公开(公告)号：US5890093A

公开(公告)日：1999-03-30

申请号：US742384

申请日：1996-11-01

申请人： John G. Mark ,  Daniel A. Tazartes

发明人： John G. Mark ,  Daniel A. Tazartes

IPC分类号： G01C21/16 ,  G05D1/00

CPC分类号： G01C21/16

摘要： The invention is a method and apparatus for compensating for sculling in a strapdown inertial navigation system. The method operates on a sequence of inputs .DELTA.V.sub.B (n) derived at times n.DELTA.t from the outputs of one or more accelerometers. Separately compensated quantities .DELTA.V.sub.Bc (m,p) calculated at times (pJ+1/2).DELTA.t for M values of m are obtained by summing A(m,k).DELTA.V.sub.B (pJ-j-k) over k from 0 to K-1 and over j from 0 to J-1 where the constants A(m,k) are chosen to minimize sculling error in the individual .DELTA.V.sub.Nc (m,p) quantities where .DELTA.V.sub.Nc (m,p) is the representation of .DELTA.V.sub.Bc (m,p) in the navigation frame of reference. The final compensated quantity .DELTA.V.sub.Bc (p) is obtained by summing B(m).DELTA.V.sub.Bc (m,p) over m where the constants B(m) are chosen to minimize sculling error in .DELTA.V.sub.Nc (p) where .DELTA.V.sub.Nc (p) is the representation of .DELTA.V.sub.Bc (p) in the navigation frame of reference.

摘要翻译： 本发明是用于补偿捷联惯性导航系统中的冲压的方法和装置。 该方法对从一个或多个加速度计的输出在时间n DELTA t导出的输入序列DELTA VB（n）进行操作。 通过对A（m，k）DELTA VB（pJ-jk）进行求和来获得对m个M值的时间（pJ ++ E，fra 1/2 + EE）DELTA t分别补偿量DELTA VBc（m，p） 选择从0到K-1的超过k，从0到J-1的j超过j，其中选择常数A（m，k）以最小化各个DELTA VNc（m，p）量中的抛物线误差，其中DELTA VNc（m，p ）是导航参考框架中DELTA VBc（m，p）的表示。 最终补偿量DELTA VBc（p）通过在m上求和B（m）DELTA VBc（m，p）而得到，其中选择常数B（m）以最小化DELTA VNc（p）中的剥离误差，其中DELTA VNc（p ）是导航参考框架中DELTA VBc（p）的表示。

公开(公告)号：US5828980A

公开(公告)日：1998-10-27

申请号：US937251

申请日：1997-07-01

申请人： Daniel A. Tazartes ,  John G. Mark

发明人： Daniel A. Tazartes ,  John G. Mark

IPC分类号： G01C21/16 ,  G05D1/00

CPC分类号： G01C21/16

摘要： The invention is a method for compensating for coning in a strapdown inertial navigation system which utilizes groups of five successive incremental angles of rotation of a body-fixed coordinate system as measured by orthogonally-mounted gyros at regular measurement intervals, each group of five measurements being obtained during a group interval equal to five measurement intervals. The coning-compensated angular displacement of the body-fixed coordinate system about a fixed axis in space during a p'th group interval is obtained by summing the five measured incremental angles and a coning compensation term. The coning compensation term consists of the sum of: (1) one-half the cross-product of a first and a second vector sum, the second vector sum being the sum of the five incremental angles of rotation in a group and the first vector sum being the sum of the second vector sum over p groups; and (2) the weighted sum of three vector cross-products, the multiplier and the multiplicand of each vector cross-product being a weighted sum of five measured incremental angles. The coning-compensated angular displacement can be summed over p to obtain an accurate estimate of the vector angle of rotation over a plurality of group intervals.

