公开(公告)号：EP2696169A2

公开(公告)日：2014-02-12

申请号：EP13179489.3

申请日：2013-08-06

申请人： Innalabs Limited

发明人： Beitia, Jose ,  Okon, Isaak ,  Simonenko, Dmitri V ,  Renault, Alain

IPC分类号： G01C19/5684

CPC分类号： G01C19/5677 ,  G01C19/5691 ,  G01C25/00

摘要： An effective and precise method and system for compensation and measurement of a zero-bias in an axisymmetrical CVG (Coriolis Vibrating Gyroscope) is provided. Principal mode is driven according to an X-axis. Angular velocity is measured through Coriolis mode excitation along Y-axis. The sensitive axis of the gyroscope is reversed by 180 degrees by switching input and sense signals. Vibration is then driven along Y-axis and angular velocity is sensed along X-axis. On each position, after an arbitrary period of time, the gyroscope output is stored. Half-difference in outputs between two opposite position gives angular velocity and zero-bias effect is canceled. Half-sum in outputs between two opposite position gives the zero-bias error.

公开(公告)号：EP3009792B1

公开(公告)日：2018-02-14

申请号：EP15192443.8

申请日：2010-11-19

申请人： Innalabs Limited

发明人： Ikovani, Valery Valerianovich ,  Yatsenko, Yurii Alekseevich

IPC分类号： G01C19/5691 ,  G01C19/56

CPC分类号： G01C19/56 ,  G01C19/5691

摘要： The invention relates to gyroscope equipment. The axially symmetrical Coriolis vibratory gyroscope comprises a thin-walled resonator with a hemispherical or cylindrical or toroidal form, said resonator being fixed at the center to a support and being formed with openings in that wall of the resonator which is located around said support, the number of openings being determined on the basis of the formula 4nk, where k is an integer, n is the order of oscillation modes, and the angle between two neighboring openings is equal (I), wherein said support has a symmetrical form along the longitudinal axis thereof and is fixed to a base, solenoids and electrodes are positioned on the wall of the resonator or next to the resonator for exciting and measuring two oscillation modes, the constant amplitude of one of the modes thereof being intended for monitoring a secondary oscillation mode which is sensitive to Coriolis forces, and the base is provided with a seat for the support of the resonator and with electrically insulated hermetically sealed leads which pass outwards via the base and are passed through the openings in the wall of the resonator for connection to elements of an electronics board.

公开(公告)号：EP2669629B1

公开(公告)日：2017-03-08

申请号：EP10859874.9

申请日：2010-11-19

申请人： Innalabs Limited

发明人： IKOVANI, Valery Valerianovich ,  YATSENKO, Yurii Alekseevich

IPC分类号： G01C19/5691 ,  G01C19/56

CPC分类号： G01C19/56 ,  G01C19/5691

公开(公告)号：EP2778609A1

公开(公告)日：2014-09-17

申请号：EP11874070.3

申请日：2011-10-14

申请人： Innalabs Limited

发明人： OKON, Isaak Markovich

IPC分类号： G01C19/5776 ,  G01P21/00

CPC分类号： G01C25/005 ,  G01C19/5691 ,  G01C19/5776

摘要： The invention relates to gyroscopic instruments. The method for calibrating the scale factor of a hydraulic angular velocity sensor or an axisymmetric vibratory gyroscope, which method uses a control amplitude signal, a control precessional signal CP and a control quadrature signal CQ for exciting the vibration of a resonator on a resonant frequency, involves a first step of pre-calibration which consists of measuring and recording an initial scale factor and the value of an initial control signal, and a second step of measuring the value of the current control signal and establishing a scale factor SF that is corrected on the basis of a proportional relationship involving the initial scale factor SF°, the initial value of the control signal Y° and the current value of the control signal Y° according to the formula SF=SF°Y/Y°.

