGH BANDWIDTH CORIOLIS VIBRATORY GYROSCOPE (CVG) WITH IN-SITU BIAS SELF-CALIBRATION 有权
标题翻译：具有现场偏心自校准功能的高腰带振动陀螺仪（CVG）
公开(公告)号：US20160202060A1
公开(公告)日：2016-07-14
申请号：US14594978
申请日：2015-01-12
申请人： The Boeing Company
发明人： John Y. Liu
IPC分类号： G01C19/5705
CPC分类号： G01C19/5705 , G01C19/5719 , G01C19/5726 , G01C19/5776
摘要： Provided herein is a method for determining a bias-compensated inertial rotation rate of a Coriolis vibratory gyroscope (“CVG”). The method comprises determining an initial mode that the CVG is operating; obtaining average uncompensated inertial rotation rate measurements from a previous mode transition period; obtaining average uncompensated bias measurements from the previous mode transition period; determining a first transition between a AGC mode and a FTR mode of a given axis; calculating a first estimate of bias of the CVG based on the first transition that was determined and the average uncompensated bias measurements from the previous mode transition period; and calculating, by a processor, a first bias-compensated inertial rotation rate of the CVG based on the first bias that was calculated and the average uncompensated inertial rotation rate measurements from a previous mode transition period.
摘要翻译：本文提供了一种用于确定科里奥利振动陀螺仪（“CVG”）的偏置补偿惯性旋转速率的方法。该方法包括确定CVG正在运行的初始模式; 从先前的模式转换周期获得平均未补偿的惯性旋转速率测量; 从先前的模式转换期获得平均未补偿的偏差测量值; 确定给定轴的AGC模式和FTR模式之间的第一转换; 基于所确定的第一跃迁和来自先前模式转换周期的平均未补偿偏差测量值来计算CVG的偏置的第一估计; 以及由处理器基于所计算的第一偏置和来自先前模式转换周期的平均未补偿惯性旋转速率测量值来计算CVG的第一偏置补偿惯性旋转速率。

4. 发明授权

US09534897B2 High bandwidth Coriolis vibratory gyroscope (CVG) with in-situ bias self-calibration 有权
标题翻译：高带宽科里奥利振动陀螺仪（CVG），具有原位偏置自校准功能
公开(公告)号：US09534897B2
公开(公告)日：2017-01-03
申请号：US14594978
申请日：2015-01-12
申请人： The Boeing Company
发明人： John Y. Liu
IPC分类号： G01C19/56 , G01C19/5705 , G01C19/5776 , G01C19/5726 , G01C19/5719
CPC分类号： G01C19/5705 , G01C19/5719 , G01C19/5726 , G01C19/5776
摘要： Provided herein is a method for determining a bias-compensated inertial rotation rate of a Coriolis vibratory gyroscope (“CVG”). The method comprises determining an initial mode that the CVG is operating; obtaining average uncompensated inertial rotation rate measurements from a previous mode transition period; obtaining average uncompensated bias measurements from the previous mode transition period; determining a first transition between a AGC mode and a FTR mode of a given axis; calculating a first estimate of bias of the CVG based on the first transition that was determined and the average uncompensated bias measurements from the previous mode transition period; and calculating, by a processor, a first bias-compensated inertial rotation rate of the CVG based on the first bias that was calculated and the average uncompensated inertial rotation rate measurements from a previous mode transition period.
摘要翻译：本文提供了一种用于确定科里奥利振动陀螺仪（“CVG”）的偏置补偿惯性旋转速率的方法。该方法包括确定CVG正在运行的初始模式; 从先前的模式转换周期获得平均未补偿的惯性旋转速率测量; 从先前的模式转换期获得平均未补偿的偏差测量值; 确定给定轴的AGC模式和FTR模式之间的第一转换; 基于所确定的第一跃迁和来自先前模式转换周期的平均未补偿偏差测量值来计算CVG的偏置的第一估计; 以及由处理器基于所计算的第一偏置和来自先前模式转换周期的平均未补偿惯性旋转速率测量值来计算CVG的第一偏置补偿惯性旋转速率。

5. 发明申请

US20160202059A1 APPROACH FOR CONTROL REDISTRIBUTION OF CORIOLIS VIBRATORY GYROSCOPE (CVG) FOR PERFORMANCE IMPROVEMENT 有权
标题翻译：用于控制重新分配CORIOLIS振动陀螺仪（CVG）的方法进行性能改进
公开(公告)号：US20160202059A1
公开(公告)日：2016-07-14
申请号：US14594893
申请日：2015-01-12
申请人： The Boeing Company
发明人： John Y. Liu
IPC分类号： G01C19/56
CPC分类号： G01C19/56 , G01C19/5705 , G01C19/5719 , G01C19/5726 , G01C19/5776
摘要： Provided herein is a Coriolis vibratory gyroscope (“CVG”). The CVG includes a first plurality of actuators electrically coupled to the vibratory member and arranged about a drive axis of the CVG and operable to obtain a control signal from the controller and provide a voltage sufficient to cause and maintain the vibratory member to vibrate in a first mode of oscillation; a second plurality of actuators electrically coupled to the vibratory member and arranged about a sense axis of the CVG and operable to detect a voltage based on a second mode of oscillation of the vibratory member caused by a rotation of the CVG about an axis of rotation and to provide a counter-balancing signal sufficient to null the voltage based on the second mode of oscillation, wherein the controller is operable to determine a rate of the rotation of the CVG based, in part, on the counter-balancing signal.
摘要翻译：本文提供科里奥利振动陀螺仪（“CVG”）。 CVG包括电耦合到振动构件并围绕CVG的驱动轴布置的第一多个致动器，并且可操作以从控制器获得控制信号，并且提供足以引起和保持振动构件在第一振荡模式; 第二多个致动器，其电耦合到所述振动构件并围绕所述CVG的感测轴线布置，并且可操作以基于所述CVG围绕旋转轴线的旋转而由所述振动构件的第二振荡模式检测电压;以及以提供足以使基于第二振荡模式的电压为零的平衡信号，其中控制器可操作以部分地基于反平衡信号来确定CVG的旋转速率。

6. 发明申请

US20160047878A1 COMBINED ORBIT AND ATTITUDE DETERMINATION SYSTEM AND METHODS 审中-公开
公开(公告)号：US20160047878A1
公开(公告)日：2016-02-18
申请号：US14733410
申请日：2015-06-08
申请人： The Boeing Company
发明人： John Y. Liu
IPC分类号： G01S3/786 , G01S5/16 , G01C21/24
CPC分类号： G01S3/7867 , G01C21/24 , G01S3/784 , G01S3/786 , G01S5/16
摘要： A system and methods for calculating an attitude and a position of an object in space are disclosed. Measurements in relation to an object, stars, and a signal timing are received at a combined orbit and attitude determination system to provide received measurements. An estimated separation angle error, an estimated position error, and an estimated attitude error are estimated based upon the received measurements to provide estimated errors.

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