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1.发明授权
公开(公告)号：US6008903A
公开(公告)日：1999-12-28
申请号：US188821
申请日：1998-11-09
申请人： Daniel A. Tazartes , Peter Kyriacou , John G. Mark
发明人： Daniel A. Tazartes , Peter Kyriacou , John G. Mark
CPC分类号： G01C19/72
摘要： The invention is a method for compensating for fringe visibility errors in a fiber-optic gyro. The light beam phase is modulated utilizing a phase-modulation generating function comprising a stepped waveform with steps of height 2.pi.k-.phi..sub.SE +j.phi..sub.M -.gamma..sub.ZS at time intervals .tau. where a phase step .phi. specified by the phase-modulation generating function is transformed into a change in light-beam phase of (.phi..sub.X /X).phi..sub.X where .phi..sub.X is the change in light phase produced by a phase step X. The integer k takes on the value -1, 0, or 1, j takes on the value -1 or 1, .phi..sub.SE is a phase determined by the fiber-optic gyro, .phi..sub.M is a predetermined phase value, and .gamma..sub.ZS is a phase designed to compensate for the fringe visibility errors. The phase .gamma..sub.ZS represents a small perturbation to the modulation and is a function of zone Z and state S where the zone identifier Z and state identifier S denote one of a plurality of operating conditions of the fiber-optic gyro. The zone identifier Z depends on the relative magnitudes and signs of .phi..sub.SE and .phi..sub.M, and the state identifier S is a function of k and j. Estimates of the Sagnac residual phase compensated for fringe visibility errors are then obtained by adding calculated fringe visibility compensation terms to .phi..sub.SE.
摘要翻译： 本发明是用于补偿光纤陀螺中的边缘可见度误差的方法。 光束相位利用相位调制生成函数进行调制，该相位调制生成函数包括阶梯形波形，该步长波形具有以相位调制生成器指定的相位步长phi的时间间隔τ的高度2πk-phi SE + j phi M-γZS 函数被变换为（phi X / X）phi X的光束相位的变化，其中，φi是由相位步X产生的光相变化。整数k取值为-1,0或1 ，j取值-1或1，phi SE是由光纤陀螺仪确定的相位，phi M是预定相位值，gamma ZS是设计用于补偿边缘可见度错误的相位。 相位γZS表示对调制的小扰动，并且是区域Z和状态S的函数，其中区域标识符Z和状态标识符S表示光纤陀螺仪的多个操作条件之一。 区域标识符Z取决于phi SE和phi M的相对大小和符号，状态标识符S是k和j的函数。 然后通过将计算的边缘可见度补偿项添加到phi SE来获得对条纹可见度误差进行补偿的Sagnac残余相位的估计。
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公开(公告)号：US06931358B2
公开(公告)日：2005-08-16
申请号：US10270817
申请日：2002-10-14
CPC分类号： G01C21/16
摘要： A system and method for performing high performance quantizer processing of sensor data in a multiple-channel quantizer system. A reset prioritization scheme is provided for current sources connected to an integrator in the multiple-channel quantizer for preventing saturation of the various quantizer channels. The reset prioritization scheme determines the channels most in need of a reset to prevent saturation based upon predicted quantizer signals to appear on the channels during the next processing cycle of the quantizer system. This method of controlling the reset processing permits significantly higher acceleration capacity by preventing quantizer channel saturation in system utilizing accelerometers. The quantizer processing method further includes an improved calibration scheme for self-calibrating the various channels in a multiple-channel quantizer to account for multiple sources of error, including quantizer bias, asymmetry between applied positive and negative resets, and voltage scale factor of the quantizer channel in calibration.
摘要翻译： 一种用于在多通道量化器系统中执行传感器数据的高性能量化器处理的系统和方法。 为连接到多通道量化器中的积分器的电流源提供了复位优先级方案，以防止各种量化器通道的饱和。 复位优先级方案确定最需要复位的通道，以在量化器系统的下一个处理周期期间基于预测的量化器信号出现在信道上以防止饱和。 这种控制复位处理的方法通过在利用加速度计的系统中阻止量化器通道饱和来显着提高加速能力。 量化器处理方法还包括改进的校准方案，用于自校准多通道量化器中的各种通道以考虑多个误差源，包括量化器偏置，施加的正负复位之间的不对称性和量化器的电压比例因子 通道校准。
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公开(公告)号：US07133776B2
公开(公告)日：2006-11-07
申请号：US10333698
申请日：2001-07-27
IPC分类号： G01C21/00
摘要： A method for attitude alignment of a slave inertial measurement system connected to a rotationally mobile platform supported by a vehicle that is stationary relative to a reference navigation frame comprises the steps of mounting a master reference inertial measurement system on the rotationally mobile platform and determining a master reference system attitude using measurements of acceleration and angular rates of the master reference inertial measurement system relative to the reference navigation frame. A slave system attitude is determined using measurements of acceleration and angular rates of the slave inertial measurement system relative to a slave system navigation reference frame and comparing the slave system attitude to the master reference system attitude to determine an attitude difference. The attitude difference is processed to obtain a correction to the slave system attitude.
