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公开(公告)号：US07274439B2
公开(公告)日：2007-09-25
申请号：US11004743
申请日：2004-12-03
申请人： Antony J. Kurth
发明人： Antony J. Kurth
IPC分类号： G01P3/36
CPC分类号： G06F3/0317 , G01C19/28 , G01C21/16 , G01C25/005 , G01P3/36 , G01P3/68 , G01P3/806 , G01S11/12 , G06F3/0312 , G06T7/246
摘要： A contact free optical motion sensor for an inertial reference system. One or more image acquisition systems are adapted to produce a series of overlapping images of a gas bearing supported spherical inertial sensor assembly. A controller coupled to receive the series of overlapping images applies a delta detection algorithm to the series of overlapping images to determine the distance, the direction of movement of the inertial sensor assembly and the resulting relative position of the gas bearing supported spherical inertial sensor assembly. The controller further calculates the rotational velocity of the inertial sensor assembly based on a time sequence between the received series of image signals and the distance moved.
摘要翻译： 用于惯性参考系的无接触式光学运动传感器。 一个或多个图像采集系统适于产生气体轴承支撑的球形惯性传感器组件的一系列重叠图像。 耦合以接收一系列重叠图像的控制器对该系列重叠图像应用增量检测算法，以确定惯性传感器组件的距离，移动方向以及气体轴承支撑的球形惯性传感器组件的相应位置。 控制器还基于所接收的一系列图像信号与移动的距离之间的时间顺序来计算惯性传感器组件的旋转速度。
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42.发明申请公开(公告)号：US20030014211A1
公开(公告)日：2003-01-16
申请号：US09894489
申请日：2001-06-28
IPC分类号： G01C009/00 , G06F015/00 , G01C017/00 , G01C019/00
摘要： A system and method for generating motion and trajectory data for a multi-gimbaled rotating platform. The system includes a motion generating unit for generating a set of motion equations for each degree of rotational freedom of the multi-gimbaled rotating platform, where each set of motion equations defines the rotational movement of the platform about a gimbal pivot axis between a starting position and an ending position. The movement characteristics of the gimbals are provided to the motion generating unit for generating a set of motion equations which define the movement of the gimbals between the starting position and the ending position of the rotating platform. The set of motion equations simulating movement of the rotating platform may be further utilized to generate trajectory data for the object being supported by the platform, so that the effect of the motion of the rotating platform on the object can be simulated without requiring the rotating platform to be actually moved in a field test.
摘要翻译： 一种用于产生用于多平衡旋转平台的运动和轨迹数据的系统和方法。 该系统包括运动产生单元，用于为多平衡旋转平台的每个旋转自由度产生一组运动方程，其中每组运动方程式定义平台围绕起重位置的万向枢转轴线的旋转运动 和结束位置。 将万向节的运动特性提供给运动产生单元，用于产生一组运动方程，其确定万向架在旋转平台的起始位置和结束位置之间的移动。 可以进一步利用模拟旋转平台的运动的运动方程组来生成由平台支撑的物体的轨迹数据，从而可以模拟旋转平台在物体上的运动的影响，而不需要旋转平台 在实地测试中实际移动。
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公开(公告)号：US5138154A
公开(公告)日：1992-08-11
申请号：US504348
申请日：1990-04-04
申请人： Steven P. Hotelling
发明人： Steven P. Hotelling
CPC分类号： G01D5/347 , G01C19/28 , G05G2009/04718 , G05G2009/04759
摘要： A shaft angle encoder adapted for use in a hand-held gyroscope has a motor at the core of the gyroscope suspended by two pairs of orthogonal gimbals to provide two-degrees-of-freedom for the inner gimbal. Power is provided to the motor through conductive elements in the bearings without limting the range of motion of the gyroscope. An electro-optical shaft angle encoder for detecting the rotation of the inner gimbal with respect to the outer gimbal includes an optical pattern mounted along a cylindrical portion of the inner gimbal about the axis of rotation of the inner gimbal and in alignment with one of the outer gimbal bearings. A light source and a rotational phase plate are mounted to the outer gimbal and aligned with this optical pattern and a light path is provided through the optical pattern, the rotational phase plate, and the outer gimbal bearing. The rotational phase plate interferences with the image of the optical pattern so as to create an image which rotates about the axis of the outer gimbal bearing as a function of the rotation of the inner gimbal with respect to the outer gimbal. This image is detected by a quadrature sensor mounted on the outer housing which detects the rotation of the image, thus providing a measure of the inner gimbal rotation.
