Method and apparatus for determining orientation using a plurality of angular rate sensors and accelerometers

摘要

A method and apparatus for determining the orientation of an object relative to a coordinate system. The apparatus includes a body providing a reference for a local coordinate system. A rotatable sensor array is provided having more than one sensor and a rotational axis about which the rotatable sensor array rotates. A rotational drive system is provided for rotating the rotatable sensor array both to precise positions relative to the local coordinate system and at a precise rate relative to the local coordinate system. An angular position indicator to measure the angular position of the rotatable sensor array.

主权项

1. An apparatus for determining the orientation of an object relative to a geographical coordinate system, comprising:
a body providing a reference for a local coordinate system;
a rotatable sensor array having more than one sensor and a rotational axis about which the rotatable sensor array rotates with respect to the local coordinate system;a rotational drive system for rotating the rotatable sensor array both to precise positions relative to the local coordinate system and at a precise rate relative to the local coordinate system; andan angular position indicator to measure the angular position of the rotatable sensor array, whereby values measured in the local coordinate system are used to compute a rotation quaternion required to rotate the local coordinate system into the geographical coordinate system.