摘要翻译： 连接到由相对于参考导航框架固定的车辆支撑的旋转移动平台的从属惯性测量系统的姿态对准的方法包括以下步骤：将主参考惯性测量系统安装在旋转移动平台上并确定主人 参考系统姿态使用主参考惯性测量系统相对于参考导航框架的加速度和角速度的测量。 使用从属惯性测量系统相对于从属系统导航参考系的加速度和角速度的测量来确定从属系统姿态，并将从属系统姿态与主参考系统姿态进行比较以确定姿态差异。 处理态度差异以获得对从属系统姿态的校正。
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公开(公告)号：US6115125A
公开(公告)日：2000-09-05
申请号：US255391
申请日：1999-02-22
IPC分类号： G01C19/72
CPC分类号： G01C19/72
摘要： The invention is a method and apparatus for determining the rotation of a medium through which a light beam propagates by modulating the light beam with a primary pseudorandom bit sequence consisting of a plurality of contiguous P subsequences. Each P subsequence consists of a start sequence of predetermined length followed by a sequence of trailing bits. The method comprises three steps. The first step consists of deriving a feedback bit from each generating sequence in a P subsequence in accordance with a specified rule where a generating sequence is any sequence of contiguous bits in the P subsequence having the same length as the start sequence. The bit that follows a generating sequence is called the trailing bit for that generating sequence. The second step of the method consists of determining a sequence of one or more modifier bits to be used in modifying the P subsequence. The third step of the method consists of modifying the P subsequence utilizing the one or more modifier bits.
摘要翻译： 本发明是用于通过用由多个邻接P子序列组成的主伪随机比特序列调制光束来确定光束通过其传播介质的旋转的方法和装置。 每个P子序列包括预定长度的开始序列，随后是后续位序列。 该方法包括三个步骤。 第一步包括根据指定规则从P子序列中的每个生成序列导出反馈比特，其中生成序列是具有与起始序列相同长度的P子序列中的连续比特的任何序列。 跟随生成序列的位称为该生成序列的尾随位。 该方法的第二步是确定用于修改P子序列的一个或多个修饰符比特的序列。 该方法的第三步包括利用一个或多个修饰词比特来修改P子序列。
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公开(公告)号：US5883716A
公开(公告)日：1999-03-16
申请号：US893961
申请日：1997-07-15
申请人： John G. Mark , Daniel A. Tazartes
发明人： John G. Mark , Daniel A. Tazartes
IPC分类号： G01C19/72
CPC分类号： G01C19/726
摘要： A closed-loop system for regulating a fiber optic gyroscope is configured so that the residual error of a so-called deadbeat system assumes a higher order function of frequency. The closed-loop gyro includes a rate controller within the feedback path. The rate controller receives the gyro output from the last loop transit corrected for d.c. offset and for nominal dither and outputs a gyro rate estimate. The rate controller includes a plurality of feedback integrators in cascaded relationship. In this way, the residual gyro error associated with inherent loop delay is elevated to a higher-order relationship to sensed gyro rate. As a result, a substantial reduction in residual error as a function of sensed gyro rate occurs throughout the range of operational gyro frequencies.
