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1.发明申请Process and device for estimating at least the vertical speed of an aircraft, in particular of a rotary wing aircraft 有权用于至少估计飞行器，特别是旋转飞行器的飞行器的垂直速度的过程和装置公开(公告)号：US20070018854A1
公开(公告)日：2007-01-25
申请号：US11168557
申请日：2005-06-29
IPC分类号： G01C21/00
摘要： A process and device for estimating the vertical speed of a rotary wing aircraft may include integrating the sum of: (1) a first component corresponding to a vertical acceleration measurement and (2) a second component obtained from the difference between: (a) a first value incorporating a barometric measurement and (b) a second value incorporating a previous estimation of the vertical speed. The second component is derived from the difference between the first and second values by clipping this difference to eliminate, as appropriate, the part of the difference which is greater, in absolute value, than a predetermined value.
摘要翻译： 用于估计旋转翼飞行器的垂直速度的过程和装置可以包括：（1）对应于垂直加速度测量的第一分量和（2）从以下之间的差获得的第二分量的和：（a） 包含气压测量的第一个值和（b）包含先前估计垂直速度的第二个值。 第二分量通过限幅该差值而从第一和第二值之间的差导出，以适当地消除绝对值大于预定值的差的部分。
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2.发明授权
公开(公告)号：US5654635A
公开(公告)日：1997-08-05
申请号：US573372
申请日：1995-12-15
CPC分类号： G01C17/38
摘要： The present invention relates to a method and to a device (1) for correcting measurement errors of a magnetometer (2) mounted on a vehicle (3). According to the invention:a theoretical corrective model [A].Hm+a.Hm'+Hp=[M].H is defined, in which [A], a and H are elements to be determined, Hm is the measured field, Hm' the time derivative of Hm, H the effective field and [M] a transformation matrix;a vector error E=[M].H-([A].Hm+a.Hm'+Hp) is defined;the square of the error thus defined is determined; andthe coefficients of the model which minimize the sum of the squares of the errors for all the measurements taken are identified.
摘要翻译： 本发明涉及一种用于校正安装在车辆（3）上的磁力计（2）的测量误差的方法和装置（1）。 根据本发明：定义了理论校正模型[A] .Hm + a.Hm'+ Hp = [M] .H，其中[A]，a和H是要确定的元素，Hm是测量场 Hm'为Hm的时间导数，H为有效场，[M]为变换矩阵; 定义矢量误差E = [M] .H - （[A] .Hm + a.Hm'+ Hp） 确定如此定义的误差的平方; 并且识别最小化所有测量的误差的平方和的模型系数。
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公开(公告)号：US20110190964A1
公开(公告)日：2011-08-04
申请号：US13013926
申请日：2011-01-26
申请人： Jean Paul Petillon
发明人： Jean Paul Petillon
IPC分类号： G05D1/00
CPC分类号： G01C21/16
摘要： The present invention relates to estimating the attitude angles of an aircraft (1). The estimated attitude angles are generated by a device (9) that performs algorithmic integration on inertial measurements indicative of an angular velocity and of a linear acceleration. Horizontal components (34-39) of desired corrections are obtained by a linear combination of two horizontal components (32-33), with cross coefficients between said horizontal axes being continuous variable over time and dependent on the estimated rate of turn. As a result, the estimated attitude angles are stable, and the biases of the gyros continue to be estimated, including during stages during which the aircraft (1) is turning.
摘要翻译： 本发明涉及飞机（1）的姿态角估计。 估计的姿态角由对表示角速度和线性加速度的惯性测量执行算法积分的装置（9）产生。 所需校正的水平分量（34-39）通过两个水平分量（32-33）的线性组合获得，所述水平轴之间的交叉系数随时间而连续变化，并且取决于估计的转速。 结果，估计的姿态角度是稳定的，并且继续估计陀螺仪的偏差，包括在飞行器（1）正在转向的阶段期间。
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4.发明授权公开(公告)号：US07561945B2
公开(公告)日：2009-07-14
申请号：US11168557
申请日：2005-06-29
IPC分类号： G06F19/00
摘要： A process and device for estimating the vertical speed of a rotary wing aircraft may include integrating the sum of: (1) a first component corresponding to a vertical acceleration measurement and (2) a second component obtained from the difference between: (a) a first value incorporating a barometric measurement and (b) a second value incorporating a previous estimation of the vertical speed. The second component is derived from the difference between the first and second values by clipping this difference to eliminate, as appropriate, the part of the difference which is greater, in absolute value, than a predetermined value.
