公开(公告)号：US5067084A

公开(公告)日：1991-11-19

申请号：US357383

申请日：1989-05-25

Applicant: Shing P. Kau

Inventor： Shing P. Kau

IPC: G01C19/42 ,  G01C21/18

CPC classification number: G01C19/42 ,  G01C21/18 ,  Y10T74/1221

Abstract: In the present invention the inertial measurement unit system comprises a basic strapdown inertial measurement unit and an isolated fourth gyro strapped to a rotatable platform which is commanded to rotate at a rate equal to the spin rate of the vehicle body but in an opposition direction. The rotatable platform is controlled substantially by a control signal to cause the rotatable platform to turn at a rate substantially equal to the roll of the vehicle body but in an opposite direction. A signal processing means operates on (i) the output of an inertial navigational system computer representative of the rate of rotation of the inertial measurement unit along the roll axis, (ii), the output of the isolation gyro, and (iii) an output of a counter which counts the complete revolutions of the rotatable platform. In turn, an error signal is provided which is related to the rotation measurement error of the first rotation signal. In turn the error signal is fed into the navigational system computer for correction of the navigational system data for correcting that data affected by scale factor stability of the roll gyro of the inertial measurement unit.

Abstract translation: 在本发明中，惯性测量单元系统包括基本的捷联惯性测量单元和绑定到可旋转平台的隔离的第四陀螺仪，该旋转平台被命令以等于车体旋转速率但反对方向的速度旋转。 可旋转平台基本上由控制信号控制，以使得可转动的平台以基本上等于车体的滚动但在相反方向转动的速度。 信号处理装置对（i）惯性导航系统计算机的输出进行操作，所述惯性导航系统计算机代表惯性测量单元沿着辊轴的旋转速率，（ii）隔离陀螺仪的输出，以及（iii）输出 的计数器可以计数可旋转平台的整个转数。 反过来，提供了与第一旋转信号的旋转测量误差有关的误差信号。 反过来，误差信号被馈送到导航系统计算机中，用于校正导航系统数据，用于校正受惯性测量单元的滚动陀螺仪的比例因子稳定性影响的数据。

公开(公告)号：US07090170B1

公开(公告)日：2006-08-15

申请号：US10302388

申请日：2002-11-22

Applicant: Shing P. Kau

Inventor： Shing P. Kau

IPC: B64G1/36

CPC classification number: B64G1/36 ,  B64G1/1007 ,  B64G1/1021 ,  B64G1/105 ,  B64G1/28 ,  G01C21/16 ,  G05D1/0883

Abstract: A sensor alignment system and method is provided that facilitates the precise alignment determination of satellite sensors. The system and method utilizes an Inertial Measurement Unit (IMU) to facilitate alignment determination of multiples sensors on a satellite. The system and method performs a roll of the satellite around a preliminary sensor active axis, using the IMU to measure the rotation rate in both magnitude and direction. The sensor input is monitored by the IMU during the roll around the preliminary sensor axis. The data from sensor output obtained during the roll can be processed to calculate the difference between the preliminary sensor axis and the actual sensor axis. From this calculation the actual alignment of the sensor axis can be determined. Furthermore, by performing this alignment determination operation for multiple sensors the relative alignment between sensors can be determined.

Abstract translation: 提供了一种便于卫星传感器的精确对准确定的传感器对准系统和方法。 该系统和方法利用惯性测量单元（IMU）来促进卫星上多个传感器的对准确定。 系统和方法使用IMU在大小和方向上测量旋转速率，围绕初步传感器主动轴执行卫星卷。 传感器输入由IMU在围绕初始传感器轴的滚动期间监控。 可以处理在卷期间获得的传感器输出的数据，以计算初步传感器轴和实际传感器轴之间的差异。 从该计算可以确定传感器轴的实际对准。 此外，通过对多个传感器执行该对准确定操作，可以确定传感器之间的相对对准。

公开(公告)号：US5442560A

公开(公告)日：1995-08-15

申请号：US99076

申请日：1993-07-29

Applicant: Shing P. Kau

Inventor： Shing P. Kau

IPC: F41G7/00 ,  G01C21/16 ,  G06F165/00

CPC classification number: F41G7/007 ,  G01C21/16

Abstract: An inertial measurement unit is provided which includes a core inertial measurement unit having accelerometers and gyroscopes aligned along x, y and z axes to provide signals to an onboard computer to determine position of the vehicle upon which they are mounted while in movement. A fourth accelerometer is pivoted perpendicular to the direction of the gravitational field for measuring the gravitational field about the axis upon which it is mounted to provide a reference set of data to an onboard computer prior to movement of the vehicle upon which the system is mounted.

Abstract translation: 提供惯性测量单元，其包括具有加速度计和沿x，y和z轴对准的陀螺仪的核心惯性测量单元，以向车载计算机提供信号，以确定在运动时安装它们的车辆的位置。 第四加速度计垂直于重力场的方向枢转，用于测量围绕其安装的轴的重力场，以便在安装系统的车辆移动之前向车载计算机提供参考数据集。

公开(公告)号：US07120522B2

公开(公告)日：2006-10-10

申请号：US10827229

申请日：2004-04-19

Applicant: Shing P. Kau

Inventor： Shing P. Kau

IPC: F41G3/32 ,  G01C21/16

CPC classification number: F41G3/326 ,  F41G7/007

Abstract: A method for recursively determining alignment of a flight vehicle during flight is provided. The method includes generating data in a reference coordinate frame and in a second coordinate frame at a plurality of points in time during the flight, recursively generating first and second matrices from the data in the reference coordinate frame and the second coordinate frame, and at each point in time, determining an alignment output based on the inverted first matrix and the second matrix.

Abstract translation: 提供了一种用于在飞行中递归地确定飞行器的对准的方法。 该方法包括在飞行期间在多个时间点的参考坐标系和第二坐标系中生成数据，并从每个基准坐标系和第二坐标系中的数据递归地生成第一和第二矩阵 基于反转的第一矩阵和第二矩阵来确定对准输出。