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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 PDF

Info

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
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/FR2008/000783
Other languages
English (en)
Other versions
WO2009007530A2 (fr
Inventor
Jean-Paul Petillon
Marc Salesse-Lavergne
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Helicopters SAS
Original Assignee
Eurocopter France SA
Eurocopter SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eurocopter France SA, Eurocopter SA filed Critical Eurocopter France SA
Priority to US12/663,670 priority Critical patent/US8543281B2/en
Publication of WO2009007530A2 publication Critical patent/WO2009007530A2/fr
Publication of WO2009007530A3 publication Critical patent/WO2009007530A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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.
PCT/FR2008/000783 2007-06-08 2008-06-09 Procédé et système d'estimation de la vitesse angulaire d'un mobile Ceased WO2009007530A2 (fr)

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
FR0704096A FR2917175B1 (fr) 2007-06-08 2007-06-08 Procede et systeme d'estimation de la vitesse angulaire d'un mobile
FR0704096 2007-06-08

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 Ceased 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)

* Cited by examiner, † Cited by third party
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

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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
CN112204405A (zh) * 2020-01-17 2021-01-08 深圳市大疆创新科技有限公司 角速度测量机构、方法、装置、可移动平台和存储介质
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)

* Cited by examiner, † Cited by third party
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

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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

Patent Citations (4)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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
US20100268414A1 (en) 2010-10-21
FR2917175B1 (fr) 2010-04-16
WO2009007530A2 (fr) 2009-01-15
US8543281B2 (en) 2013-09-24
FR2917175A1 (fr) 2008-12-12

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