摘要翻译： 本发明是一种用于补偿捷联惯性导航系统中的锥齿的方法，其利用正常安装的陀螺仪以常规测量间隔测量的身体固定的坐标系的五个连续增加的旋转角度的组，每组五个测量为 在等于五个测量间隔的组间隔期间获得。 通过对五个测量的增量角和一个锥形补偿项求和来获得身体固定坐标系在第p组间隔期间围绕空间中的固定轴的锥角补偿角位移。 锥形补偿项包括以下之和：（1）第一和第二矢量和的交叉乘积的一半，第二矢量和是组中的五个增加旋转角度的和与第一矢量 sum是p组之间的第二个向量和的总和; 和（2）三个向量交叉乘积的加权和，每个向量交叉乘积的乘数和乘数是五个测量的增量角的加权和。 锥形补偿角位移可以通过p求和，以获得在多个组间隔上的向量旋转角度的精确估计。

公开(公告)号：US5325173A

公开(公告)日：1994-06-28

申请号：US518044

申请日：1990-05-04

申请人： Daniel A. Tazartes ,  John G. Mark

发明人： Daniel A. Tazartes ,  John G. Mark

IPC分类号： G01C19/66 ,  G01B9/02 ,  H01S3/083

CPC分类号： G01C19/664

摘要： A dithered ring laser gyroscope is mounted upon a support, and a pickoff is positioned between the gyro and the support to produce signals representative of rotation angle between the support and the gyro. A correction means is used to subtract out the effect of the dither from the output signal to the gyro. The correction means includes feedback means in the correction-producing apparatus. That feedback means includes tracking compensation for both gain and phase variation of the pickoff and pickoff electronics. To prevent constant or slowly varying signals from affecting the operation of the apparatus, the invention uses a differentiator or a high pass filter between the compensated output signal and the feedback loops.

摘要翻译： 抖动环形激光陀螺仪安装在支撑件上，并且拾音器位于陀螺仪和支架之间，以产生表示支架和陀螺仪之间旋转角度的信号。 使用校正装置来减去从输出信号到陀螺仪的抖动的影响。 校正装置包括校正产生装置中的反馈装置。 该反馈装置包括跟踪补偿和拾取电路的增益和相位变化。 为了防止恒定或缓慢变化的信号影响装置的操作，本发明在补偿的输出信号和反馈回路之间使用微分器或高通滤波器。

公开(公告)号：US5074664A

公开(公告)日：1991-12-24

申请号：US640179

申请日：1991-01-11

申请人： John G. Mark ,  Daniel A. Tazartes

发明人： John G. Mark ,  Daniel A. Tazartes

IPC分类号： G01C19/66

CPC分类号： G01C19/665

摘要： A ring laser gyro having a ring laser that preferably has four legs and four corner mirrors. At least one of the corner mirror is partly transmissive, and the transmitted beam is sensed and converted into a digital signal. The digital signal is fed back in two computer loops to at least one digital-to-analog converter, and thence to a transducer which drives at least one corner mirror inward and outward. One of the computer loops includes a stepped demodulator having four steps per cycle. The steps have voltages at the operating voltage of the transducer, that voltage plus an increment, the operating voltage, and that voltage less a decrement. The first loop sends an operating voltage to the digital-to-analog converters. The second loop demodulates the beam signal at a second harmonic of the demodulation of the first loop to produce a voltage signal which controls the amplitude of dithering of the movable mirrors. A stepped modulator, in synchronism with the demodulator of the first loop, delivers a modulation signal to the digital-to-analog converters to step the movable mirrors. The operating voltage moves the mirrors into a position wherein the laser cavity operates at its intensity mode peaks.

