JPH03501526A - Skew axis inertial sensor assembly - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Skew axis inertia sensor assembly The present invention provides a skew-axis inertial sensor assembly and a skew-axis inertial sensor assembly. Concerning gyro and accelerometer bases and methods for providing inertial references for commercial use. Redundant suspended compensatory reference unit (hereinafter referred to as “IRU”) for aviation and space applications. ) are well known in this field. The concept of redundancy greatly increases reliability and Therefore, it is intended to increase mission success. In general, redundant suspension A compensatory navigation system utilizes two or three separate inertial reference units. Each IRU is an individual inertial sensor device (hereinafter referred to as rIsAJ) for generating sensor data. The IRU provides the To generate the required sensor data, ISA uses three individual gyros and three and two separate accelerometers. All three gyros and three accelerometers and Electronics combined with one redundant I to generate complete inertial reference data. It must operate within the ISA for each IRU of the RU device.

The three IRU redundant suspended units just described have a total of nine gyros and nine controllers. Requires combination with speedometer. These three IRO type devices are “Fail’p/fs” Gyroscope", the counterbalance quality is used to make the common center point CCP the center of gravity. If the amount is made part of the base member 10, it should be provided on the same side of the support plane. I can do seven.

Preferably, the base member is of monolithic construction, but in order to form a single structure, A base member can consist of multiple separate parts that are fixed or joined together Mount the sensor so that the input shaft of the sensor meets the intended conditions. It is also within the scope of this invention.

Ring laser gyro technology has grown in recent years, producing gyros with superior performance. came. However, as is well known, gyro The ring laser gyro must be vibrated mechanically in order to rotate and vibrate. Ru. In an IRU that has three gyros installed orthogonally, the machine from one gyro Because the mechanical vibrations are cross-coupled to the other two gyros, the input of those gyros is It is also known to those skilled in the art that this results in a conical movement of the force axis. therefore, Obtaining an inertial sensor assembly that reduces cross-coupling between ring laser gyros is desirable.

Purpose of invention It is an object of the present invention to provide a single base member for mounting an inertial measurement sensor with redundant inertia measurement sensors. The goal is to have a way to provide standards.

The purpose of this invention is to provide an inertial reference in a skewed axis sensor assembly with dynamic stability. Find out how to do it.

The object of the present invention is to install a plurality of mechanically vibrated ring laser gyros. An improved sensor installation for the purpose of obtaining a component.

It is an object of the present invention to provide a plurality of accelerometers and a plurality of mechanically vibrated ring rails. A single unit made for high dynamic stability for mounting with Zagyro. The object is to obtain a single sensor module composed of a base member.

The object of the invention is to create a single base for mounting 6 accelerometers and 6 gyros. to obtain the equivalent of four individual redundant suspended compensatory reference devices. By obtaining a single sensor module oriented for

Summary of the invention In the present invention, the inertial sensor assembly is mounted on the surface of a single sensor base member. It includes six gyros and six accelerometers. The sensor base member is a one-piece body. It is preferable that the The input axes of each of the six gyros are mutually exclusive. The six gyros are arranged so that they are on the target and pass through a common center point, and the six gyros The input axes of each of the accelerometers are mutually exclusive, and the input axes of the gyro converge. Six accelerometers are placed so that they also pass through the same common center point. The input shafts of B and the input shafts of six accelerometers are equivalent to four redundant inertial reference devices. to provide sufficient sensor data for subsequent signal processing to obtain to form six individual rotation reference axes and six individual acceleration reference axes. In order to achieve this, the input shafts of six gyros and the input shafts of six accelerometers must be placed be done.

In one embodiment of the invention, a plurality of supports for attaching the base member to the chassis are provided. A holding member is provided on the sensor base member. A compound with an elastic center that defines the support surface. The base member is coupled to the chassis via a number of elastic members. Gyro input shaft and the support surface extends through a common center point defined by the input axis of the accelerometer. A base member, a support member, and an elastic member are arranged on the base member. The common center point is supported The center of gravity of the entire assembly is preferably the center of gravity of the entire assembly.

A method for providing multiple skew-axis inertia references is to provide six individual The process involved installing six gyros and six accelerometers on each axis.