摘要翻译： 用于估计旋转翼飞行器的垂直速度的过程和装置可以包括：（1）对应于垂直加速度测量的第一分量和（2）从以下之间的差获得的第二分量的和：（a） 包含气压测量的第一个值和（b）包含先前估计垂直速度的第二个值。 第二分量通过限幅该差值而从第一和第二值之间的差导出，以适当地消除绝对值大于预定值的差的部分。
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5.发明授权Method and device operating by interpolation in a discrete spectrum to determine characteristics of a signal and application thereof 失效方法和装置通过离散频谱中的内插操作，以确定信号的特征及其应用公开(公告)号：US06347286B1
公开(公告)日：2002-02-12
申请号：US09116800
申请日：1998-07-16
申请人： Jean-Paul Petillon
发明人： Jean-Paul Petillon
IPC分类号： G01R2316
CPC分类号： G01S7/354 , G01R23/16 , G01S13/882 , G01S2007/356 , H03D3/006
摘要： The present invention concerns a method and a device (1) operating by intepolation in a discrete spectrum to determine characteristics Pq of a signal s(t,Pq). In accordance with the invention, said device (1) includes means (2, 4, 6, 8, 10, 12) for determining said characteristics Pq from a system of m equations: z(fi)=Fi[w(t).s(t,Pq)].h(f), i varying from 1 through m and m being greater than or equal to 2, wherein: z(fi) is an element of a discrete spectrum obtained by Fourier transformation of the signal s(t,Pq), Fi is a discrete Fourier transform, w(t) is a temporal weighting function, and h(f) is a frequency transfer function of an anti-aliasing filter.
摘要翻译： 本发明涉及一种通过离散频谱内插操作的方法和装置（1），以确定信号s（t，Pq）的特征Pq。 根据本发明，所述装置（1）包括用于从m个方程的系统确定所述特性Pq的装置（2，4,6,8,10,12）：i从1到m和m变化大于或等于 等于2，其中：z（fi）是通过信号s（t，Pq）的傅里叶变换获得的离散频谱的元素，Fi是离散傅立叶变换，w（t）是时间加权函数，而h（ f）是抗混叠滤波器的频率传递函数。
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公开(公告)号：US08543281B2
公开(公告)日：2013-09-24
申请号：US12663670
申请日：2008-06-09
IPC分类号： G06F7/00
CPC分类号： G01C21/16 , G01C19/00 , G01P15/034 , G01P15/0888 , G01P15/18
摘要： A method of determining an angular velocity of an aircraft includes measuring the angular velocity using at least one gyro delivering a measured angular velocity signal affected by stochastic noise; measuring the angular acceleration of the aircraft using at least one accelerometer delivering a signal representing the angular acceleration of the aircraft; and using a filtering complementary in a frequency domain to combine a sum of the measured angular velocity signal and the angular acceleration signal so as to obtain a hybrid estimated angular velocity signal with reduced stochastic noise.
摘要翻译： 一种确定飞行器的角速度的方法包括使用至少一个陀螺仪来测量角速度，该陀螺仪传送受随机噪声影响的测量角速度信号; 使用至少一个加速度计来测量飞行器的角加速度，该加速度计传递表示飞行器的角加速度的信号; 并且在频域中使用互补滤波来组合测量的角速度信号和角加速度信号的和，以便获得具有降低的随机噪声的混合估计角速度信号。
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公开(公告)号：US20100268414A1
公开(公告)日：2010-10-21
申请号：US12663670
申请日：2008-06-09
IPC分类号： G06F7/00
CPC分类号： G01C21/16 , G01C19/00 , G01P15/034 , G01P15/0888 , G01P15/18
摘要： A method of determining an angular velocity of an aircraft includes measuring the angular velocity using at least one gyro delivering a measured angular velocity signal affected by stochastic noise; measuring the angular acceleration of the aircraft using at least one accelerometer delivering a signal representing the angular acceleration of the aircraft; and using a filtering complementary in a frequency domain to combine a sum of the measured angular velocity signal and the angular acceleration signal so as to obtain a hybrid estimated angular velocity signal with reduced stochastic noise.
