公开(公告)号：US12196576B2

公开(公告)日：2025-01-14

申请号：US18012963

申请日：2021-06-18

Applicant: THALES

Inventor： Nicolas Vercier ,  Bernard Chaumet ,  Bertrand Leverrier

IPC: G01C25/00 ,  G01C19/574

Abstract: A method for calibrating an inertial angular sensor includes: for at least two electrical angles of the vibration wave, applying, via each of the three trim controls, a sinusoidal stiffness disturbance having a disturbance frequency, and for each applied disturbance, determining and storing an estimated excitation force to be applied to the resonator in the presence of the stiffness disturbance, on the basis of excitation controls determined by the servo controls; determining, on the basis of the three estimated excitation forces, three 2×2 matrices, being representative of the response of the gyrometer to the stiffness disturbance; determining and storing an estimated inverse excitation matrix and an estimated inverse detection matrix on the basis of the three matrices, an excitation matrix and a detection matrix being respectively representative of effects of the excitation chain and of effect of the detection chain of the sensor.

公开(公告)号：US09983314B2

公开(公告)日：2018-05-29

申请号：US14859639

申请日：2015-09-21

Applicant: Thales

Inventor： Nicolas Vercier

IPC: G01S19/20 ,  G01S19/49

CPC classification number: G01S19/20 ,  G01S19/49

Abstract: The invention proposes a system for excluding a failure of a satellite suitable for a hybrid navigation system and which operates even in case of degraded geometry of the constellation of satellites. The hybrid system according to the invention comprises a plurality M of hybridization filters (SFH1, . . . SFHM) each receiving at least one satellite positioning measurement (MPS) carried out on the signals received from all the satellites in visibility of the said system and an inertial positioning measurement (MPI) and delivering a corrected positioning measurement, the so-called hybrid measurement (MHS1, . . . MHSM), the hybridization filters being updated, at a constant temporal rate, successively at periodically shifted temporal instants.

公开(公告)号：US12098922B2

公开(公告)日：2024-09-24

申请号：US17600573

申请日：2020-04-03

Applicant: THALES

Inventor： Jacques Coatantiec ,  Dominique Bouard ,  Nicolas Vercier

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

CPC classification number: G01C21/165 ,  G01C25/00

Abstract: An inertial reference unit includes a first measurement channel that includes a first high-performance inertial measurement unit for measuring specific forces and 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 that includes a second inertial measurement unit of performance lower than the first inertial measurement unit for measuring specific forces and 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 and the second measurement channel; and a synchronization device for synchronizing the measurements.

公开(公告)号：US20160131485A1

公开(公告)日：2016-05-12

申请号：US14933999

申请日：2015-11-05

Applicant: Thales

Inventor： Jacques Coatantiec ,  Nicolas Vercier

IPC: G01C21/16 ,  G01C21/20

CPC classification number: G01C21/165 ,  G01C21/20 ,  G01S19/40 ,  G01S19/49

Abstract: Method of determining at least one radius of protection associated with a respective navigation parameter of a hybrid inertial navigation system by Kalman filtering employing introduction of a position bias into the state model of the Kalman filter representing the uncertainty associated with the reference safe position.

Abstract translation: 通过卡尔曼滤波来确定与混合惯性导航系统的相应导航参数相关联的至少一个保护半径的方法，通过将位置偏差引入到表示与参考安全位置相关联的不确定性的卡尔曼滤波器的状态模型中。

公开(公告)号：US09726499B2

公开(公告)日：2017-08-08

申请号：US14933999

申请日：2015-11-05

Applicant: Thales

Inventor： Jacques Coatantiec ,  Nicolas Vercier

IPC: G01C21/16 ,  G01C21/20 ,  G01S19/40 ,  G01S19/49

CPC classification number: G01C21/165 ,  G01C21/20 ,  G01S19/40 ,  G01S19/49

Abstract: Method of determining at least one radius of protection associated with a respective navigation parameter of a hybrid inertial navigation system by Kalman filtering employing introduction of a position bias into the state model of the Kalman filter representing the uncertainty associated with the reference safe position.

公开(公告)号：US20160084962A1

公开(公告)日：2016-03-24

申请号：US14859639

申请日：2015-09-21

Applicant: Thales

Inventor： Nicolas Vercier

IPC: G01S19/20 ,  G01S19/26 ,  G01S19/23

CPC classification number: G01S19/20 ,  G01S19/49

Abstract: The invention proposes a system for excluding a failure of a satellite suitable for a hybrid navigation system and which operates even in case of degraded geometry of the constellation of satellites. The hybrid system according to the invention comprises a plurality M of hybridization filters (SFH1, . . . SFHM) each receiving at least one satellite positioning measurement (MPS) carried out on the signals received from all the satellites in visibility of the said system and an inertial positioning measurement (MPI) and delivering a corrected positioning measurement, the so-called hybrid measurement (MHS1, . . . MHSM), the hybridization filters being updated, at a constant temporal rate, successively at periodically shifted temporal instants.

Abstract translation: 本发明提出了一种排除适用于混合导航系统的卫星的故障的系统，即使在卫星星座的几何形状降低的情况下也是如此。 根据本发明的混合系统包括多个M个杂交滤波器（SFH1，...，SFHM），每个杂讯滤波器（SFH1，...，SFHM）接收对从所有卫星接收的信号在所述系统的可视性中执行的至少一个卫星定位测量（MPS） 惯性定位测量（MPI），并以恒定的时间速率，在周期性移动的时间瞬间连续递送校正的定位测量，即所谓的混合测量（MHS1，...，MHSM）。