Brief description of the drawing FIG. 1 is a top view of the inertial sensor assembly base member of the present invention, and FIG. Figure 3 is a projected cubic view taken from line 2, Figure 3 is a sectional view taken along line 3-3 in Figure 1, Figure 4 is a Projected bottom view taken from line 4-4 in Figure 2; Figure 5 is a detail of the support mount in Figure 1. Figure 6 is a top view of a branch of the structure of the ISA sensor in Figure 1, and Figure 7 is a top view of a branch of the structure of the ISA sensor in Figure 1. - Schematic elevational view of the sensor structure of the ISA in Figure 6 along line 3; Figure 8 is the gyrosensor structure; FIG. 2 is a plan view of FIG. 1 with the nare installed;

As particularly shown in FIGS. 1-8, the inertial sensor assembly of the present invention includes: Mounting for 6 gyros and 6 accelerometers (shown in subsequent figures) is surface It includes a base member 10 that provides. FIG. 1 shows a top view of base member 10. FIG. Be The base member 10 is arranged along the Y axis, more specifically, approximately on the X-Z plane (the Z axis does not extend beyond the plane of the paper). is shown to be symmetrical with respect to The base member 10 is The material has a high overall stiffness and is lightweight, such as aluminum It is preferable that the system consists of:

The base member 10 is divided into an upper part 12a and a lower part by a virtual support surface SP. It includes portion 12b. The virtual support plane SP is parallel to the X-Y plane and is 6, which will be explained later. uni, passing through the common center point cap.

Installing the gyro The base member portion 12a has an opening for mounting five annular gyros centered on the Z-axis. 31 to 35 included. Extension of each input shaft of each gyro when the gyro is installed The mounting opening is provided in the body member 10 such that the opening passes through the common center point ccp. Ru. Furthermore, the angle is the same between the Z reference axis and the gyro. Finally, The angles between Iro's input axes are equal. In the preferred embodiment, any one The spherical angle between the input axis of Iro 31 to 35 and the Z axis and the input axis of the adjacent gyro The spherical angle of is 63.4 degrees. This is the spherical angle between the normals to the faces of the dodecahedron. Ru. The upper part 12& of the base member is such that the input axis of the 6th gyro is parallel to the 2nd reference axis. The 6th gyro is attached to the 6th row so that the CCP also passes through. The gyro installation also includes the opening. Therefore, the spherical angle between the six gyros is equal.

Attaching the accelerometer Under the base member 10, which is the side opposite to the side on which the gyro is attached with respect to the support surface SP. Side part 121) K is provided with openings 41 to 45 for multiple mounting for six accelerometers. It will be done. The input axis of the accelerometer should be as close as possible to the center of gravity or center of mass of the base member. It is well understood by those skilled in the art of inertial sensor assemblies that it should be It is understood. In the implementation of the present invention, the acceleration is smaller than the gyro as a whole. It comes out (although it doesn't always come out that way). In this situation, the base member The lower portion 12b of the is structurally compact and allows the accelerometer to be placed at a common center point ccp. Can be brought close together. The details of this structure are shown in the projected elevation from line 2-2 in Figure 1. Figure 2 shows the drawing, Figure 3 is an elevational view along line 3-3 of Figure 1, and Figure 3 shows the elevation along line 4-4 of Figure 1. It is particularly shown in FIG. 4, which is a bottom plan view.

Finally, the lower part 12b has an opening for mounting five annular accelerometers centered on the two axes. 41 to 45 are included.

When the accelerometers (not shown) are installed, the input shaft extension of each accelerometer is common. The mounting openings 41 to 45 are formed in the base member 10 so as to pass through the center point ccp. It will be done. Furthermore, the angle between the input axis of the accelerometer and the two axes of each accelerometer is the same. most Later, the spherical angles between the input axes of adjacent accelerometers are equal. In a preferred embodiment is the spherical angle between the input axis and two axes of any one of the accelerometers 41 to 45. , the spherical angle between the input axes of adjacent accelerometers is 63.4 degrees, which is a dodecahedron. is the spherical angle between the normal to the surface of . The input axis of the 6th accelerometer is aligned with the Z reference axis The 6th accelerometer is installed so that it passes through the ccp. The lower portion 12b also includes an opening 46 for accelerometer mounting. Therefore, the acceleration of 6 cars The spherical angles between the two are equal.

