Acceleration error compensated attitude sensing and control apparatus and method

摘要

A structural body is monitored in angular position about at least one axis by utilizing a tilt sensor responsive to tilt about the one axis and a sensor responsive to angular acceleration of the body about the one axis. The tilt sensor also responds to the tangential component of angular acceleration and the angular acceleration sensor output contains a component which results from linear acceleration sensitivity along a cross axis of the angular acceleration sensor. The cross axis of the angular accelerameter is aligned with the sensitive axis of the tilt sensor and a portion of the tilt sensor output related to the ratio of the two sensor scale factors is injected into the angular acceleration sensor output to cancel the cross axis sensitivity. A portion of the angular acceleration sensor output related to the distance between the one axis and the mounting position of the tilt sensor is injected into the tilt sensor output to cancel the tangential component of angular acceleration.