Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
  • G01C19/02—Rotary gyroscopes
  • G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
  • G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
  • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G01C21/18—Stabilised platforms, e.g. by gyroscope

Definitions

• the present invention relates to inertial systems for defining a heading, attitude, coordinates and speed of a carrier.
• a gyroscope is a sensor capable of detecting absolute rotations relative to stars along an input axis.
• a gyrometer is a sensor capable of detecting absolute rotational speeds with respect to stars along an input axis.
• An accelerometer is a sensor capable of detecting specific accelerations with respect to the stars along an input axis.
• Gyroscopes and gyroscopes are constructed from the properties of routers or vibrating elements for mechanical sensors or from the Sagnac effect for optical sensors such as laser gyroscopes or fiber optic gyroscopes.
• the accelerometers are mechanical and are built around a seismic mass controlled to maintain the center of an air gap using an electromagnetic or electrostatic motor, the engine control being the image of the specific acceleration.
• Gyroscopes and gyroscopes are mainly characterized by their false zero. It is called drift and it represents the output value of the sensor for an angle input (gyroscope case) or angular velocity (gyrometer case) zero.
• This drift is variable over time and can be considered as a noise that it is usual to characterize according to the Allan variance curve.
• bias the false zero of an accelerometer
• Cardan systems generally consist of a core carrying three gyroscopes and three accelerometers according to an orthonormal trihedron defining a system of reference axes. This heart is carried by three or four gimbal axes.
• the reference axes are stabilized by the gyro information which makes it possible to establish control commands controlling the gimbal motors.
• the reference axes are thus maintained in a predefined orientation regardless of the movements of the carrier, drift ready gyroscopes.
• the accelerometers then allow to give a particular orientation to this system by maintaining two reference axes pointed in the horizontal plane (perpendicular to the local vertical).
• the gyroscopes make it possible to point a horizontal axis towards the geographic north defined by the axis of rotation of the earth.
• the accelerometers in the horizontal plane are also used so as to form so-called "Schuler" loops damped using external information to the system, such as for example a speed information delivered by an electromagnetic loch or a Doppler loch for a ship or a pitot probe for an airplane.
• the accelerometer information makes it possible to calculate the displacements on the terrestrial globe, thus ensuring the navigation of the carrier vehicle of the system.
• the angular sensors of the gimbals make it possible to know the attitude of the vehicle and thus deliver information that can be used for its possible piloting.
• inertial sensors allowing this type of performance are today technologies such as RLG (gyrolasers) or FOG (fiber optic gyro) for which the manufacturing costs are very high.
• RLG gyrolasers
• FOG fiber optic gyro
• the object of the present invention is to improve conventional gimbal systems to achieve high-end navigation performance while using sensors of moderate performance (1 to 10 degrees per hour for example for the gyroscope or the gyroscope and 1 to 10 mg for accelerometers), thus leading to a significantly lower system cost.
• the subject of the invention is an inertial navigation system of a carrier, this carrier comprising a core mounted on a three-axis cardan system occupying a fixed position relative to the carrier, said core comprising gyro sensors enabling determining its angular velocity along three axes defining a reference trihedron, two of the axes defining a reference plane and the third axis being selected perpendicular to said reference plane.
• the system further comprises control and control means configured on the one hand to put the heart in continuous or alternating rotation around the third axis and on the other hand to exploit the information provided by the gyro sensors and than those provided by an accelerometer placed in the reference plane thus defined, so as to maintain the reference plane of the core in a given attitude relative to the horizontal plane or at least to be able to determine the attitude of the reference plane with respect to the horizontal plane and so as to determine the direction of the geographic north in the reference formed by the axes defining the reference plane.
• the continuous or alternating rotation is also carried out according to a determined period, the value of said period being defined in such a way that for a duration of observation equal to this value, the value of the variance of Allan the stability error of the gyro sensors is less than a given value defined from the determination accuracy of the desired geographical north.
• the device according to the invention may have certain particular characteristics.
• the control and control means are configured to exploit the information provided by the gyroscopic sensors as well as those provided by an accelerometer placed in the reference plane, so as to determine the attitude of the wearer, his geographical coordinates of longitude and latitude and altitude, as well as its velocity vector.
• the gyro sensors comprise gyroscopes and / or gyros.