摘要翻译： 本发明涉及陀螺仪。 用于校准液压角速度传感器或轴对称振动陀螺仪的比例因子的方法，该方法使用控制幅度信号，控制进动信号CP和控制正交信号CQ来激励谐振器在谐振频率上的振动， 包括预校准的第一步骤，其包括测量和记录初始比例因子和初始控制信号的值，以及第二步骤，测量电流控制信号的值，并建立校正的比例因子SF 根据公式SF = SF°Y / Y°，涉及初始比例因子SF°，控制信号Y°的初始值和控制信号Y°的当前值的比例关系的基础。

公开(公告)号：EP3384241A1

公开(公告)日：2018-10-10

申请号：EP16806008.5

申请日：2016-11-28

申请人： Innalabs Limited

发明人： BEITA, Jose ,  RENAULT, Alain ,  OKON, Isaak

IPC分类号： G01C21/18 ,  G01C19/38

CPC分类号： G01C19/38 ,  G01C21/18

摘要： The invention relates to an inertial navigation system for a carrier comprising a core comprising gyroscopic sensors making it possible to determine the angular velocity thereof according to three axes which define a reference trihedron, two of the axes defining a reference plane and the third axis being perpendicular to said plane. The device comprises command and control means making it possible to rotate the core about the third axis and to determine the direction of the geographic north from the information supplied by the gyroscopic sensors and by an accelerometer placed in the reference plane; the rotation of the core being carried out at a period (T
0 ) for which the value of the Allan variance of the stability error of the gyroscopic sensors is lower than a given value (PG) guaranteeing the accuracy with which the direction of the geographic north can be known.

公开(公告)号：EP3009792A1

公开(公告)日：2016-04-20

申请号：EP15192443.8

申请日：2010-11-19

申请人： Innalabs Limited

发明人： Ikovani, Valery Valerianovich ,  Yatsenko, Yurii Alekseevich

IPC分类号： G01C19/5691 ,  G01C19/56

CPC分类号： G01C19/56 ,  G01C19/5691

摘要： A Coriolis vibratory gyroscope, characterized in that it comprises a thin-walled resonator of hemispherical (9) or cylindrical (1) or toroidal (10) shape, fastened centrally on a stem (2) located within the resonator holes (12) being made in a wall of the resonator, the holes being arranged around said stem, the number of holes being determined from the formula "4nk", where "k" is an integer, "n" is the order of vibration modes of the thin walled resonator, and the angle between each adjacent hole is equal to "n/2nk", wherein, said stem is rotationally symmetric about its longitudinal axis and is fastened on a base (3), electrodes (14) are arranged on the resonator wall or alongside it for excitation and measurement of two vibration modes, with leads passing from the electrodes through holes in the resonator wall,the base is made with a seating (4) for the resonator stem, and leads pass through the base to outside of the base, the leads being electrically-insulated and sealed relative to the base, and being configured for lead-in and/or lead-out of signals through the base, thereby allowing the signals to pass from outside the base, through the base, through the holes in the resonator wall and to the electrodes.

摘要翻译： 一种科里奥利振动陀螺仪，其特征在于，它包括半球形（9）或圆柱形（1）或环形（10）形状的薄壁谐振器，其中心地固定在位于谐振器孔（12）内的杆（2）上 在谐振器的壁中，孔布置在所述杆周围，孔的数量由公式“4nk”确定，其中“k”是整数，“n”是薄壁谐振器的振动模式的阶数 ，并且每个相邻孔之间的角度等于“n / 2nk”，其中，所述杆关于其纵向轴线旋转对称并且紧固在基部（3）上，电极（14）布置在谐振器壁上或旁边 它用于两种振动模式的激励和测量，引线从电极通过谐振器壁中的孔，基座由谐振器杆的座（4）制成，并且引线穿过基座到达基座的外部， 引线相对电绝缘和密封 并且被配置用于通过基座引入和/或引出信号，由此允许信号从基座外部通过基座穿过共振器壁中的孔并传递到电极。

公开(公告)号：EP3605018A3

公开(公告)日：2020-04-08

申请号：EP19189196.9

申请日：2019-07-30

申请人： Innalabs Limited

发明人： BEITIA, Jose

IPC分类号： G01C19/5691 ,  G01C19/5783

摘要： A gyroscope comprising a resonator, a plurality of transducers configured to drive a vibrational mode in the resonator and detect vibrations of the resonator, a base configured to support the resonator, the base including attachment points for attachment to an external system, and a vibration isolator for isolating the resonator from the external system, the vibration isolator being formed from resilient material and being located radially inward of the attachment points.

