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Sensor Mounted Inertial Measurement System

IP.com Disclosure Number: IPCOM000079275D
Original Publication Date: 1973-Jun-01
Included in the Prior Art Database: 2005-Feb-26
Document File: 2 page(s) / 43K

Publishing Venue

IBM

Related People

Kroman, EJ: AUTHOR

Abstract

Normally, tracking of an object requires gimbal transformations to locate the object in absolute or relative navigation coordinates. The transformation expressions are subject to pick-off errors in the gimbal synchros or angular transducers. If the inertial measurement unit is also gimballed, in a separate set of gimbals, then the errors in the transformation expressions are subject to two sets of gimbal pick-off errors. By mounting a strap-down inertial unit to the sensor directly, the gimbal transformations are eliminated completely and replaced by the normal attitude transformation provided by strap-down inertial systems. The advantage of this configuration is that the sensor to body and body to inertial reference transformation are eliminated and replaced by a single sensor to inertial reference transformation.

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Sensor Mounted Inertial Measurement System

Normally, tracking of an object requires gimbal transformations to locate the object in absolute or relative navigation coordinates. The transformation expressions are subject to pick-off errors in the gimbal synchros or angular transducers. If the inertial measurement unit is also gimballed, in a separate set of gimbals, then the errors in the transformation expressions are subject to two sets of gimbal pick-off errors. By mounting a strap-down inertial unit to the sensor directly, the gimbal transformations are eliminated completely and replaced by the normal attitude transformation provided by strap-down inertial systems. The advantage of this configuration is that the sensor to body and body to inertial reference transformation are eliminated and replaced by a single sensor to inertial reference transformation.

The drawing shows a landmark tracking configuration of a sensor mounted inertial measurement system. Gimballed sensor assembly platform 10 which is mounted on sensor gimbals 18 supports sensor 12, digital gyros 14 and digital accelerometers 16.

Sensor 12 provides an error indication which is fed back to correct sensor gimbals 18. Digital gyros 14 and digital accelerometers 16 provide signals for attitude integration and transformation to the local vertical frame.

When an object is not being tracked, the system can operate in a normal mode to provide navigation data either in a strap-down configuration, by lock...