公开(公告)号：US06918186B2

公开(公告)日：2005-07-19

申请号：US10768309

申请日：2004-01-30

申请人： Michael E. Ash ,  Paul A. DeBitetto ,  Anthony S. Kourepenis ,  Tom P. Thorvaldsen

发明人： Michael E. Ash ,  Paul A. DeBitetto ,  Anthony S. Kourepenis ,  Tom P. Thorvaldsen

IPC分类号： G01C19/00 ,  G01C19/38 ,  G01C21/16 ,  F21B47/022

CPC分类号： G01C21/16 ,  E21B47/022

摘要： A compact navigation system for a rover is provided. The navigation system includes a housing configured to be transported by the rover; a gimbal system having two or more gimbals that includes at least an outer gimbal connected to the housing and an inner gimbal nested in and connected to the outer gimbal; a solid state three-axis gyro assembly mounted on the inner gimbal; a solid state three-axis accelerometer assembly mounted on the inner gimbal; a gyro logic circuit responsive to the three-axis gyro assembly for producing an inertial angular rate about each gyro input axis; an accelerometer logic circuit responsive to the three-axis accelerometer assembly for producing a non-gravitational acceleration along each accelerometer input axis; and a processor responsive to the gyro logic circuits and the accelerometer logic circuits for determining the attitude and the position of the housing to provide for long term accuracy of the attitude and the position for navigation of the rover.

摘要翻译： 提供了一种用于流动站的紧凑导航系统。 该导航系统包括被构造成由流动站运送的壳体; 具有两个或更多个万向节的万向节系统，其包括至少连接到所述壳体的外部万向架和嵌套并连接到所述外部万向架的内部万向架; 安装在内部万向节上的固态三轴陀螺仪组件; 安装在内部万向节上的固态三轴加速度计组件; 响应于三轴陀螺仪组件的陀螺仪逻辑电路，用于产生关于每个陀螺仪输入轴线的惯性角速度; 响应于三轴加速度计组件的加速度计逻辑电路，用于沿每个加速度计输入轴产生非重力加速度; 以及响应于陀螺仪逻辑电路和加速度计逻辑电路的处理器，用于确定壳体的姿态和位置，以提供流动站的姿态和位置的长期精度。