摘要翻译： 具有环形激光器的环形激光陀螺仪，其优选地具有四条腿和四个角镜。 角镜中的至少一个是部分透射的，并且所发射的光束被感测并转换成数字信号。 数字信号在两个计算机回路中被馈送到至少一个数模转换器，然后被馈送到向内和向外驱动至少一个角镜的换能器。 计算机回路中的一个包括具有每个周期四个步长的阶梯式解调器。 这些步骤在传感器的工作电压下具有电压，该电压加一个增量，工作电压，该电压减去一个减量。 第一个回路将一个工作电压发送到数模转换器。 第二回路以第一回路的解调的二次谐波解调波束信号，以产生控制可移动镜的抖动振幅的电压信号。 与第一回路的解调器同步的阶梯式调制器将调制信号传送到数模转换器以步进可移动反射镜。 工作电压将反射镜移动到其激光腔以其强度模式峰值工作的位置。

公开(公告)号：US20210293543A1

公开(公告)日：2021-09-23

申请号：US12086022

申请日：2006-06-21

申请人： James R. Huddle ,  Daniel A. Tazartes

发明人： James R. Huddle ,  Daniel A. Tazartes

IPC分类号： G01C21/16 ,  G01B9/02

摘要： The invention is related to a method and an inertial navigation system for combining continuous signal output from a first inertial sensor (14) with discontinuous signal output from a second inertial sensor (12). The first inertial sensor (14) acquires continuous data with respect to a navigation frame of reference for a parameter used in inertial navigation and the continuous data is processed to produce estimated values of the parameter. The second inertial sensor (12) acquires discontinuous data with respect to a case frame of reference indicative of the parameter with respect to a case (25) containing the second inertial sensor (12). The discontinuous data is processed to produce measurements of the parameter at selected times, —and the estimated values of the parameter and the measurements of the parameter are processed at selected times with a Kalman filter to provide corrections to the estimated values of the parameter at the selected times.

公开(公告)号：US10156444B2

公开(公告)日：2018-12-18

申请号：US15226573

申请日：2016-08-02

申请人： Daniel A. Tazartes ,  Charles H. Volk

发明人： Daniel A. Tazartes ,  Charles H. Volk

IPC分类号： G01C19/72 ,  G01C19/00

摘要： A control system includes a processor that operates one or more control loops that enable gyroscopic angular measurement for an inertial measurement unit (IMU). Each of the one or more control loops operates over a range of set points defined for each of the respective control loops. A dynamic loop adjuster receives environmental input data to determine environmental conditions for the IMU. The dynamic loop adjuster alters at least one of the set points for at least one of the one or more control loops operated by the processor based on the determined environmental conditions.

公开(公告)号：US20110170109A1

公开(公告)日：2011-07-14

申请号：US13029059

申请日：2011-02-16

申请人： Daniel A. Tazartes ,  Kenneth D. Marino

发明人： Daniel A. Tazartes ,  Kenneth D. Marino

IPC分类号： G01B9/02

CPC分类号： G01C19/64

摘要： A gyroscope having photonic crystals for sensing rotation uses the Sagnac effect to determine angular motion. The gyroscope comprises a photonic crystal capable of guiding counter-propagating light beams in a closed path. A light source, coupling, and detection apparatus permits detection of phase changes between the counter-propagating beams, thereby permitting measurement of angular rotation. The photonic crystal comprises a periodic structure of pillars and voids which creates a photonic bandgap waveguide within which light waves in the proper wavelength range propagate with low loss.

摘要翻译： 具有用于感测旋转的光子晶体的陀螺仪使用Sagnac效应来确定角运动。 陀螺仪包括能够在闭合路径中引导反向传播的光束的光子晶体。 光源，耦合和检测装置允许检测反向传播光束之间的相位变化，从而允许角度旋转的测量。 光子晶体包括柱状和空隙的周期性结构，其产生光子带隙波导，其中适当波长范围内的光波以低损耗传播。

