| 摘要 |
An inertial sensor assembly (ISA) (12) includes a cluster (20) of three ring laser gyros (42, 44, 46), each gyro producing an output signal having a pulse repetition rate representative of the rate of angular deviation of the ISA (12) about one of three coordinate axes X, Y, and Z. The ring laser gyros (42, 44, 46) are asynchronously dithered at a relatively constant rate. The ISA (12) also includes a triad (30) of three accelerometers (72, 74, 76), with each accelerometer producing an output signal representative of the rate of velocity deviation of the ISA (12) along one of the X, Y and Z coordinate axes. A first processor, P1 (14), accumulates the pulses produced by each ring laser gyro (42, 44, 46) over its dither period. The resultant counts are stored in registers for subsequent sampling by the P1 processor (14) at a periodic sampling rate which is greater than the dither rate. The P1 processor (14) then synchronizes each sampled pulse count to a common sampling interval, thereby eliminating errors otherwise caused by using positional data values taken at different times. |