• the two gyro sensors defining the reference plane are oriented along two perpendicular axes so that the reference trihedron thus formed is a trirectangular trihedron.
• control and control means are configured so as to maintain the reference plane of the core in the horizontal plane, so that the third axis of the reference trihedron is directed vertically.
• one or two axes of gimbals are locked in rotation. Only the third axis that allows the rotation of the heart about an axis perpendicular to the reference plane is equipped with an angular encoder.
• the invention also relates to a method for ensuring the inertial navigation of a carrier comprising an inertial navigation system comprising itself a core mounted on a three-axis gimbals system occupying a fixed position relative to the carrier, said core comprising gyro sensors for determining its angular velocity along three axes defining a reference trihedron, two of the axes defining a reference plane and the third axis being selected perpendicular to said reference plane.
• the core is rotated continuously or alternately, according to a determined period, around the third axis.
• the continuous or alternating rotation is carried out according to a determined period, the value of said period being defined in such a way that for a period of observation equal to this value, the value of the Allan variance of the stability error of the sensors gyroscopic is less than a given value defined from the determination accuracy of the desired geographical north.
• the information provided by the gyroscopic sensors as well as those provided by an accelerometer placed in the plane reference are used so as, on the one hand, to maintain the reference plane of the heart in a given attitude relative to the horizontal plane or at least to be able to determine the attitude of the reference plane relative to the horizontal plane and to on the other hand, to determine the direction of the geographic north in the reference formed by the axes defining the reference plane.
• phase of the modulation defining the angle information orientation of the measurement axes relative to the geographic North
• amplitude of the modulation defining the angle information of the local Latitude
• FIGS. 1 to 4 represent
• FIG. 1 an example of a 3-axis gimbal platform
• FIG. 2 an example of an Allan variance curve
• FIG. 3 an illustration of the principle of determining the speed of rotation imposed on the heart, in accordance with the invention.
• - Figure 4 two curves respectively illustrating the shape of the signals from a gyro sensor disposed in the reference plane and an angular encoder disposed at the axis perpendicular to the reference plane of the heart.
• FIG. 1 shows an example of a platform in a 3-axis gimbal structure known from the prior art and for which 3 gyroscopes or gyroscopes and 3 accelerometers are used. Such a platform can naturally be used to implement the invention.
• a configuration with a fourth gimbal axis creating redundancy on the roll axis is generally used for high dynamics applications, such as for aircraft.
• Such a configuration makes it possible to have an information redundancy, either with the roll axis or with the azimuth axis, said redundancy enabling the wearer to carry out movements for which at no time the gimbals axes align themselves with directions that are theoretically forbidden to them, such as a roll axis that could merge with the local vertical when looping an airplane
• Ghl, Gh2, Ahl, Ah2 are respectively the gyroscopic sensors and accelerometers defining the reference plane of the system.
• Gz and Az are respectively the gyroscopic sensor and the accelerometer related to the axis perpendicular to the reference plane or axis of azimuth or vertical.
• Gyroscopes control the angles of the gimbals using azimuth, roll and pitch motors to stabilize the attitude and azimuth of the heart, which becomes insensitive to the wearer's movements and the accelerometers allow to correct the horizontality of the axes 1 and 2 forming the reference plane by developing rotation commands for gyro sensors, gyroscopes or gyroscopes.
• the shafts of the gimbals are equipped with angular encoders and electrical connections allowing the passage of the signals either by rotating contacts or by flexible links in the case of limited displacements (generally on the axis pitch, but also on the roll axis for inertial navigation systems used on ships), or any other suitable technological means limiting friction torque to a minimum.
• the information returned by these angular encoders is used in particular to calculate the projections of the information from the sensors of the core to the gimbals engines through the networks of servo-control chains stabilizing the heart and to deliver the attitude of the wearer, as well as its course. , for piloting purposes for example.
• inertial systems One of the main functions performed by inertial systems is to define a course relative to the geographic North.
• gyroscope Gz makes it possible to rotate the heart around the azimuth axis so that, for example, Gh2, Ah2 are oriented towards the north.
• Ghl detects a projection of zero earth rotation since it is oriented East or West, and any deviation makes it possible to correct the error of orientation towards the North.