The arrangement of the mounting openings for the gyro and accelerometer in the base member 10 is such that the nominal X-Z plane is maintained. Furthermore, each gyro has one input shaft. A sensor pair is provided on both sides of the support surface SP in line with the input axis of the accelerometer. Ru. In this way, six inertial reference axes are set. In a preferred embodiment of the invention In this case, the six inertial reference axes are the six axes of a regular dodecahedron, and each axis is a regular dodecahedron. perpendicular to the two opposing faces of Therefore, all sensor input axes are The spherical angle is 63.4 degrees (first place accuracy).

Suspension installation is done using tools. Suspension mounting for the sensor assembly is shown in FIGS. 1-8 for fixture 26. Shown in detail.

These diagrams show that the four suspension installations are only for one of the Asemp 1J200s. Although not shown in detail, other assemblies not shown are similarly constructed.

The sensor base member 10 is shown with a four-Q suspension mount 26. each For installation, the center line 27 of the tool is parallel to the two reference axes and equidistant from the common center point ccp. It's in a remote area. A resilient suspension member 28, as is well known in the art, is provided between each suspension attachment. , the chassis mounting is assembled to the fixture 11. Elastic suspension member 28 and the suspension mounting tool 26 are both fixed with bolts 801 shown in FIG. 8, for example. determined. For example, each elastic suspension member 28 is attached to the chassis 11 and A member 80 that allows the base member 10 to be suspended by the elastic suspension member 28. 2 is provided in each suspension mounting fixture 26 to press against the respective suspension member 28. A suspension surface 29 is provided. The suspension surface 29 allows the suspension mounting device 26 to The flat attachment forms a plane MP. Each suspension member 28 has a center point 30 of elasticity. I am prepared. The suspension members 28 all have elastic center points 30 at a common center point ccp. They are evenly spaced. The elastic center points 30 collectively pass through a common CCP. It is intended to form a flat suspension surface SP extending from the top to the right. Mounting is on surface M It is desirable that P be arranged parallel to the suspension surface SP and spaced apart from each other. X-Y The coordinate axes are nominally aligned with the suspension surface SP, and the X-Z plane is perpendicular to the suspension surface SP. Ruru. The suspension mounting tool 26 is also symmetrical about the X-axis and the X-Z plane. is intended. As shown in FIG. 2, the suspension mounting tool 26 and the accelerometer mounting tool 26 are Arranged in the lower part 12b of the main body member 1G on the same side as the apertures 41 to 4G has been done.

According to one aspect of the invention, the common center point CCP is located between the base member 10, the base All gyros and accelerometers attached to member 10 and suspension attachments are intended to be the same as the center of mass or center of gravity of the mass consisting of has been done. That is, the center point common to all reference axes of the sensor is The suspension surface SP has only the common center point CCP of the reference axis. Instead, it will also pass through the center of gravity.

Sensor geometry Referring to FIG. 6, six separate gyros 131-136 each have a are mounted on apertures 31-36, and six separate accelerometers 141-14G are It can be attached to the apertures 41-46. As aforementioned , the input axes of each sensor all pass through a common center point CCP. Gyro 1 The input axes 31 to 136 are axes Ag + Bg + Cg and Dg, respectively. .

Corresponds to Eg+ and Zg. Similarly, the input shafts of accelerometers 141-146 Aa, Ba, Ca, Da, respectively.

Corresponds to EJL and Za. Input shaft Ag and Aa, Bg and Ba+Cg and Ca, Dg and Da, Eg and E&, and Zg and Za are all collinear.