公开(公告)号：US20100141953A1

公开(公告)日：2010-06-10

申请号：US12316060

申请日：2008-12-09

申请人： Daniel A. Tazartes ,  Geroge A. Pavlath

发明人： Daniel A. Tazartes ,  Geroge A. Pavlath

IPC分类号： G01C19/72

CPC分类号： G01C19/726

摘要： An automatic gain control system for a fiber optic gyroscope control loop includes an adjustable gain applied to the gyro output signal. A pilot signal is injected into the fiber optic gyroscope control loop. A compensation loop receives signals output from the control loop and also receives pilot signals. The compensation loop processes the pilot signal to produce a compensation signal that is combined with signals output from the control loop to provide a compensated fiber optic gyroscope output signal. An automatic gain control loop is connected between the compensation loop and the adjustable gain applied to the fiber optic gyroscope output signal. The automatic gain control loop includes a gain error demodulator that multiplies the compensated fiber optic gyroscope output signal and the compensation signal together to produce a gain error signal used to control the adjustable gain in order to stabilize the gain of the gyro control loop.

摘要翻译： 用于光纤陀螺仪控制回路的自动增益控制系统包括施加到陀螺仪输出信号的可调增益。 导频信号被注入到光纤陀螺仪控制回路中。 补偿回路接收从控制回路输出的信号，并接收导频信号。 补偿环路处理导频信号以产生与从控制环路输出的信号组合的补偿信号，以提供经补偿的光纤陀螺仪输出信号。 自动增益控制回路连接在补偿回路和应用于光纤陀螺仪输出信号的可调增益之间。 自动增益控制回路包括增益误差解调器，该增益误差解调器将补偿的光纤陀螺仪输出信号和补偿信号相加在一起，以产生用于控制可调增益的增益误差信号，以稳定陀螺仪控制回路的增益。

公开(公告)号：US20080147338A1

公开(公告)日：2008-06-19

申请号：US11638768

申请日：2006-12-13

申请人： George A. Pavlath ,  Daniel A. Tazartes

发明人： George A. Pavlath ,  Daniel A. Tazartes

IPC分类号： G01R1/00

CPC分类号： G01C19/721

摘要： A fiber optic gyroscope signal process dither system permits application of a low amplitude dither signal for many sampling periods without increasing the noise in the sampled outputs due to residual dither signals. A dither loop and an accumulator are added to a closed loop fiber optic gyroscope rotation sensing system. The dither loop has a delay and a gain that are adjusted to match the gain and delay of the fiber gyro loop. A zero mean dither of amplitude sufficient to break up the deadband is injected into to gyro and the dither loop. The dither loop filters the dither signal in the same manner as the gyro loop to provide a signal that is input to a differencing circuit to remove the dither signal from the gyro output.

摘要翻译： 光纤陀螺仪信号处理抖动系统允许在许多采样周期下施加低幅度抖动信号，而不会由于残留抖动信号而增加采样输出中的噪声。 抖动环路和累加器被添加到闭环光纤陀螺仪旋转感测系统中。 抖动环具有延迟和增益，其被调整以匹配光纤陀螺回路的增益和延迟。 将足够破坏死区的振幅为零的平均抖动注入陀螺仪和抖动环路。 抖动环路以与陀螺回路相同的方式对抖动信号进行滤波，以提供输入到差分电路的信号，以从陀螺仪输出中去除抖动信号。

公开(公告)号：US07245381B2

公开(公告)日：2007-07-17

申请号：US11017446

申请日：2004-12-20

申请人： Kenneth Marino ,  Daniel A. Tazartes ,  Charles Volk

发明人： Kenneth Marino ,  Daniel A. Tazartes ,  Charles Volk

IPC分类号： G01C19/64

CPC分类号： G01C19/64 ,  G01C19/72

摘要： In an embodiment of a ring laser gyroscope, a hollow bandgap fiber is filled with a gas or material that will generate laser beams within the fiber upon being excited by an energy source. A detector coupled to the fiber detects a standing wave pattern within the fiber, wherein changes in the detected standing wave pattern indicates a corresponding change in the orientation of the fiber.

摘要翻译： 在环形激光陀螺仪的一个实施例中，中空带隙光纤填充有在由能量源激发时将在光纤内产生激光束的气体或材料。 耦合到光纤的检测器检测光纤内的驻波图案，其中检测到的驻波图案的变化指示光纤的取向的相应变化。