公开(公告)号：US20220178699A1

公开(公告)日：2022-06-09

申请号：US17600573

申请日：2020-04-03

Applicant: THALES

Inventor： Jacques COATANTIEC ,  Dominique BOUARD ,  Nicolas VERCIER

IPC: G01C21/16 ,  G01C25/00

Abstract: An inertial reference unit includes a first measurement channel comprising: a first high-performance inertial measurement unit comprising first measurement means for measuring specific forces and first measurement means for measuring angular velocities, a first computing unit able to compute pure inertial data based on the measurements of the first measurement unit; a second measurement channel comprising: a second inertial measurement unit of performance lower than the first inertial measurement unit, comprising second measurement means for measuring specific forces and second measurement means for measuring angular velocities; a second computing unit able to compute pure inertial data based on the measurements of the second measurement unit; an integrity check function able to implement a method for checking the integrity of the data of the first measurement channel based on the data provided by the second measurement channel; a synchronization means for synchronizing the measurements of the first and second inertial measurement units; the first and second inertial measurement units being mechanically mounted fixedly in the inertial reference unit.

公开(公告)号：US20240110790A1

公开(公告)日：2024-04-04

申请号：US18276892

申请日：2022-02-15

Applicant: THALES

Inventor： Nicolas VERCIER ,  Jacques COATANTIEC

IPC: G01C19/5747 ,  G01C25/00 ,  G01C21/16

CPC classification number: G01C19/5747 ,  G01C25/005 ,  G01C21/188

Abstract: A measurement of a vibrating inertial sensor disposed on a carrier and includes a resonator extending around two mutually perpendicular x and y axes defining an xy sensor frame of reference and comprising: at least one vibrating movable mass comprising at least two portions configured to vibrate in phase opposition in a direction x′ defining an x′y′ wave frame of reference, with the vibration wave forming an electrical angle θ relative to the x-axis; at least a pair of excitation transducers and a pair of detection transducers operating along the two axes x and y; the correction method being applied when the sensor is operating with a vibration wave vibrating along the x′-axis and comprising the following steps, when the carrier is substantially stationary: A commanding an electrical rotation of the vibration wave according to a commanded angular velocity Ωc, such that the electrical angle θ scans at least one angular range of kπ radians; then B retrieving the measured angular values Ωe measured by the inertial sensor over the angular range, and determining the mean Ωem of the angular values measured; then C subtracting the commanded angular velocity Ωc from the mean Ωem; with steps A to C being carried out for at least two different commanded angular velocities so as to determine at least two means of the measured angular values; then D determining: the mean electrical scale factor error FEem, and the actual angular value Ωv of the carrier plus a drift value Dm of the sensor, the determining being carried out on the basis of the commanded angular velocity Ωc and of the means Ωem of the measured angular values, according to the following formula:


Ωem−Ωc=(Ωv+Dm)+FEem·Ωc

公开(公告)号：US20230366701A1

公开(公告)日：2023-11-16

申请号：US18029890

申请日：2021-10-08

Applicant: THALES

Inventor： Nicolas VERCIER ,  Nicolas MARTIN

IPC: G01C25/00 ,  G01C19/574

CPC classification number: G01C25/005 ,  G01C19/574

Abstract: A method for calibrating the stiffness mismatch ΔK or quadrature Kxy of a vibrating angular sensor includes a resonator extending about two axes x and y defining a sensor frame xy, comprising a vibrating proof mass comprising two parts configured to vibrate in phase opposition with respect to each other in a direction x′ defining a wave frame x′y′, the direction x′ making an electrical angle to the axis x; and detection, excitation, quadrature compensation and stiffness adjustment transducers; the resonator having a stiffness matrix KC in the sensor frame and a stiffness matrix KO in the wave frame; the method comprising steps of: A determining the electrical angle; B recovering a quadrature or stiffness term of the stiffness matrix KO in the wave frame, the term being a sum of functions in cos(iθ) and sin(iθ); steps A and B being reiterated either for a plurality of electrical angles (θk), or for a duration during which the vibration wave continuously rotates through an electrical angle (θ(t)) varying as a function of time; C determining the amplitudes of the functions in cos(iθ) and sin(iθ); then D determining the stiffness mismatch ΔK or the quadrature Kxy, on the basis of the amplitudes.

公开(公告)号：US20230251107A1

公开(公告)日：2023-08-10

申请号：US18012963

申请日：2021-06-18

Applicant: THALES

Inventor： Nicolas VERCIER ,  Bernard CHAUMET ,  Bertrand LEVERRIER

IPC: G01C25/00 ,  G01C19/574

CPC classification number: G01C25/005 ,  G01C19/574

Abstract: A method for calibrating an inertial angular sensor, includes the steps of: A for at least two electrical angles (θj) of the vibration wave: A1 applying, via each of the three trim controls CTi, a sinusoidal stiffness disturbance PSi having a disturbance frequency fi, and for each applied disturbance: A11 determining and storing an estimated excitation force Fei to be applied to the resonator in the presence of said disturbance PSi, on the basis of excitation controls determined by the servo controls, B determining, on the basis of the three estimated excitation forces Fei i=1, 2, 3 stored in step A11, three 2×2 matrices M′i, a matrix M′i being representative of the response of the gyrometer to the disturbance PSi, C determining and storing an estimated inverse excitation matrix (formula (A)) and an estimated inverse detection matrix (formula (B)) on the basis of the three matrices M′i determined in step B, an excitation matrix E and a detection matrix D being respectively representative of the effects of the excitation chain and of the effect of the detection chain of the sensor.