摘要翻译： 一种确定飞行器的角速度的方法包括使用至少一个陀螺仪来测量角速度，该陀螺仪传送受随机噪声影响的测量角速度信号; 使用至少一个加速度计来测量飞行器的角加速度，该加速度计传递表示飞行器的角加速度的信号; 并且在频域中使用互补滤波来组合测量的角速度信号和角加速度信号的和，以便获得具有降低的随机噪声的混合估计角速度信号。
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8.发明授权System for estimating the speed of an aircraft, and an application thereof to detecting obstacles 有权用于估计飞行器速度的系统及其用于检测障碍物的应用公开(公告)号：US07791529B2
公开(公告)日：2010-09-07
申请号：US11435775
申请日：2006-05-18
IPC分类号： G01S13/58 , G01S13/93 , G01S15/58 , G01S15/93 , G01S17/58 , G01S17/93 , G01S13/00 , G01S15/00 , G01S17/00
CPC分类号： G01S17/933 , G01C21/16 , G01S13/589 , G01S13/867 , G01S13/882 , G01S13/89 , G01S15/025 , G01S15/588 , G01S17/023 , G01S17/89
摘要： The invention relates to a method of determining an estimated speed of an aircraft relative to ground being overflown by the aircraft, in which use is made of the sum of an acceleration measurement of the aircraft plus a difference value, the difference value being obtained from observation data or signals relating to a region of the ground.
摘要翻译： 本发明涉及一种确定飞机相对于被飞机溢出的飞机的估计速度的方法，其中使用飞机的加速度测量值加上差值的总和，差值从观测得到 与地面区域相关的数据或信号。
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9.发明申请System for estimating the speed of an aircraft, and an application thereof to detecting obstacles 有权用于估计飞行器速度的系统及其用于检测障碍物的应用公开(公告)号：US20070075893A1
公开(公告)日：2007-04-05
申请号：US11435775
申请日：2006-05-18
CPC分类号： G01S17/933 , G01C21/16 , G01S13/589 , G01S13/867 , G01S13/882 , G01S13/89 , G01S15/025 , G01S15/588 , G01S17/023 , G01S17/89
摘要： The invention relates to a method of determining an estimated speed of an aircraft relative to ground being overflown by the aircraft, in which use is made of the sum of an acceleration measurement of the aircraft plus a difference value, the difference value being obtained from observation data or signals relating to a region of the ground.
摘要翻译： 本发明涉及一种确定飞机相对于被飞机溢出的飞机的估计速度的方法，其中使用飞机的加速度测量值加上差值的总和，差值从观测得到 与地面区域相关的数据或信号。
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10.发明授权
公开(公告)号：US5682335A
公开(公告)日：1997-10-28
申请号：US631703
申请日：1996-04-09
IPC分类号： G01C17/38 , G01R33/025 , G01C21/00
CPC分类号： G01C17/38 , G01R33/025
摘要： The present invention relates to a method and a device for correcting measurement errors of a magnetometer mounted on a vehicle. According to the method, a theoretical corrective model is defined in accordance with the following equation: ##EQU1## where �A!, �C!i and Hp are elements to be determined, Hm is the measured field, H the effective field, and �M! is a transformation matrix, and in which a vector error is defined in accordance with the following equation: ##EQU2## where the square of the error thus defined is determined and the coefficients of the model which minimize the sum of the squares of the error moduli for all the measurements taken are identified.
摘要翻译： 本发明涉及一种用于校正安装在车辆上的磁强计的测量误差的方法和装置。 根据该方法，根据以下等式定义理论校正模型：其中[A]，[C] i和Hp是要确定的元素，Hm是测量场，H是有效场， [M]是变换矩阵，其中矢量误差根据以下等式定义：
其中确定了如此定义的误差的平方，并且模型的系数最小化了 识别所有测量的误差模量。
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