• Ahl and Ah2 make it possible to orient the axes in the plane of reference and any accelerometric bias causes an error.
• the measurement error of Ahl causes a parasitic projection of the vertical component of the Earth's rotation which thus generates a northward orientation error.
• the performance of the system is thus inter alia related to the residual drift of the gyroscope Ghl and the residual false zero of the accelerometer Ahl supposedly oriented to the east.
• the sound of the sensors is generally characterized by the Allan variance curve. This curve reports the standard deviation or variance of the noise as a function of the observation time horizon.
• Figure 2 is an example of an Allan variance curve obtained for inertial sensors in general.
• the variance of Allan varies with observation time and includes a characteristic trough commonly called the low or low point of the Allan variance.
• the instabilities observed to the right of the hollow, and therefore for long observation times, are generally the result of the sensitivity of the sensors to the temperature and its fluctuations over time.
• RLGs or FOGs used on high performance navigation plants have an asymptotic long-time value close to 0.01 degrees per hour.
• the mid-range tactical gyroscopes reach meanwhile
• a feature of the invention consists, in a new way, in exploiting this low point which appears for a determined observation time characteristic of the type of sensor considered, instead of exploiting the properties of the sensors observed for long times as do the systems corresponding to the state of the prior art.
• P denotes the performance of the sensors, in terms of stability, which it is necessary to maintain to obtain a high-end navigation system, for example some 0.01 degrees per hour or 100 micros, the sensors whose low point Allan's variance is consistent with this value becoming eligible for this use, which qualifies some of the sensors belonging to the tactical mid-range under what has been said previously.
• the vertical gyro Gz is used to drive the heart in rotation about the vertical axis, at a coherent revolution speed ⁇ 0 of an observation period T 0 located, as illustrated in FIG. the zone of the hollows of the variances of the sensors.
• Q 0 is defined by the following relation:
• the value of the parameter k is optimized for the system to meet its specifications for estimating the geographic North angle and estimating the latitude and longitude of the wearer.
• the intersection of PG with the Allan variance curve of the Ghl and / or Gh2 gyroscopes provides a window of time within which the value of TO is preferentially selected.
• PG represents the highest value of the Allan variance for obtaining the desired determination of the geographic north. This window corresponds to the domain for which the variance is small enough to obtain the desired inertial performance.
• T 0 T 0 + T 0 + T 0 + T 0 + T 0 + T 0
• the output of Gz is preferentially enslaved on ⁇ 0 , which implies that the absolute speed of the rotation of the core around the vertical axis in the Galilean direction is equal to ⁇ 0 .
• FIG. 4 shows two curves respectively illustrating the shape of the signals coming from a gyroscopic sensor disposed in the reference plane and indicating the variation of angular position measured by the sensor when the heart is rotating and of an angular encoder disposed at the level of the axis perpendicular to the reference plane of the heart, signal representing the angular position variation measured by this encoder, relative to a given reference axis, the reference axis of the gyro sensor for example.
• the outputs of the Gyr and Gh2 gyroscopic sensors are sinusoids of amplitude equal to the value of the Earth's rotation at the considered latitude.
• these modulated signals makes it possible, by measuring the time phase of these signals, and the time difference which separates them, in particular at the times of crossing of the time axes (zero crossing) of the signal supplied by the encoder disposed following the axis perpendicular to the reference plane (axis of rotation in azimuth), to compare the directions pointed at the transition to the cardinal points North, South, East and West with the directions indicated by the angular encoder of the azimuth axis.
• the measurement of the deviations makes it possible, by means of the implementation of a simple mathematical treatment of filtering type for example, to determine a heading with a very small error. This gives increased performance of several orders of magnitude, not from the use of sensors with exceptional intrinsic stability, but from the exploitation of predictable physical characteristics, and easily reproducible.
• the principle of the invention therefore consists in filtering the signal delivered by the gyroscopic sensor considered, sinusoidal measurement signal embedded in the general noise of the sensor, by digital filtering for example, the filter implemented being a bandpass filter centered on the rotation period of the heart.
• filtering advantageously makes it possible to eliminate the noise situated outside the band of interest so that the signal obtained is a sinusoidal signal affected by a residual noise corresponding to the drift of the sensor over time; this noise being so much weaker that the frequency of the sinusoid is close to the hollow of Allan's variance and this hollow is low.
