High accuracy heading sensor for an underwater towed array

摘要

A high performance solid-state heading sensor for underwater towed arrays is taught that combines high quality MEMS sensor components with data processing filters to resolve performance limitations present in prior art heading sensors. The heading sensor employs rate gyroscopes, accelerometers, magnetometers and a customized Kalman filter formulation implemented on a micro-controller to improve performance in determining the roll, pitch and heading of a towed array.

主权项

1. A heading sensor for use with an underwater towed array, comprising:
at least three accelerometers, each capable of generating a voltage signal representing a measurement of acceleration, wherein each individual accelerometer is dedicated to measuring acceleration in one of the three spatial axes; at least three gyroscopes capable of generating a voltage signal representing a measurement of rotation, wherein each individual gyroscope is dedicated to measuring rotation in one of the three spatial axes; at least three magnetometers capable of generating a voltage signal representing a measurement of magnetic field, wherein each individual magnetometer is dedicated to measuring magnetic field in one of the three spatial axes; a temperature sensor capable of generating a voltage signal representing a measurement of temperature, wherein the accelerometers, magnetometers, gyroscopes and thermometer are solid state micro electro-mechanical systems components; an analog to digital converter and serial peripheral interface bus electrically joined to said accelerometers, gyroscopes, magnetometers, and temperature sensor, wherein said analog to digital converter will receive and digitize the voltage signals generated by the accelerometers, gyroscopes, magnetometers and temperature sensor and output the digitized signals through the serial peripheral interface bus; a micro controller electrically joined to said analog to digital converter through said serial peripheral interface bus, said micro controller receiving the digitized signals from said accelerometers, gyroscopes, magnetometers and temperature sensor and converting the digitized signals into heading, pitch and roll data; a serial binary output interface electrically joined to said micro controller as a means to output the heading, pitch and roll data; and wherein the individual accelerometers, magnetometers, gyroscopes, thermometer, analog to digital converter and serial peripheral interface, and micro controller are all mounted to a printed circuit board with a stabilized backing wherein said printed circuit board is contained in a non-ferrous cylindrical container that protects the components from hydrostatic pressure and mechanical forces, wherein said non-ferrous cylindrical container is capable of fitting within a diameter of 1.5 inches.