公开(公告)号：US06904377B2

公开(公告)日：2005-06-07

申请号：US10390200

申请日：2003-03-17

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

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

IPC分类号： G01C17/38 ,  G01C19/00 ,  G01C19/56 ,  G01C21/16 ,  G01C25/00 ,  G01L1/00

CPC分类号： G01C21/16 ,  G01C25/005

摘要： System and method for measuring force-dependent gyroscopic sensitivity. A force-effect model of the effects of acceleration on the output of a gyro triad is determined. Rotation sequences are then devised to permit excitation and observation of force-effect model parameters in order to provide calibration information for these parameters. A state diagram containing the gyro triad force-effect model parameters is derived from the force-effect model, where moving from one position in the state diagram to another position indicates the gyro triad error which would occur in rotating the gyro triad according to a corresponding motion. Searching for all possible closed loop paths achievable through the state diagram, by a multiple-axes rate table with a specified number of rotations, to separate gyro triad error calibration from the accelerometer calibration. Closed loop paths having minimal lengths and exhibiting larger error sensitivity are chosen to perform error parameter calibration and reduce force-dependent gyroscopic sensitivity.

摘要翻译： 用于测量力依赖陀螺仪灵敏度的系统和方法。 确定加速度对陀螺三能体输出的影响的力效应模型。 然后设计旋转序列以允许激发和观察力效应模型参数，以便为这些参数提供校准信息。 包含陀螺三能力力 - 效应模型参数的状态图从力 - 效应模型导出，其中从状态图中的一个位置移动到另一位置指示将根据相应的旋转陀螺仪三元组发生的陀螺仪三元组误差 运动。 通过状态图可以通过具有指定转数的多轴速率表搜索所有可能的闭环路径，从加速度计校准中分离陀螺仪三元组误差校准。 选择具有最小长度和显示较大误差灵敏度的闭环路径进行误差参数校准并减小力依赖陀螺仪灵敏度。