公开(公告)号：US20220178699A1

公开(公告)日：2022-06-09

申请号：US17600573

申请日：2020-04-03

Applicant: THALES

Inventor： Jacques COATANTIEC ,  Dominique BOUARD ,  Nicolas VERCIER

IPC: G01C21/16 ,  G01C25/00

Abstract: An inertial reference unit includes a first measurement channel comprising: a first high-performance inertial measurement unit comprising first measurement means for measuring specific forces and first measurement means for measuring angular velocities, a first computing unit able to compute pure inertial data based on the measurements of the first measurement unit; a second measurement channel comprising: a second inertial measurement unit of performance lower than the first inertial measurement unit, comprising second measurement means for measuring specific forces and second measurement means for measuring angular velocities; a second computing unit able to compute pure inertial data based on the measurements of the second measurement unit; an integrity check function able to implement a method for checking the integrity of the data of the first measurement channel based on the data provided by the second measurement channel; a synchronization means for synchronizing the measurements of the first and second inertial measurement units; the first and second inertial measurement units being mechanically mounted fixedly in the inertial reference unit.

公开(公告)号：US20220026216A1

公开(公告)日：2022-01-27

申请号：US17297435

申请日：2019-11-27

Applicant: THALES

Inventor： Florence DE GRANCEY ,  Jacques COATANTIEC

IPC: G01C21/16 ,  G01S19/47

Abstract: A hybridized system for measuring the attitude of a wearer, the system includes a satellite positioning system; a measurement unit comprising at least one gyrometer; electronics for calculating the attitude information of the wearer from the information originating from the satellite positioning system and the measurement unit. The hybrid system comprises calculation electronics comprising a means for calculating an angular radius of protection, that is to say an angular radius such that the risk that the error between the calculated attitude and the true attitude of the wearer is not included within this radius is less than a given probability, the radius being equal to the sum of two contributions, the first contribution being equal to positioning errors linked to the measurement unit, the second contribution being equal to positioning errors linked to the satellite positioning system.

公开(公告)号：US20240110790A1

公开(公告)日：2024-04-04

申请号：US18276892

申请日：2022-02-15

Applicant: THALES

Inventor： Nicolas VERCIER ,  Jacques COATANTIEC

IPC: G01C19/5747 ,  G01C25/00 ,  G01C21/16

CPC classification number: G01C19/5747 ,  G01C25/005 ,  G01C21/188

Abstract: A measurement of a vibrating inertial sensor disposed on a carrier and includes a resonator extending around two mutually perpendicular x and y axes defining an xy sensor frame of reference and comprising: at least one vibrating movable mass comprising at least two portions configured to vibrate in phase opposition in a direction x′ defining an x′y′ wave frame of reference, with the vibration wave forming an electrical angle θ relative to the x-axis; at least a pair of excitation transducers and a pair of detection transducers operating along the two axes x and y; the correction method being applied when the sensor is operating with a vibration wave vibrating along the x′-axis and comprising the following steps, when the carrier is substantially stationary: A commanding an electrical rotation of the vibration wave according to a commanded angular velocity Ωc, such that the electrical angle θ scans at least one angular range of kπ radians; then B retrieving the measured angular values Ωe measured by the inertial sensor over the angular range, and determining the mean Ωem of the angular values measured; then C subtracting the commanded angular velocity Ωc from the mean Ωem; with steps A to C being carried out for at least two different commanded angular velocities so as to determine at least two means of the measured angular values; then D determining: the mean electrical scale factor error FEem, and the actual angular value Ωv of the carrier plus a drift value Dm of the sensor, the determining being carried out on the basis of the commanded angular velocity Ωc and of the means Ωem of the measured angular values, according to the following formula:


Ωem−Ωc=(Ωv+Dm)+FEem·Ωc