In a preferred embodiment of the invention, the base member 10 is constructed as previously described and illustrated herein. In order to achieve this, six pairs of sensors are formed, and each pair of sensors Separate accelerations from each gyro just opposite the common center point CCP It is equipped with one meter, and the input axes of each pair of sensors are collinear. Ru. Some of the geometry for the sensor of FIG. 6 is shown in FIG. The alignment of the paired sensors has been revealed. of each pair of accelerometers. The input shaft and the gyro input shaft form one straight reference axis, and the It is in. That is, the sensor axes Zg and Za are aligned on the reference axis 22 and the sensor axis Ag, Aa are on the reference axis AA, sensor axes Bg, Ba are on the reference axis BB The sensor axis Cg + Ca is placed on the reference axis CC, and the sensor axis D g and Da are on the reference axis DD, and the sensor axis Eg+Ea is on the reference fiEE. be. The six separate reference axes ZZ, AA, BB, CC, DD, EE are all , converge to a common center point CCP and are oblique to each other.

FIG. 8 shows a base member 1°0 with a gyro mounted thereon. moreover, Four suspension mounts are also shown.

As will be apparent to those skilled in the art, the structure shown in FIGS. It is also possible to configure it in a different direction from the surface. In the drawing, 12 planes are shaped A base member consisting of a spherical block is shown. Above the base member Both the upper part and the lower part include a first plane parallel to the X-Y plane, and the remaining part The five planes form a conical shape, and the first plane lies at the apex of this cone. Ru. Additionally, install the gyro and accelerometer as close to a common center point as possible. Apertures are formed by these planes to form a cavity. Tori The size of the aperture is indicated by the structure of the selected gyro or accelerometer sensor. Determined by As mentioned above, the unitary base member allows for specific placement. You can install 6 gyros and 6 accelerometers like Therefore, one accelerometer for each reference axis, whose input axes are collinear with each other. A pair of sensors consisting of a gyro and a gyro are provided. A reference axis will be obtained. The plane of the block is geometrically relative to all planes. The normals are configured so that they can intersect at a common center point.

The aperture is shown for mounting the base member of the block, but it is necessary to It merely refers to the means for securing the surface or sensor to the base member.

When using a base member with an aperture, consider the moment of inertia. By doing so effectively, good dynamic stability can be obtained. Of course, the present invention Without departing from the true spirit and scope, the base part can be modified by changing the sensor structure. It is possible to influence the structure of the material.

It will be apparent to those skilled in the art that the intended requirements and functionality described herein are not achieved. It is possible to make many changes to the structural configuration described above. .

In the illustrated embodiment of the invention, the apertures 32 and 3 are attached to the base member 10. Further, apertures 332 and 333 were formed below the position 3. this By adjusting the apertures of the two, the center of gravity can be adjusted to the crab common center point ccp. This provides a method for positioning so that the Other balanced structures are of course also possible. However, the matching aperture of the main body is... :l, plane relative to the X-2 plane In order to maintain symmetry, it is intended to be symmetrical about the X axis.

The material selected for the base member 10 and the case for the gyro or accelerometer. Depending on the base material, structural changes may, of course, be made within the scope of this invention. It becomes. Specifically, the aluminum base member and the steel case of the accelerometer With respect to the I found it advisable to lift the meter.

The present invention includes a mechanical dither mechanism that vibrates the gyro against the case. It is especially suitable for ring laser-gyro applications. In general, three-width pairs of links When the Glaser Gyro is installed so that it crosses the plant home, The input shaft tends to rotate in a conical pattern. This is a mechanical dither mechanism This is thought to be due to the cross-coupling between the network and the platform. mechanically shaken When implementing the invention with respect to a driven ring laser gyro, all basic The quasi-axes point toward a common center point, and the common center point is located at the center of mass. As a result, the suspension surface passes through the center of mass, resulting in excellent dynamic stability. The previously mentioned cross-linking problems will be eliminated.

A base member in a system requiring six gyros and six accelerometers is shown. However, modifications may be made to the base member and the se The sensor's input axes converge on a common center point, and the common center point is near the center of gravity. Any multiple gyros and accelerations in such a way that either or both of the following are satisfied: It is also possible to adapt it to a meter.

That is, the principle of the present invention can be applied to a three-width pair of gyros and accelerometers. Node Ruru.

Furthermore, while still remaining within the spirit and scope of the invention, forms part of the base member 10, and the common center point ccp is located at the center of gravity. Place the accelerometer and gyroscope on the same side of the suspension surface if It is also possible.

The base member has a unitary structure.

