Data processing: vehicles – navigation – and relative location – Navigation – Employing position determining equipment
Patent
1996-11-01
1999-03-30
Zanelli, Michael
Data processing: vehicles, navigation, and relative location
Navigation
Employing position determining equipment
702 94, G05D 100
Patent
active
058900934
ABSTRACT:
The invention is a method and apparatus for compensating for sculling in a strapdown inertial navigation system. The method operates on a sequence of inputs .DELTA.V.sub.B (n) derived at times n.DELTA.t from the outputs of one or more accelerometers. Separately compensated quantities .DELTA.V.sub.Bc (m,p) calculated at times (pJ+1/2).DELTA.t for M values of m are obtained by summing A(m,k).DELTA.V.sub.B (pJ-j-k) over k from 0 to K-1 and over j from 0 to J-1 where the constants A(m,k) are chosen to minimize sculling error in the individual .DELTA.V.sub.Nc (m,p) quantities where .DELTA.V.sub.Nc (m,p) is the representation of .DELTA.V.sub.Bc (m,p) in the navigation frame of reference. The final compensated quantity .DELTA.V.sub.Bc (p) is obtained by summing B(m).DELTA.V.sub.Bc (m,p) over m where the constants B(m) are chosen to minimize sculling error in .DELTA.V.sub.Nc (p) where .DELTA.V.sub.Nc (p) is the representation of .DELTA.V.sub.Bc (p) in the navigation frame of reference.
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P.G. Savage; Strapdown System Algorithms; Advances in Strapdown Inertial Systems ( AGARD-LS-133); Neuilly Sur Seine, France: AGARD, 1984; p. 3/1-30 of v+224 pp.
Mark John G.
Tazartes Daniel A.
Litton Systems Inc.
Malm Robert E.
Zanelli Michael
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