Boots – shoes – and leggings
Patent
1989-08-31
1991-03-19
Lall, Parshotam S.
Boots, shoes, and leggings
364559, 364725, 244 32, G01C 2100, G01S 2100, G06F 738, F41G 700
Patent
active
050016474
ABSTRACT:
An inertial transformation matrix generator generates a succession of Euler transformation matrices in inertial coordinates, and is useful for converting to inertial coordinates the responses of a sensor hard mounted on the hull of a craft (e.g., an aircraft). First, second and third rate-sensing gyros located proximately to said sensor are strapped down to the craft hull, and are oriented to sense the motion of the craft hull in three mutually orthogonal directions, for providing respective output signals indicative of components of craft hull motion in each of those three mutually orthogonal directions. The output signals of the gyros are digitized, and based on these digital signals successive incremental Euler transformation matrices are generated. Each successive incremental Euler transformation matrix and a respective other matrix are multiplied together to generate a respective product matrix, said other matrix initially being a initialization matrix and thereafter being the previously calculated Euler transformation matrix. Each successive current Euler transformation matrix is formed from each successive product matrix, which is done in preferred embodiments of the invention by adding to it at selected times a correction matrix derived by long term comparison of the matrices generated by the inertial transformation matrix generator and the inertial navigation system of the craft.
REFERENCES:
patent: 3412239 (1968-11-01), Seliger et al.
patent: 3545266 (1970-12-01), Wilson
patent: 4038527 (1977-07-01), Brodie et al.
patent: 4791573 (1988-12-01), Zemany et al.
Chan David S.
Clark Nancy M.
Rapiejko Stephen J.
Staver Daniel A.
Davis Jr. James C.
General Electric Company
Lall Parshotam S.
Limberg Allen L.
Pipala E. J.
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