Data processing: vehicles – navigation – and relative location – Navigation – Employing position determining equipment
Patent
1997-07-01
1998-10-27
Zanelli, Michael
Data processing: vehicles, navigation, and relative location
Navigation
Employing position determining equipment
702 93, G05D 100
Patent
active
058289801
ABSTRACT:
The invention is a method for compensating for coning in a strapdown inertial navigation system which utilizes groups of five successive incremental angles of rotation of a body-fixed coordinate system as measured by orthogonally-mounted gyros at regular measurement intervals, each group of five measurements being obtained during a group interval equal to five measurement intervals. The coning-compensated angular displacement of the body-fixed coordinate system about a fixed axis in space during a p'th group interval is obtained by summing the five measured incremental angles and a coning compensation term. The coning compensation term consists of the sum of: (1) one-half the cross-product of a first and a second vector sum, the second vector sum being the sum of the five incremental angles of rotation in a group and the first vector sum being the sum of the second vector sum over p groups; and (2) the weighted sum of three vector cross-products, the multiplier and the multiplicand of each vector cross-product being a weighted sum of five measured incremental angles. The coning-compensated angular displacement can be summed over p to obtain an accurate estimate of the vector angle of rotation over a plurality of group intervals.
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M.B. Ignagni, Efficient Class of Optimized Coning Compensation Algorithms, Journal of Guidance, Control and Dynamics, Vol. 19, No. 2, Mar.-Apr. 1996, pp. 424-429, American Institute of Aeronautics and Astronautics.
Mark John G.
Tazartes Daniel A.
Litton Systems Inc.
Malm Robert E.
Zanelli Michael
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