US3694631A
Expired / Lapsed
US
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Two-resolver, strapped-down inertial reference system
Assignee: General Electric Co
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Filing: 1969-12-30
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Granted: 1972-09-26
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Expires: 1989-12-30
Abstract
Abstract The strapped-down reference system attains the equivalence of a three- and four-gimbal, inertial reference system by using a forward resolver chain, which can be of relatively low accuracy, to derive gimbal angle values, and high-accuracy feedback resolvers to derive signals to cage the gyroscopes. The gyroscopes are caged by pulse torque techniques and integration of angular rates is performed in an essentially digital fashion by pulse generators and stepping motors.
Inventors
- 👤 Paul G Cushman
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 04:47
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/10; G01C21/12; G01C21/16; G01C21/183
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
182 words
In a strapped-down inertial reference system comprising: a. a plurality of gyroscopic means for mounting on a rotatable body to generate a corresponding plurality of body-angle rotation-measurement signals indicative of the rotation of the boDy about a corresponding plurality of respective axes of the body, and b. a corresponding plurality of torsion means responsive respectively to a corresponding plurality of torsioncontrolling signals for caging the respective gyroscopic means to the body, the improvement comprising: c. a first resolution means for receiving said body-angle rotation-measurement signals and generating a plurality of gimbal-angle rotation signals, d. a plurality of pulse generating means, each of which receives a respective gimbal-angle rotation signal for generating a discrete output pulse each time the respective received gimbalangle rotation signal reaches a predetermined value, e. a second resolution means for receiving said discrete output pulses from each pulse generating means for generating said torsion controlling signals, and f. a plurality of stepping motors responsive to said discrete output pulses from said pulse generating means for driving the first and second resolution means with respect to at least two axes.
Claim 2
Dependent Claim
182 words
In a strapped-down inertial reference system comprising: a. a plurality of gyroscopic means for mounting on a rotatable body to generate a corresponding plurality of body-angle rotation-measurement signals indicative of the rotation of the boDy about a corresponding plurality of respective axes of the body, and b. a corresponding plurality of torsion means responsive respectively to a corresponding plurality of torsioncontrolling signals for caging the respective gyroscopic means to the body, the improvement comprising: c. a first resolution means for receiving said body-angle rotation-measurement signals and generating a plurality of gimbal-angle rotation signals, d. a plurality of pulse generating means, each of which receives a respective gimbal-angle rotation signal for generating a discrete output pulse each time the respective received gimbalangle rotation signal reaches a predetermined value, e. a second resolution means for receiving said discrete output pulses from each pulse generating means for generating said torsion controlling signals, and f. a plurality of stepping motors responsive to said discrete output pulses from said pulse generating means for driving the first and second resolution means with respect to at least two axes.
Claim 3
Dependent Claim
31 words
A system according to claim 1 further comprising a single-axis platform responsive to one of said gyroscopic means driving the first and second resolution means with respect to an additional axis.
Claim 4
Dependent Claim
245 words
In a strapped-down inertial reference system comprising: a. a plurality of gyroscopic means for mounting on a rotatable body to generate a corresponding plurality of body-angle rotation-measurement signals indicative of the rotation of the body about a corresponding plurality of respective axes of the body, and b. a corresponding plurality of torsion means responsive respectively to a corresponding plurality of torsion-controlling signals for caging the respective gyroscopic means to the body, the improvement comprising: c. a first resolution means for receiving said body-angle rotation-measurement signals and generating a plurality of gimbal-angle rotation signals, d. a plurality of pulse generating means, each of which receives a respective gimbal-angle rotation signal for generating an output pulse each time the respective received gimbal-angle rotation signal reaches a predetermined value, and e. a second resolution means for receiving the output pulses from each pulse generating means for generating said torsion controlling signals wherein there are three said gyroscopic means arranged respectively to measure the rotation of said body about X, Y and Z axes in terms of incremental angles of rotation Delta X, Delta Y, Delta Z, said body-angle rotation-measurement signals are three gimbal-angle signals measured respectively in terms of incremental angles Delta phi , Delta M, and Delta I, , said first resolution means derives the incremental gimbal-angle rotation signals from incremental angles of rotation according to the equation and, said second resolution means derives torsion-controlling signals corresponding to the incremental angles of rotation according to the equation
Claim 5
Dependent Claim
245 words
In a strapped-down inertial reference system comprising: a. a plurality of gyroscopic means for mounting on a rotatable body to generate a corresponding plurality of body-angle rotation-measurement signals indicative of the rotation of the body about a corresponding plurality of respective axes of the body, and b. a corresponding plurality of torsion means responsive respectively to a corresponding plurality of torsion-controlling signals for caging the respective gyroscopic means to the body, the improvement comprising: c. a first resolution means for receiving said body-angle rotation-measurement signals and generating a plurality of gimbal-angle rotation signals, d. a plurality of pulse generating means, each of which receives a respective gimbal-angle rotation signal for generating an output pulse each time the respective received gimbal-angle rotation signal reaches a predetermined value, and e. a second resolution means for receiving the output pulses from each pulse generating means for generating said torsion controlling signals wherein there are three said gyroscopic means arranged respectively to measure the rotation of said body about X, Y and Z axes in terms of incremental angles of rotation Delta X, Delta Y, Delta Z, said body-angle rotation-measurement signals are three gimbal-angle signals measured respectively in terms of incremental angles Delta phi , Delta M, and Delta I, , said first resolution means derives the incremental gimbal-angle rotation signals from incremental angles of rotation according to the equation and, said second resolution means derives torsion-controlling signals corresponding to the incremental angles of rotation according to the equation
Claim 6
Dependent Claim
38 words
A system according to claim 3 further comprising a plurality of stepping motors responsive to the output pulses from said pulse generating means and driving the first and second resolution means with respect to at least two axes.
