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    Gyro drift cancelation
    3.
    发明授权
    Gyro drift cancelation 有权
    陀螺漂移取消

    公开(公告)号：US09074888B2

    公开(公告)日：2015-07-07

    申请号：US13752030

    申请日：2013-01-28

    申请人： Thomas D. Linton ,  Michael T. Fox ,  Bruce E. Exely

    发明人： Thomas D. Linton ,  Michael T. Fox ,  Bruce E. Exely

    IPC分类号： G01C17/38 ,  G01C19/04 ,  G01C19/00 ,  G01C25/00

    CPC分类号： G01C19/04 ,  G01C19/00 ,  G01C25/005

    摘要： Methods, devices, and systems are presented for compensating for gyroscopic drift in a stabilized gimbal system mounted on a vehicle. When the vehicle is parked and the gimbal is not being commanded to move by an operator, encoders or resolvers of the gimbal stabilized system are read and periodically read thereafter. When the vehicle begins to move or the gimbal is commanded to move, the last periodic reading of the resolvers is used to determine the amount that the gimbal has moved during the rest period. A gyroscopic drift rate is computed by dividing the amount of angular movement by the time period between the readings, and the gyroscopic drift rate is used for corrections while the vehicle is moving or gimbal is commanded to move. Each time the vehicle stops, the gyroscopic drift rate is re-computed and updated. The gyroscope can be heated until the drift rate is constant with respect to temperature, further helping the calibration.

    摘要翻译： 提出了用于补偿安装在车辆上的稳定的万向节系统中的陀螺漂移的方法，装置和系统。 当车辆停放并且操作者未命令移动万向架时，读取万向节稳定系统的编码器或旋转变压器，并在此之后定期读取。 当车辆开始移动或者万向节被命令移动时，解析器的最后一次定期读数用于确定万向节在休息期间移动的量。 通过将角运动量除以读数之间的时间周期来计算陀螺仪漂移率，并且在车辆移动或者万向节命令移动时使用陀螺漂移速率进行校正。 每次停车时，重新计算和更新陀螺漂移率。 可以加热陀螺仪直到漂移速率相对于温度恒定，进一步有助于校准。

    GYRO DRIFT CANCELATION
    4.
    发明申请
    GYRO DRIFT CANCELATION 有权

    公开(公告)号：US20150025801A1

    公开(公告)日：2015-01-22

    申请号：US13752030

    申请日：2013-01-28

    申请人： Thomas D. Linton ,  Michael T. Fox ,  Bruce E. Exely

    发明人： Thomas D. Linton ,  Michael T. Fox ,  Bruce E. Exely

    IPC分类号： G01C19/04

    CPC分类号： G01C19/04 ,  G01C19/00 ,  G01C25/005

    摘要： Methods, devices, and systems are presented for compensating for gyroscopic drift in a stabilized gimbal system mounted on a vehicle. When the vehicle is parked and the gimbal is not being commanded to move by an operator, encoders or resolvers of the gimbal stabilized system are read and periodically read thereafter. When the vehicle begins to move or the gimbal is commanded to move, the last periodic reading of the resolvers is used to determine the amount that the gimbal has moved during the rest period. A gyroscopic drift rate is computed by dividing the amount of angular movement by the time period between the readings, and the gyroscopic drift rate is used for corrections while the vehicle is moving or gimbal is commanded to move. Each time the vehicle stops, the gyroscopic drift rate is re-computed and updated. The gyroscope can be heated until the drift rate is constant with respect to temperature, further helping the calibration.

    摘要翻译： 提出了用于补偿安装在车辆上的稳定的万向节系统中的陀螺漂移的方法，装置和系统。 当车辆停放并且操作者未命令移动万向架时，读取万向节稳定系统的编码器或旋转变压器，并在此之后定期读取。 当车辆开始移动或者万向节被命令移动时，解析器的最后一次定期读数用于确定万向节在休息期间移动的量。 通过将角运动量除以读数之间的时间周期来计算陀螺仪漂移率，并且在车辆移动或者万向节命令移动时使用陀螺漂移速率进行校正。 每次停车时，重新计算和更新陀螺漂移率。 可以加热陀螺仪直到漂移速率相对于温度恒定，进一步有助于校准。

    Stabilized common gimbal
    5.
    发明授权
    Stabilized common gimbal 有权
    稳定的常见万向节

    公开(公告)号：US06396235B1

    公开(公告)日：2002-05-28

    申请号：US09755819

    申请日：2001-01-05

    申请人： Thomas W. Ellington ,  Bruce E. Exely ,  Jeffrey S. Folmer ,  William S. Lambros ,  Thomas D. Linton ,  John P. Buck, Jr. ,  Russell R. Moning ,  Peter M. Ellis ,  Kenneth A. Roseman ,  James R. Marshall

    发明人： Thomas W. Ellington ,  Bruce E. Exely ,  Jeffrey S. Folmer ,  William S. Lambros ,  Thomas D. Linton ,  John P. Buck, Jr. ,  Russell R. Moning ,  Peter M. Ellis ,  Kenneth A. Roseman ,  James R. Marshall

    IPC分类号： G01C1948

    CPC分类号： F41G3/22 ,  Y10T74/1221

    摘要： A two axis (azimuth and elevation) stabilized common gimbal (SGC) for use on a wide variety of commercial vehicles and military vehicles which are employed in combat situations capable of stabilizing a payload of primary sensors and of mounting a secondary sensor payload that is independent of the moving axes. The SCG employs three gyroscopes, inertial angular rate feedback for providing gimbal control of two axes during slewing and stabilization. In addition the third (roll) gyroscope is used for performing automatic calibration and decoupling procedures. In this regard, the SCG provides an interface for the primary suite of sensors comprising one or more sensors having a common line-of-sight (LOS) and which are stabilized by electronics, actuators, and inertial sensors against vehicle motion in both azimuth and elevation. Remote positioning of the LOS of sensors in the primary suite is also accomplished, with the SCG providing an inertial navigation system (INS) which provides navigation and which detects the LOS for the primary suite of sensors relative to the vehicle. The aforementioned stabilized gimbal employs unique features such as automotive gyro calibration and decoupling algorithm that increases the producibility of the system and the stabilized gimbal has the capability of being remotely controlled via its system serial link where commands may originate from devices such as radio links or target trackers.

    摘要翻译： 用于多种商业车辆和军用车辆的双轴（方位和高程）稳定的通用万向架（SGC），用于能够稳定主传感器有效载荷并且安装独立的辅助传感器有效载荷的作战情况 的移动轴。 SCG采用三个陀螺仪，惯性角速率反馈，用于在回转和稳定期间提供两个轴的万向节控制。 此外，第三（滚动）陀螺仪用于执行自动校准和去耦程序。 在这方面，SCG为主要传感器套件提供了一个接口，该传感器包括一个或多个具有公共视距（LOS）的传感器，并且由电子，致动器和惯性传感器稳定，以便在方位角和 海拔。 传感器LOS在主套件中的远程定位也实现，SCG提供惯性导航系统（INS），其提供导航并且检测相对于车辆的主要传感器组的LOS。上述稳定的万向节应用 独特的功能，如汽车陀螺校准和解耦算法，提高系统的可靠性和稳定的万向节具有通过其系统串行链路进行远程控制的能力，其中命令可能来自诸如无线电链路或目标跟踪器的设备。