摘要翻译： 适用于手持式陀螺仪的轴角编码器具有由两对正交万向架悬挂的陀螺仪的核心处的电动机，以为内部万向架提供两个自由度。 通过轴承中的导电元件将功率提供给电机，而不会限制陀螺仪的运动范围。 用于检测内万向架相对于外万向架的旋转的电光轴角度编码器包括围绕内万向架的旋转轴线沿着内万向架的圆柱部分安装的光学图案， 外万向轴承。 光源和旋转相位板安装在外万向架上并与该光学图案对准，并且通过光学图案，旋转相位板和外万向节轴承提供光路。 旋转相位板与光学图案的图像干涉，以便产生围绕外万向架轴承的轴线旋转的图像，其作为内万向架相对于外万向架的旋转的函数。 该图像由安装在外壳上的正交传感器检测，该正交传感器检测图像的旋转，从而提供内部万向节旋转的量度。
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公开(公告)号：US4930365A
公开(公告)日：1990-06-05
申请号：US247083
申请日：1988-09-16
申请人： Itzhak Porat , Jehuda Rosenberg , Ehud Netzer , Yishai Netzer
发明人： Itzhak Porat , Jehuda Rosenberg , Ehud Netzer , Yishai Netzer
CPC分类号： G01C19/42 , G01C19/28 , Y10T74/1264 , Y10T74/1293
摘要： A gymballess, two axis rate gyroscope in which an inertia rotor is keyed on the electric motor shaft. The motor shaft comprises a flexible part (flexure shaft) adapted to flex upon precession of the inertia rotor in consequence of an angular velocity input around either of two axes normal to each other and both normal to the rotor spin axis, and an end portion extending beyond the inertia rotor in a direction away from the electric motor (delfector). The gyroscope further comprises a non-contacting measuring device in association with the deflector for detecting any deflection thereof.
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公开(公告)号：US4916957A
公开(公告)日：1990-04-17
申请号：US191504
申请日：1988-05-09
申请人： Thomas R. Quermann
发明人： Thomas R. Quermann
CPC分类号： G01C19/06 , G01C19/28 , Y10T74/1257 , Y10T74/1275
摘要： A gyroscopic rate sensor has a motor driven shaft on which is mounted a flexible disc rotor enclosed in a gas-filled housing with a rotating rigid plate, also mounted on the shaft, to provide viscous gaseous restraint. A rotating capacitive plate assembly referenced to the drive motor spin axis provides a stable electrical output signal proportional to periodic deflections of the disc rotor. By perforating the disc rotor near the spin axis, spring restraint is minimized while the squeeze film damping provides improved dynamic response.
摘要翻译： 陀螺仪速率传感器具有马达驱动轴，在该马达驱动轴上安装有柔性圆盘转子，该柔性圆盘转子封装在具有旋转刚性板的充气壳体中，旋转刚性板也安装在轴上，以提供粘性气体约束。 以驱动电动机旋转轴为参照的旋转电容板组件提供与盘式转子的周期性偏转成比例的稳定的电输出信号。 通过在旋转轴附近穿过圆盘转子，弹簧约束最小化，而挤压膜阻尼提供改进的动态响应。
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公开(公告)号：US4464721A
公开(公告)日：1984-08-07
申请号：US346690
申请日：1982-02-08
申请人： Joseph V. McKenna
发明人： Joseph V. McKenna
CPC分类号： G01C19/28 , Y10T74/1275
摘要： A digitized pickoff system is provided for sensing displacement of complementary elements of a dual element pickoff assembly in an inertial sensor for use in an inertial navigation system comprising a relaxation oscillator adapted to sequentially select each of the pickoff elements with the reactance of the selected element determining the oscillating frequency thereof, a data converter adapted to measure the oscillating period thereof, and logic means having an output of a digital number which is proportional to the difference of oscillator periods of the two elements of the dual element pickoff assembly and which is a digital representation of the pickoff displacement.
摘要翻译： 提供了一种用于感测用于惯性导航系统的惯性传感器中的双元件拾取组件的互补元件的位移的数字化拾取系统，所述惯性导航系统包括张弛振荡器，所述惯性导航系统适于使用所选择的元件确定的电抗顺序地选择每个拾取元件 其振荡频率，适于测量其振荡周期的数据转换器和具有数字数字输出的逻辑装置，该数字数字与双元件拾取组件的两个元件的振荡器周期的差成比例，并且是数字 取代位移的表示。
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公开(公告)号：US4397185A
公开(公告)日：1983-08-09
申请号：US262993
申请日：1981-05-12
CPC分类号： G01P15/14 , G01C19/22 , G01C19/28 , Y10T74/1293
摘要： An inertial instruments uses a suspension structure that is exterior to and surrounds a cup shaped inertial mass which carries torquing magnets within the cup. Torquer coils are also located within the cup. In a preferred embodiment, axially magnetized disc magnets within the cup cooperate with toroidal torquer coils. In other embodiments segmented or bar magnets are used. The instrument can be used either as a gyroscope by coupling the suspension to a rotor, or as an accelerometer.
