公开(公告)号：WO1987003083A1

公开(公告)日：1987-05-21

申请号：PCT/US1986002410

申请日：1986-11-04

Applicant: MORRISON, Melvin, M.

IPC: G01C21/12

CPC classification number: G01C21/16 ,  G01P15/18

Abstract: An inertial measurement unit (10) which provides three axis acceleration and angular turning rate detection with a cubical magnetically suspended sensor mass (50) disposed within a cubical outer assembly (32). This sensor mass (50) is free to move mechanically independent from the outer assembly (32). The sensor mass (50) has a plurality of sensing and suspension elements (54, 56) of particular orientation on a selected plane for each axis of detection which face a corresponding set of sensing and suspension elements (40, 42) respectively on interior surfaces of said outer assembly. The sensing elements (40, 54) are advantageously cross-coupled to minimize cross-axis sensitivity. The invention utilizes several servo-control loops of conventional design to process outputs from the sensing elements (40, 54) and maintain the sensor mass (50) in proper orientation.