Claim 7
Dependent Claim
31 words
A system according to claim 4 further comprising a single-axis platform responsive to one of said gyroscopic means driving the first and second resolution means with respect to an additional axis.
Claim 8
Dependent Claim
234 words
In a strapped-down inertial reference system comprising: a. a plurality of gyroscopic means for mounting on a rotatable body to generate a corresponding plurality of body-angle rotation-measurement signals indicative of the rotation of the body about a corresponding plurality of respective axes of the body, and b. a corresponding plurality of torsion means responsive respectively to a corresponding plurality of torsion-controlling signals for caging the respective gyroscopic means to the body, the improvement compRising: c. a first resolution means for receiving said body-angle rotation-measurement signals and generating a plurality of gimbal-angle rotation signals, d. a plurality of pulse generating means, each of which receives a respective gimbal-angle rotation signal for generating an output pulse each time the respective received gimbal-angle rotation signal reaches a predetermined value, and e. a second resolution means for receiving the output pulses from each pulse generating means for generating said torsion controlling signals wherein there are three said gyroscopic means arranged respectively to measure the rotation of said body about X, Y and Z axes in terms of incremental angles of rotation Delta X, Delta Y and Delta Z, said body-angle rotation-measurement signals are four gimbal-angle signals measured respectively in terms of incremental angles Delta A, Delta B, Delta C, and Delta D, where Delta D is a redundant incremental angle, said first resolution means derives incremental gimbal-angle rotation signals from incremental angles of rotation according to the equations
Claim 9
Dependent Claim
234 words
In a strapped-down inertial reference system comprising: a. a plurality of gyroscopic means for mounting on a rotatable body to generate a corresponding plurality of body-angle rotation-measurement signals indicative of the rotation of the body about a corresponding plurality of respective axes of the body, and b. a corresponding plurality of torsion means responsive respectively to a corresponding plurality of torsion-controlling signals for caging the respective gyroscopic means to the body, the improvement compRising: c. a first resolution means for receiving said body-angle rotation-measurement signals and generating a plurality of gimbal-angle rotation signals, d. a plurality of pulse generating means, each of which receives a respective gimbal-angle rotation signal for generating an output pulse each time the respective received gimbal-angle rotation signal reaches a predetermined value, and e. a second resolution means for receiving the output pulses from each pulse generating means for generating said torsion controlling signals wherein there are three said gyroscopic means arranged respectively to measure the rotation of said body about X, Y and Z axes in terms of incremental angles of rotation Delta X, Delta Y and Delta Z, said body-angle rotation-measurement signals are four gimbal-angle signals measured respectively in terms of incremental angles Delta A, Delta B, Delta C, and Delta D, where Delta D is a redundant incremental angle, said first resolution means derives incremental gimbal-angle rotation signals from incremental angles of rotation according to the equations
Claim 10
Dependent Claim
38 words
A system according to claim 6 further comprising a plurality of stepping motors responsive to the output pulses from said pulse generating means and driving the first and second resolution means with respect to at least two axes.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1975-09-26 | 1976-03-27 | 1976-09-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1979-09-26 | 1980-03-27 | 1980-09-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1983-09-26 | 1984-03-27 | 1984-09-26 | $7700.00 | Window Closed / Lapsed |