Boots – shoes – and leggings
Patent
1989-11-29
1991-09-17
Black, Thomas G.
Boots, shoes, and leggings
364453, 244 1711, G06F 1550
Patent
active
050500872
ABSTRACT:
An improved method and system for providing accurate attitude measurements at a location in an vehicle remote from its inertial navigation system is disclosed. A relatively low cost, lightweight attitude reference sensor is mounted in the location where accurate attitude measurements are desired. The INS and the attitude reference sensor each include gyros and accelerometers for determining attitude about and translations along pitch, yaw and roll axes. A microprocessor periodically estimates steady-state vehicle flexure between the INS and the attitude reference sensor. Gyro measurements from the attitude reference unit are directly integrated to determine the attitude of the attitude reference sensor. This output is slaved over the long term to the sum of the INS attitude and the flexure estimate to compensate continuously for drift and other errors associated with the outputs of the low cost attitude reference sensor. Long-term accuracy is assured by this slaving while short-term accuracy is assured by direct gyro integration.
REFERENCES:
patent: 3790766 (1974-02-01), Brown
patent: 3984072 (1976-10-01), von Pragenau et al.
patent: 4212443 (1980-07-01), Duncan et al.
patent: 4831544 (1989-05-01), Hojo et al.
Drude Kristie L.
Nyman Steven T.
Walrath Craig D.
Black Thomas G.
Westinghouse Electric Corp.
Williamson John K.
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