摘要翻译： 惯性仪器使用悬挂结构，其外部并围绕杯状惯性质量块，其携带杯内的扭转磁体。 托盘线圈也位于杯内。 在优选实施例中，杯内的轴向磁化盘式磁体与环形绞盘线圈配合。 在其他实施例中，使用分段或棒状磁体。 仪器可以通过将悬架连接到转子或作为加速度计用作陀螺仪。
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48.发明授权Pulse width modulated binary rebalance rate capture loop control for two-degree-of-freedom dry tuned gyro 失效用于二自由度干式调谐陀螺仪的脉宽调制二进制重新平衡速率捕获环路控制
公开(公告)号：US4255979A
公开(公告)日：1981-03-17
申请号：US869898
申请日：1978-01-16
CPC分类号： G01C19/28 , Y10T74/1254 , Y10T74/1257 , Y10T74/1275
摘要： A dry tuned two axis gyro having a pulse-rebalanced rate capture loop control. This configuration eliminates the need for an analogue-to-digital converter since the gyro is torquered at a pulse rate using a constant current source. Another feature of the control loop is a cross-channel shaping network which exchanges an electronically damped error from one axis to the other axis. By means of a summing network which combines the error signals from the main channel and the cross channel with a source of time varying ramp voltage, an alternately negative to positive signal is applied to the gyro torquer.
摘要翻译： 具有脉冲重新平衡速率捕获回路控制的干调二轴陀螺仪。 这种配置消除了对模数转换器的需要，因为使用恒定电流源以脉冲速率对陀螺仪进行了扭转。 控制回路的另一个特征是跨通道整形网络，其将电阻尼误差从一个轴线交替到另一个轴线。 通过将来自主通道和交叉通道的误差信号与时变斜坡电压源组合的求和网络，将交替的负向正信号施加到陀螺仪。
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公开(公告)号：US4082990A
公开(公告)日：1978-04-04
申请号：US727888
申请日：1976-09-29
摘要： An instrument which performs with precision either as a pickoff or torquer and which is not subject to geometrical errors due to the electrodes going out of round. The pickoff electrodes of the instrument are mounted adjacent the end of the movable element instead of being concentric to it. Because of the location of the pickoff electrodes relative to the movable element, the device is a variable area pickoff rather than a variable gap pickoff. This provides the advantages of obtaining outputs from the X and Y axes which are a linear function of the motion of the movable element and, therefore, the displacement angle, as determined by the ratio of X and Y outputs, is independent of the amplitude of motion.
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公开(公告)号：US4061043A
公开(公告)日：1977-12-06
申请号：US671257
申请日：1976-03-29
CPC分类号： G01C19/42 , G01C19/16 , G01C19/24 , G01C19/28 , Y10T74/12 , Y10T74/1236 , Y10T74/1275 , Y10T74/1286
摘要： A two-axis rate gyroscope of the captured type is provided having a cylindrical rotor with one or more inwardly projecting flanges. The rotor is disposed within a sealed toroidal cavity in a rotor housing and the interior of the cavity is evacuated to a "hard" vacuum. An electrostatic suspension system restrains the rotor from translatory movement along the gyroscope spin axis and two axes perpendicular thereto so that a virtually frictionless spin bearing is provided for the rotor. The suspension system functions to prevent relative angular rotation between the rotor and the rotor housing about two precession axes. The rotor housing is mounted on a flexure joint which prevents translatory movement of the housing along three orthogonal axes but permits rotational movement of the housing about the two precession axes. Vibrating beam force transducer means exert a reaction force on the housing which prevents rotation of the housing about the two precession axes in response to input rates applied to the gyroscope, so that the electrical output signals of the transducer means are a function of the input rates applied to the gyroscope. The rotor housing, flexure joint, rotor and vibrating beam force transducers are disposed within a sealed casing which may be evacuated separately from the toroidal cavity within the rotor housing, so that the toroidal cavity may be easily evacuated to the higher degree of vacuum required for a frictionless rotor spin bearing. The cylindrical rotor structure permits the use of a simplified electrostatic suspension system in which the suspension electrodes also function as rotor displacement sensing electrodes.
摘要翻译： 提供了一种具有捕获类型的双轴速率陀螺仪，其具有带有一个或多个向内突出的凸缘的圆柱形转子。 转子设置在转子壳体中的密封环形空腔内，并且空腔的内部被抽空到“硬”真空。 静电悬挂系统限制转子沿着陀螺仪旋转轴线和垂直于其的两个轴线的平移运动，从而为转子提供实际上无摩擦的旋转轴承。 悬架系统的作用是防止转子和转子壳体之间的相对角旋转绕两个进动轴。 转子壳体安装在挠曲接头上，该挠曲接头防止壳体沿着三个正交轴线的平移运动，但允许壳体围绕两个进动轴线的旋转运动。 振动梁力传感器装置对壳体施加反作用力，其响应于施加到陀螺仪的输入速率而防止壳体围绕两个进动轴旋转，使得换能器装置的电输出信号是输入速率的函数 应用于陀螺仪。 转子壳体，挠性接头，转子和振动梁力传感器设置在密封的壳体内，其可以与转子壳体内的环形腔分开排空，使得环形空腔可以容易地抽空到更高的真空度 无摩擦转子旋转轴承。 圆柱形转子结构允许使用简化的静电悬架系统，其中悬挂电极也用作转子位移感测电极。
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