摘要翻译： 配置用于调节光纤陀螺仪的闭环系统被配置为使得所谓的失谐系统的残余误差假定频率的高阶函数。 闭环陀螺仪包括反馈路径内的速率控制器。 速率控制器接收从最后循环传输的陀螺仪输出。 偏移和用于标称抖动，并输出陀螺仪速率估计。 速率控制器包括多个级联关系的反馈积分器。 以这种方式，与固有环路延迟相关的残余陀螺仪误差升高到与感测陀螺仪速率的高阶关系。 结果，作为感测陀螺仪的函数的残余误差的显着减少发生在操作陀螺仪频率的整个范围内。
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公开(公告)号：US5604308A
公开(公告)日：1997-02-18
申请号：US589578
申请日：1996-01-22
CPC分类号： G01P15/13
摘要： A digital circuit for adapting the output of a closed-loop accelerometer to a utilization circuit where the cycle time of the rebalance loop of the accelerometer is unrelated to the cycle time of the utilization circuit. A register receives and stores a digital value representative of measured acceleration and a bank of serially-arranged divide-by-two counters accepts the output of the rebalance loop clock. A gate arrangement makes one-by-one correlations between the states of the register and the outputs of the divide-by-two counters. A trigger circuit receives the gate outputs, providing a pulse when triggered by a downgoing edge of a square wave output of the gate array. A counter receives the pulse stream and is gated, in turn, in accordance with the cycle time of the utilization circuit so that the accelerometer data employed therein is representative of the portion of the acceleration occurring during a cycle of the utilization circuit.
摘要翻译： 一种用于将闭环加速度计的输出适配到利用电路的数字电路，其中加速度计的重新平衡环路的周期时间与利用电路的周期时间无关。 寄存器接收并存储表示测量加速度的数字值，并且串行排列的二位计数器的存储体接受重新平衡环路时钟的输出。 门阵列在寄存器的状态和分频计数器的输出之间形成一个一个的相关性。 触发电路接收栅极输出，当由栅极阵列的方波输出的下降沿触发时提供脉冲。 计数器接收脉冲流，并且根据利用电路的周期时间进行选通，使得其中使用的加速度计数据代表在利用电路的周期期间发生的加速度的部分。
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7.发明授权
公开(公告)号：US5570304A
公开(公告)日：1996-10-29
申请号：US281348
申请日：1994-07-27
申请人： John G. Mark , Daniel A. Tazartes
发明人： John G. Mark , Daniel A. Tazartes
CPC分类号： G01C21/16 , Y10S388/902
摘要： A method for thermal modeling and updating of bias errors in inertial navigation instrument outputs relies upon piecewise cubic spline encoding of data. The temperature range of the thermal model is divided into contiguous intervals of equal length. Instrument bias-versus-temperature data is encoded on an interval-by-interval basis with all intervals normalized so that cubic polynomials of identical form may be fitted between boundary intervals defined by function values and slopes. Instrument bias error at a measured temperature is estimated in the field and an update point (bias, temperature) established. The particular interval is located and the thermal model is re-fit accordingly in the region of the relevant interval. The spline parameters are then adjusted to accommodate the estimated bias error thereby updating the instrument thermal model of bias.
摘要翻译： 惯性导航仪输出偏置误差的热建模和更新方法依赖于数据的分段三次样条编码。 热模型的温度范围分为相等长度的连续间隔。 仪器偏置温度数据以逐个间隔为基础进行编码，所有间隔都被归一化，使得相同形式的三次多项式可以在由功能值和斜率定义的边界间隔之间拟合。 在测量温度下的仪器偏置误差在现场进行估计，并建立更新点（偏置温度）。 定位特定的间隔，并且在相关间隔的区域内相应地重新拟合热模型。 然后调整样条参数以适应估计的偏差误差，从而更新仪器热偏置模型。
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公开(公告)号：US5521555A
公开(公告)日：1996-05-28
申请号：US279509
申请日：1994-07-25
CPC分类号： G01J1/44 , G01C19/721 , H03F3/082
摘要： An amplifier topology for receiving signals output from a fiber optic rotation sensor and producing voltages that may be processed to determine the rotation rate includes a photodiode for receiving an optical signal and producing a corresponding electrical photodiode output signal. An ultra low noise and ultra low capacitance differential input stage is connected to receive the photodiode output signal. An operational amplifier having low noise and ultra-wide bandwidth is connected to the ultra low capacitance differential input stage to receive the output signal therefrom as a driving signal and to produce a low noise output signal. The differential input stage comprises a first amplifier circuit that includes a first transistor connected to the photodetector to act as a first buffer having low noise, low capacitance and unity gain. The first amplifier circuit also includes a second transistor configured as a first voltage follower connected between the output of the first buffer and the operational amplifier to isolate the output of the first buffer from parasitic capacitive loading from a biasing network. The differential input stage further comprises a second a second amplifier circuit that includes a third transistor having an input connected to a reference potential, the third transistor acting as a second buffer having low noise, low capacitance and unity gain. The second amplifier circuit also includes a fourth transistor configured as a second voltage follower connected between the output of the second buffer and the operational amplifier.