Procedure amendment writing method) 1. Display of incidents PCT/US89102221 , name of invention Skew axis inertial sensor assembly 3. Person who makes corrections Relationship to the incident: Patent applicant Name (Name) Honeywell Incorporated - + Tsurijin Residence: 811 Hidewa Tameike Building, 2-4-2 Nagatacho, Chiyoda-ku, Tokyo 6. Subject of correction 1) Document pursuant to the provisions of Article 184-5, Paragraph 1 of the Patent Law (3) As specified separately international search report

Claims (1)

[Claims] Examples of embodiments of inventions for which exclusive rights are claimed are clearly defined below. 1. a sensor mounting base member; The input shafts are mutually exclusive and pass through a common center point. a plurality of individual gyros mounted on the base member; The respective input axes are mutually exclusive and pass through the common center point. a plurality of individual accelerometers attached to the base member; A support comprising the base member, the accelerometer, and the gyro. the supporting mass is configured such that there is at least one plane of symmetry passing through the mass; Inertial sensor device. 2. each further has a center point of elasticity, and said center point of elasticity is said common center point. connecting said base member to a platform forming a suspension surface extending through a point; 2. Device according to claim 1, characterized in that a number of mating suspension members are provided. 3. the common center point is at the center of gravity of the suspended mass including the suspension member; The device according to claim 2, which is characterized by the following. 4. cleat, characterized in that the common center point is within the periphery of the base member; Room 2 equipment. 5. The elastic center points of the suspension members are equidistant from the common center point. The apparatus of claim 2, characterized in that: 6. The four suspension members and the four respective elastic center points are provided. When the suspension member and each of the four elastic center points are symmetrical with respect to the plane of symmetry, The device according to claim 2, characterized in that: 7. characterized in that the common center point is located at the center of gravity of the suspended mass. The device of Claim 1. 8. wherein the common center point is within the perimeter of the pace member; device of frame 1. 9. The pace member, the gyro, and the accelerometer collectively move into inertia. The special feature is that the centers constitute a single suspended mass that lies at said common center point. The apparatus of claim 1, which is characterized by: l0. The pace member is geometrically symmetrical with respect to the plane of symmetry and has the suspension Means are provided for bringing the center of gravity of the masses to said common center point. The apparatus of claim 1, characterized in that: 11. The gyro and the accelerometer are perpendicular to the plane of symmetry and the common The device of claim 1 is located on either side of the first plane passing through the center point of the device. Place. 12. One input axis of the gyro and one input axis of the accelerometer are collinear. and forming a common central reference axis perpendicular to the first plane. The apparatus of claim 11, characterized in that: 13. input shafts of five gyros among the plurality of gyros and the plurality of accelerations; The input shafts of five accelerometers of the meter are separately connected in a ring around the center reference Ayu. 13. The device of claim 12, characterized in that the device forms: 14. The central gyro has the common gyro compared to the remaining gyros of the plurality of The fact that the central accelerometer is close to the center point and that the central accelerometer is close to the The arrangement of claim 12 is characterized in that it is closer to said common center point than Place. 15. A sensor mounting pace member, Each input shaft is mutually exclusive and has a common center shaft within the periphery of said base member. six individual gyros mounted to the pace member through a center point; The respective input axes are mutually exclusive and pass through the common center point. six individual accelerometers attached to the pace member; comprising the base member, the individual accelerometers, and the individual gyros. the supported mass such that there is at least one plane of symmetry passing through the supported mass is configured, with each gyro input axis aligned with only one accelerometer input axis. Sex sensor device. 16. The input axis of each gyro is equiangularly spaced from the input axis of the adjacent gyro. The input axis of each accelerometer is at an equal angle from the adjacent accelerometer. 16. The device of claim 15, characterized in that the device is remote from the device. 17. All accelerometers and the gyro are arranged in an array of normals to the faces of the dodecahedron. , so that all input axes form the same spherical fish. The device of claim 15, characterized in that: 18. Further, each has an elastic center point, and the elastic center point is the common elastic center point. a platform with said pace member forming a suspension surface extending through a central point; Claim 15, characterized in that a plurality of suspension members are provided that are coupled to the Device. 