• the principle implemented in the context of the invention is that the rotation of the core is used to overcome the out-of-band noise of the sensors while the noise in the band that can not be filtered by a bandpass is simply minimized by the choice of the operating point related to the shape of the Allan curve.
• This operating principle can be implemented by using various types of inertial systems with a core having a greater or lesser degree of freedom with respect to the wearer, provided that the rotation of the heart around a perpendicular axis to its reference plane, defined by two gyro sensors, oriented along two distinct axes can be achieved, and that we can have the angular measurement made by the encoder measuring the rotation of the heart around this axis.
• the damping of the Schuler oscillation which, in known manner, disturbs the stability of the heart plate and the information delivered by the inertial unit can be achieved using external speed information such as GPS, the log, the odometer, the doppler radar or the anemometer.
• External accelerometers also make it possible to determine this damping.
• a second accelerometer disposed in the same plane and perpendicular to the first and can be used, and a third accelerometer arranged perpendicularly to the reference plane, that is to say along the azimuth axis.
• one, two or three accelerometers can be arranged outside the system so as to achieve the damping of the Schuler oscillation, as a function of the number of accelerometers arranged on the core and according to the number of information delivered by the system, eg attitude, heading and navigation.
• a single gyroscope or gyroscope with an axis of reference oriented along the reference plane, used for its low point of Allan variance compatible with the desired accuracy for the navigation system, is essential to obtain an observation of the rotations in the horizontal plane. performing well in the long run.
• a second gyro or gyroscope with an input axis oriented along the reference plane and arranged perpendicularly to the first is necessary to ensure a short-term control of the orientation of the heart in the horizontal plane. However, its stability performance may be less.
• the supposed horizontal sensors When the supposed horizontal sensors are not at right angles to the vertical sensor, they detect, in addition to rotations of the heart around the horizontal plane, the projections of the rotation of the heart along the vertical axis.
• This option may be advantageous for reducing certain defects specific to certain sensor technologies: blind zone laser gyroscopes or average drifts vibrating gyroscopes for example.
• a typical embodiment of the present invention consists in using a core mounted on a three-axis gimbal system, comprising three gyroscopic sensors, gyroscope or gyrometers, whose measurement axes are oriented according to an orthogonal trihedron, the system being provided with means for maintaining the reference plane of the heart in the horizontal plane. In this way the axis perpendicular to the reference plane is maintained vertically.
• the heart also comprises at least one accelerometer whose measurement axis is perpendicular to the vertical axis and included in the reference plane.
• This set thus constitutes a core of inertial sensors (gyroscopic sensors and accelerometer (s)) carried by three axes of gimbals whose axis is rotated inertial from the measurement provided by the vertical gyro.
• the rotation frequency around the vertical axis is chosen so that over a period of rotation the short-term instabilities of the drift of one of the two gyrometers defining the reference plane (coinciding with the horizontal plane) is minimum.
• the measurement obtained from the accelerometer provides information that is used to maintain the heart on a horizontal attitude while the wearer is moving.
• the information obtained from the two gyroscopic sensors defining the reference plane are in the form of modulated signals due to the action of the horizontal component of the Earth's rotation. on these two sensors whose measurement axes are placed horizontally. They make it possible to identify an orientation with respect to the geographic North.
• the angular sensors (encoders) carried by the gimbals axes provide for their information that can provide information heading and attitude of the wearer.
• the information provided by the gyrometers thus makes it possible to establish the latitude of the wearer and the information provided by the accelerometer makes it possible to establish the local longitude.

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• Engineering & Computer Science (AREA)
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• 2015
  • 2015-12-04 FR FR1561888A patent/FR3044756B1/fr not_active Expired - Fee Related
• 2016
  • 2016-11-28 WO PCT/EP2016/078957 patent/WO2017093166A1/fr active Application Filing
  • 2016-11-28 US US15/780,853 patent/US10718614B2/en active Active
  • 2016-11-28 EP EP16806008.5A patent/EP3384241A1/de not_active Ceased
  • 2016-11-28 CN CN201680081092.8A patent/CN108603761A/zh active Pending
  • 2016-11-28 EP EP24181600.8A patent/EP4403874A2/de active Pending

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