公开(公告)号：EP3605018A2

公开(公告)日：2020-02-05

申请号：EP19189196.9

申请日：2019-07-30

申请人： Innalabs Limited

发明人： BEITIA, Jose

IPC分类号： G01C19/5691 ,  G01C19/5783

摘要： A gyroscope comprising a resonator, a plurality of transducers configured to drive a vibrational mode in the resonator and detect vibrations of the resonator, a base configured to support the resonator, the base including attachment points for attachment to an external system, and a vibration isolator for isolating the resonator from the external system, the vibration isolator being formed from resilient material and being located radially inward of the attachment points.

公开(公告)号：EP2696169A3

公开(公告)日：2015-07-22

申请号：EP13179489.3

申请日：2013-08-06

申请人： Innalabs Limited

发明人： Beitia, Jose ,  Okon, Isaak ,  Simonenko, Dmitri V ,  Renault, Alain

IPC分类号： G01C19/5677 ,  G01C19/5691

CPC分类号： G01C19/5677 ,  G01C19/5691 ,  G01C25/00

摘要： An effective and precise method and system for compensation and measurement of a zero-bias in an axisymmetrical CVG (Coriolis Vibrating Gyroscope) is provided. Principal mode is driven according to an X-axis. Angular velocity is measured through Coriolis mode excitation along Y-axis. The sensitive axis of the gyroscope is reversed by 180 degrees by switching input and sense signals. Vibration is then driven along Y-axis and angular velocity is sensed along X-axis. On each position, after an arbitrary period of time, the gyroscope output is stored. Half-difference in outputs between two opposite position gives angular velocity and zero-bias effect is canceled. Half-sum in outputs between two opposite position gives the zero-bias error.

摘要翻译： 提供了一种用于补偿和测量轴对称CVG（科里奥利振动陀螺仪）中的零偏差的有效和精确的方法和系统。 主模式根据X轴驱动。 角速度通过沿着Y轴的科里奥利模式激发测量。 通过切换输入和感测信号，陀螺仪的灵敏轴反转180度。 然后沿Y轴驱动振动，并沿X轴检测角速度。 在每个位置，在任意一段时间后，存储陀螺仪输出。 两个相对位置之间输出的差值产生角速度，零偏置效应被取消。 在两个相对位置之间的输出中的半和给出零偏差误差。

公开(公告)号：EP4403874A3

公开(公告)日：2024-11-06

申请号：EP24181600.8

申请日：2016-11-28

申请人： Innalabs Limited

发明人： BEITA, Jose ,  RENAULT, Alain ,  OKON, Isaak

IPC分类号： G01C21/18 ,  G01C19/38

摘要： L'invention concerne un système de navigation inertielle pour un porteur comportant un coeur comportant des capteurs gyroscopiques permettant de déterminer sa vitesse angulaire suivant trois axes définissant un trièdre de référence, deux des axes définissant un plan de référence et le troisième axe étant perpendiculaire à ce plan. Le dispositif comporte des moyens de commande et de contrôle permettant de mettre le coeur en rotation autour du troisième axe et de déterminer la direction du nord géographique à partir des informations fournies par les capteurs gyroscopiques et par un accéléromètre placé dans le plan de référence; la rotation du coeur étant réalisée avec une période pour laquelle la valeur de la variance d'Allan de l'erreur de stabilité des capteurs gyroscopiques est inférieure à une valeur donnée garantissant la précision avec laquelle la direction du nord géographique peut-être connue.