19. The four suspension members and the four elastic center points of each of the four suspension members are provided. The suspension member and each of the four elastic center points are symmetrical with respect to the plane of symmetry. The device according to claim 18, characterized in that. 20. The gyro is a ring laser gyro. Equipment in room 15. 21. a block having twelve non-coplanar attachment means at its periphery; a plurality of support mounts on the block, one of said attachment means; To install one of the six gyros and one of the six acceleration units separately. The input shafts of the six gyros and the input shafts of the six accelerometers the attachment means are configured such that the force axes all pass through the common center point; The support mount is equidistant from the common center point and has a skewed axis redundant suspension. Sensor mounting pace member for inertial sensor device. 22. The input axis of each sensor is selected from among the normals to the plane of the dodecahedron. Claim 2, characterized in that the alignment is taken with respect to the normal that is 1 device. 23. The block, the gyro, and the accelerometer provide at least characterized in that a single suspended mass is formed with one plane of symmetry, The device of claim 21. 24. The gyro and the accelerometer pass through the common center point and are aligned in the plane of symmetry. Claim 23, characterized in that it is located on both sides of a first plane orthogonal to equipment. 25. One central input shaft of the gyro and one central input shaft of the accelerometer. Claim characterized in that the two input axes are perpendicular to the first plane. 24 devices. 26. The center gyro is larger than the remaining gyros among the gyros. , the central accelerometer is close to the common center point, and the central accelerometer is close to the common center point; characterized by being closer to the common center point compared to the remaining accelerometers; The apparatus of claim 25. 27. The gyro is a ring laser gyro. Room 21 equipment. 28. Both and A plurality of shafts are mounted on said body such that each input shaft passes through a common center point. a gyro and multiple accelerometers; and a support mass including the body, the gyroscope, and the accelerometer. The support mass is configured such that the center is the same as the common center point, and the support mass the gyroscope on the body such that there is at least one plane of symmetry through the quantity; (b) An inertial sensor device in which the positions of the accelerometer and the accelerometer are determined. 29. that there is a suspension plane passing through the common center point, and that the gyro is , all located on one side of the suspension surface, and the accelerometers are all located on one side of the suspension surface. The device of claim 28, characterized in that it is located on the other side. 30. a resilient suspension attachment on said body for coupling said body to a platform; that the fittings are biased and that the center of elasticity of the elastic suspension fixture is located within the common center. 29. The device of claim 28, characterized in that it lies on a suspension plane passing through the center point. 31. characterized by the presence of at least six gyros and six accelerometers , the apparatus of claim 28. 32. characterized by the presence of at least three gyros and three accelerometers , the apparatus of claim 28. 33. There are only four resilient suspension fixtures and said resilient suspension fixtures are aligned with said plane of symmetry. 31. The device of claim 30, characterized in that they match. 34. A credit card characterized in that the gyro is a link laser gyro. Equipment in room 30. 35. A common center point supporting 6 gyros, 6 accelerometers, and a podium. a center of a supporting mass including the podium, the gyro, and the accelerometer; The input axis of the Nagiki gyro and each The gyro and the gyro are connected such that the input axis of the gyro passes through the common center point. attaching an accelerometer to said body; and an elastic center point contained within said support plane. supporting said body on a resilient support mount having a plurality of skids; How to Configure a Nu-Axis Inertial Reference Device. 36. Furthermore, the gyro and the accelerometer are arranged to form six reference axes. a gyro and an accelerometer mounted and having an input axis along one of said reference axes; characterized by including a step of ensuring that only one exists; The method of claim 35. 37. Furthermore, the gyros are mounted so that they diverge at equal angles to each other, and including steps for mounting said accelerometers so that they diverge at equal angles; The method of claim 35, characterized in that: 38. arranging said suspended mass to conform to a plane of symmetry passing through it; The method of claim 35, characterized in that: 39. The main body, the gyro, and the accelerometer are suspended so that the suspension surface is through a common center point such that said common center point is at the center of gravity of said suspended mass. 39. The method of claim 38, further comprising the step of: 40. Further, the acceleration is performed so that the gyro is closer to the common center point than the gyro. Claim 35, characterized in that it includes a step for attaching a meter. Method.