Miniaturized inertial measurement and navigation sensor device and associated methods

摘要

A miniaturized inertial measurement and navigation sensor device and a flexible, simplified GUI operating in real time are provided to create an optimum IMU/INS. The IMU includes multiple angle rate sensors, accelerometers, and temperature sensors to provide stability device. A navigation GUI tests algorithms prior to embedding them in real-time IMU hardware. MATLAB code is converted to C++ code tailored for real-time operation. Any point in the algorithm suite structure can be brought out as a data channel to investigate the pattern of operation. The data channels permit zooming in on the algorithm's operation for the open-loop angle, velocity and position drift measurements for bias-compensated channels. The GUI can be used to verify results of an extended Kalman filter solution as well as the implementation of the real-time attitude and heading reference system. When the code has been verified, it is compiled and downloaded into a target processor.

主权项

1. An inertial measurement unit comprising:
a base; three assemblies mounted in orthogonal fashion to the base in axial planar alignment, each assembly comprising:
eight angle rate sensors mounted to be aligned with each other in the assembly;eight temperature sensors mounted in the assembly, each sensor for sensing a temperature of a corresponding angle rate sensor; andeight accelerometers mounted in the assembly; a signal processor mounted on the base, the signal processor adapted for signal communication with the eight angle rate sensors, the eight temperature sensors, and the eight accelerometers; and an application resident on the signal processor for:
improving a precision of the signals from the eight angle rate sensors in each assembly with the use of signals from the respective eight temperature sensors;fusing the improved-precision signals from the eight angle rate sensors in each assembly to provide three respective virtual gyro data channels; andfusing signals from the eight accelerometers in each assembly to provide three respective virtual accelerometer data channels.