摘要翻译： 用于接收从光纤旋转传感器输出的信号并产生可被处理以确定旋转速率的电压的放大器拓扑包括用于接收光学信号并产生相应的光电二极管输出信号的光电二极管。 连接超低噪声和超低电容差分输入级，以接收光电二极管的输出信号。 具有低噪声和超宽带宽的运算放大器连接到超低电容差分输入级，以将其输出信号作为驱动信号接收并产生低噪声输出信号。 差分输入级包括第一放大器电路，其包括连接到光电检测器的第一晶体管，以充当具有低噪声，低电容和单位增益的第一缓冲器。 第一放大器电路还包括被配置为连接在第一缓冲器的输出端和运算放大器之间的第一电压跟随器的第二晶体管，以将第一缓冲器的输出与偏置网络的寄生电容负载隔离开来。 差分输入级还包括第二个第二放大器电路，其包括具有连接到参考电位的输入的第三晶体管，第三晶体管用作具有低噪声，低电容和单位增益的第二缓冲器。 第二放大器电路还包括被配置为连接在第二缓冲器的输出端和运算放大器之间的第二电压跟随器的第四晶体管。
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公开(公告)号：US5485273A
公开(公告)日：1996-01-16
申请号：US690174
申请日：1991-04-22
CPC分类号： G01C19/66
摘要： Disclosed herein is a Ring Laser Gyroscope Enhanced Resolution System comprising, in a preferred embodiment, a sampling frequency modulation phase-locked loop (or "chirp") which is used in combination with the fast filter. Enhanced resolution is achieved by using the fast filter (preferably a moving average digital filter) to gather optically integrated rate data and accumulate this data. During the data gathering process, the accumulated data is sampled at a rate set by a frequency modulated ("chirper") phase-locked loop in order to remove undesirable data due to aliasing effects upon the digital filter. In this manner, an enhanced resolution of the gyroscope angular measurement is achieved.
摘要翻译： 本文公开了一种环形激光陀螺仪增强分辨率系统，其在优选实施例中包括与快速滤波器组合使用的采样频率调制锁相环（或“啁啾”）。 通过使用快速滤波器（优选移动平均数字滤波器）来收集光学积分的速率数据并累积该数据来实现增强的分辨率。 在数据采集过程中，以由频率调制（“啁啾”）锁相环设置的速率对累积数据进行采样，以便由于对数字滤波器的混叠效应而消除不期望的数据。 以这种方式，实现陀螺仪角度测量的增强分辨率。
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10.发明授权Apparatus and method for correcting ring laser gyroscope phase errors at turnaround 失效在周转时校正环形激光陀螺仪相位误差的装置和方法
公开(公告)号：US5004344A
公开(公告)日：1991-04-02
申请号：US405515
申请日：1989-09-11
IPC分类号： G01C19/66
CPC分类号： G01C19/662
摘要： Digitized heterodyne signals in a ring laser gyroscope are processed to determine the phase and acceleration of heterodyne signals at turnarounds in the angular motion of the frame of the ring laser. A hybrid analog/digital design that incorporates the necessary logic processes the turnaround data to produce a phase correction that can be added to the gyroscope count to correct phase errors that at each turnaround. Separation of high speed data processing from lower rate data simplifies the code and permits evaluation of turnaround correction performance. A fully digital system determines a phase distribution for the detected turnarounds and processes the phase distributions of the heterodyne signals for a multiplicity of turnarounds to determine an angle towards which the phase distributions are skewed and the amount of that skew. A phase correction is then calculated to compensate for turnaround-induced errors in measurements of phase differences between the two beams as a function of the skew angle and the amount of skew of the phase distribution.
摘要翻译： 处理环形激光陀螺仪中的数字外差信号被处理以确定环形激光器的框架的角运动中的外差信号的相位和加速度。 混合模拟/数字设计，包含必要的逻辑处理周转数据，以产生可以添加到陀螺仪的相位校正，以校正每次周转时的相位误差。 将高速数据处理与低速率数据分离简化了代码，并允许评估周转校正性能。 完全数字系统确定检测到的周转的相位分布，并处理多个转向的外差信号的相位分布，以确定相位分布偏斜的角度和该偏斜的量。 然后计算相位校正以补偿两个波束之间的相位差的测量中的周转引起的误差，作为相位分布的偏斜角和偏斜量的函数。
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