WO2009007530A3 - Procédé et système d'estimation de la vitesse angulaire d'un mobile - Google Patents
Procédé et système d'estimation de la vitesse angulaire d'un mobile Download PDFInfo
- Publication number
- WO2009007530A3 WO2009007530A3 PCT/FR2008/000783 FR2008000783W WO2009007530A3 WO 2009007530 A3 WO2009007530 A3 WO 2009007530A3 FR 2008000783 W FR2008000783 W FR 2008000783W WO 2009007530 A3 WO2009007530 A3 WO 2009007530A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- angular speed
- signals
- aircraft
- estimating
- mobile
- Prior art date
Links
Classifications
-
- 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
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/03—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses by using non-electrical means
- G01P15/032—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses by using non-electrical means by measuring the displacement of a movable inertial mass
- G01P15/034—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses by using non-electrical means by measuring the displacement of a movable inertial mass for indicating angular accelerations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/0888—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values for indicating angular acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
- Navigation (AREA)
Abstract
L'invention concerne un procédé de détermination de la vitesse angulaire d'un aéronef, dans lequel : on mesure la vitesse angulaire par des gyromètres délivrant des signaux de vitesse angulaire mesurée ϖm, on mesure l'accélération angulaire de l'aéronef par des accéléromètres délivrant des signaux d'accélération angulaire ϖm, de l'aéronef, et on combine, par filtrage complémentaire dans le domaine des fréquences, les signaux de vitesse angulaire mesurée et les signaux d'accélération angulaire mesurée, pour obtenir des signaux de vitesse angulaire hybride ϖ.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/663,670 US8543281B2 (en) | 2007-06-08 | 2008-06-09 | Method and system for estimating the angular speed of a mobile |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0704096 | 2007-06-08 | ||
FR0704096A FR2917175B1 (fr) | 2007-06-08 | 2007-06-08 | Procede et systeme d'estimation de la vitesse angulaire d'un mobile |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2009007530A2 WO2009007530A2 (fr) | 2009-01-15 |
WO2009007530A3 true WO2009007530A3 (fr) | 2009-04-30 |
Family
ID=39284211
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2008/000783 WO2009007530A2 (fr) | 2007-06-08 | 2008-06-09 | Procédé et système d'estimation de la vitesse angulaire d'un mobile |
Country Status (3)
Country | Link |
---|---|
US (1) | US8543281B2 (fr) |
FR (1) | FR2917175B1 (fr) |
WO (1) | WO2009007530A2 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102175889B (zh) * | 2011-01-24 | 2012-11-07 | 长春工业大学 | 一种伺服转台角加速度自适应测量方法 |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2917175B1 (fr) * | 2007-06-08 | 2010-04-16 | Eurocopter France | Procede et systeme d'estimation de la vitesse angulaire d'un mobile |
US8020442B2 (en) * | 2008-05-22 | 2011-09-20 | Rosemount Aerospace Inc. | High bandwidth inertial measurement unit |
FR2951535B1 (fr) * | 2009-10-15 | 2011-12-02 | Sagem Defense Securite | Procede de detection de mouvements parasites lors de l'alignement d'une centrale inertielle |
US20120078570A1 (en) * | 2010-09-29 | 2012-03-29 | Apple Inc. | Multiple accelerometer system |
RU2483279C1 (ru) * | 2011-11-08 | 2013-05-27 | Учреждение Российской академии наук Институт проблем проектирования в микроэлектронике РАН (ИППМ РАН) | Безгироскопная инерциальная навигационная система |
US10094668B2 (en) * | 2014-10-09 | 2018-10-09 | Honeywell International Inc. | Systems and methods for producing two independent dissimilar attitude solutions, two independent dissimilar inertial solutions or both from one improved navigation device |
CN105242058B (zh) * | 2015-11-24 | 2018-03-30 | 哈尔滨工业大学 | 一种双频弹性干扰下角速度滤波方法 |
IL249050B (en) * | 2016-11-17 | 2018-03-29 | Elbit Systems Ltd | Self-calibrating inertial measurement method and system |
EP3336485B1 (fr) | 2016-12-15 | 2020-09-23 | Safran Landing Systems UK Limited | Composant aéronautique comprenant un capteur de braquage |
RU2658124C1 (ru) * | 2017-09-11 | 2018-06-19 | Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук | Способ измерения параметров движения объекта и система для его осуществления |
US11125552B2 (en) * | 2018-01-23 | 2021-09-21 | Dalian University Of Technology | Method for the rapid detection of the geometric accuracy of the linear motion axis of an NC machine tool |
CN110081883B (zh) * | 2019-04-29 | 2021-05-18 | 北京理工大学 | 适用于高速滚转飞行器的低成本组合导航系统及方法 |
CN110440805B (zh) * | 2019-08-09 | 2021-09-21 | 深圳市道通智能航空技术股份有限公司 | 一种偏航角的融合方法、装置及飞行器 |
WO2021142789A1 (fr) * | 2020-01-17 | 2021-07-22 | 深圳市大疆创新科技有限公司 | Mécanisme, procédé et appareil de mesure de vélocité angulaire, et plateforme mobile et support d'informations |
US20230022244A1 (en) * | 2020-12-18 | 2023-01-26 | VK Integrated Systems, Inc. | Distributed Sensor Inertial Measurement Unit |
CN113466483B (zh) * | 2021-06-17 | 2023-07-14 | 北京控制工程研究所 | 无陀螺情况下卫星角速度异常故障在线智能诊断方法 |
CN114184192B (zh) * | 2021-12-27 | 2023-09-26 | 北京计算机技术及应用研究所 | 一种惯性测量装置角速度测量通道传递函数的获取方法 |
CN116753243A (zh) * | 2023-08-18 | 2023-09-15 | 凌远科技股份有限公司 | 一种动态指向式旋转导向的传力轴承系统 |
CN118067073B (zh) * | 2024-04-16 | 2024-07-12 | 北京城建勘测设计研究院有限责任公司 | 地铁轨道变形程度监测方法、系统及存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3824386A (en) * | 1972-05-04 | 1974-07-16 | Hollandse Signaalapparaten Bv | Apparatus for determining the momentary tilt of a vehicle or craft |
US4601206A (en) * | 1983-09-16 | 1986-07-22 | Ferranti Plc | Accelerometer system |
US4628729A (en) * | 1984-07-16 | 1986-12-16 | U.S. Philips Corporation | Arrangement for determining the instantaneous angular position of a moving object |
US5363700A (en) * | 1992-11-17 | 1994-11-15 | Honeywell Inc. | Skewed axis inertial sensor assembly |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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US4254465A (en) * | 1978-08-03 | 1981-03-03 | Dynamic Sciences International, Inc. | Strap-down attitude and heading reference system |
IT1212737B (it) * | 1983-05-06 | 1989-11-30 | Daniele Gatti | Derivati pirimidinici ad azione antivirale. |
GB9714720D0 (en) * | 1997-07-14 | 2001-03-14 | British Aerospace | Inertial navigation accuracy enhancement |
US6634207B1 (en) * | 2000-10-10 | 2003-10-21 | Litton Systems, Inc. | Accelerometer compensation in an inertial navigation system |
FR2840073B1 (fr) * | 2002-05-23 | 2004-07-16 | Eurocopter France | Procede et dispositif pour estimer au moins la vitesse verticale d'un aeronef, en particulier d'un aeronef a voilure tournante |
FR2886020B1 (fr) * | 2005-05-19 | 2007-10-19 | Eurocopter France | Systeme d'estimation de la vitesse d'un aeronef et son application a la detection d'obstacles |
FR2898196B1 (fr) * | 2006-03-01 | 2008-04-25 | Eurocopter France | Procede et dispositif de positionnement hybride |
FR2917175B1 (fr) * | 2007-06-08 | 2010-04-16 | Eurocopter France | Procede et systeme d'estimation de la vitesse angulaire d'un mobile |
FR2959318B1 (fr) * | 2010-04-22 | 2013-04-05 | Eurocopter France | Localisation continue de grande precision |
-
2007
- 2007-06-08 FR FR0704096A patent/FR2917175B1/fr active Active
-
2008
- 2008-06-09 US US12/663,670 patent/US8543281B2/en active Active
- 2008-06-09 WO PCT/FR2008/000783 patent/WO2009007530A2/fr active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3824386A (en) * | 1972-05-04 | 1974-07-16 | Hollandse Signaalapparaten Bv | Apparatus for determining the momentary tilt of a vehicle or craft |
US4601206A (en) * | 1983-09-16 | 1986-07-22 | Ferranti Plc | Accelerometer system |
US4628729A (en) * | 1984-07-16 | 1986-12-16 | U.S. Philips Corporation | Arrangement for determining the instantaneous angular position of a moving object |
US5363700A (en) * | 1992-11-17 | 1994-11-15 | Honeywell Inc. | Skewed axis inertial sensor assembly |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102175889B (zh) * | 2011-01-24 | 2012-11-07 | 长春工业大学 | 一种伺服转台角加速度自适应测量方法 |
Also Published As
Publication number | Publication date |
---|---|
US8543281B2 (en) | 2013-09-24 |
WO2009007530A2 (fr) | 2009-01-15 |
US20100268414A1 (en) | 2010-10-21 |
FR2917175B1 (fr) | 2010-04-16 |
FR2917175A1 (fr) | 2008-12-12 |
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