US4303978A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Integrated-strapdown-air-data sensor system
Assignee: Boeing Co
•
Filing: 1980-04-18
•
Granted: 1981-12-01
•
Expires: 2000-04-18
Abstract
Abstract A plurality of inertial measuring unit (IMU) modules (41A, B, C and D) each comprising gyros and accelerometers (61, 65 and 67) for sensing inertial information along two orthogonal axes, are strapdown mounted in an aircraft, preferably such that the sense axes of the IMUs are skewed with respect to one another. Inertial and temperature signals produced by the IMU modules, plus pressure signals produced by a plurality of pressure transducer modules (43A, B and C) and air temperature signals produced by total air temperature sensors (45A and B) are applied to redundant signal processors (47A, B and C). The signal processors convert the raw analog information signals into digital form, error compensate the incoming raw digital data and, then, manipulate the compensated digital data to produce signals suitable for use by the automatic flight control, pilot display and navigation systems of the aircraft. The signal processors include: an interface system comprising a gyro subsystem (47), an accelerometer and air calibration data subsystem (50) and an air data and temperature subsystem (52); a computer (54); an instruction decoder ( 56); and, a clock (58). During computer interrupt intervals raw digital data is fed to the computer (54) by the interface subsystems under the control of the instruction decoder (56). The computer includes a central processing unit that compensates raw digital gyro and accelerometer data to eliminate bias, scale factor, dynamic and temperature errors, as necessary. The central processing unit also modifies the gyro and accelerometer data to compensate for relative misalignment between the sense axes of the gyros and accelerometers and for the skewed orientation of these sense axes relative to the yaw, roll and pitch axes of the aircraft. Further, accelerometer data is transformed from body coordinate form to navigational coordinate form and the result used to determine the velocity and position of the aircraft. Finally, the central processing unit develops initializing alignment signals and develops altitude, speed and corrected temperature and pressure signals.
Inventors
- 👤 Jack C. Shaw
- 👤 John F. Gilbert
- 👤 Guy R. Olbrechts
- 👤 Melville D. McIntyre
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 02:20
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/10; G01C21/12; G01C21/16; G01C21/183
Claims Analysis
Total Claims: 64
Claim 1
Independent Claim
336 words
An integrated-strapdown-air-data sensor system for an aircraft comprising: (a) a plurality of inertial measuring unit (IMU) modules, suitable for strapdown mounting in an aircraft, each of said IMU modules acceleration of said aircraft along at least two different axes and producing raw angular rate and raw linear acceleration signals related thereto, each of said IMU modules including a temperature sensor for sensing the temperature of the related IMU module and producing an IMU temperature signal related thereto; (b) at least one pressure transducer module, suitable for mounting in an aircraft, for sensing air data and producing raw air data signals related thereto; (c) at least one total air temperature sensor, suitable for mounting in an aircraft, for sensing the outside total air temperature at the skin of the aircraft and producing a total air temperature signal related thereto; and, (d) at least one signal processor coupled to said plurality of IMU modules, said at least one pressure transducer module and said at least one total air temperature sensor, for: (1) receiving said raw angular rate, raw linear acceleration, IMU temperature, raw air data and total air temperature signals; (2) converting said raw angular rate, raw linear acceleration, IMU temperature, raw air data, and total air temperature signals into common time base digital form; (3) compensating said raw angular rate and raw linear acceleration signals in common time base digital form for various types of errors that cause said raw angular rate and raw linear acceleration signals to be inaccurate and producing accurate body angular rate and accurate body linear acceleration signals; (4) calibrating said raw air data signals in common time base digital form to produce accurate air data signals; and, (5) combining said accurate body angular rate and accurate body acceleration signals, and said accurate air data signals, to produce accurate attitude, navigational position and velocity signals that define the attitude, navigational position and velocity of said aircraft and are suitable for use by the automatic flight control, navigation and display systems of said aircraft.
Claim 2
Dependent Claim
336 words
An integrated-strapdown-air-data sensor system for an aircraft comprising: (a) a plurality of inertial measuring unit (IMU) modules, suitable for strapdown mounting in an aircraft, each of said IMU modules acceleration of said aircraft along at least two different axes and producing raw angular rate and raw linear acceleration signals related thereto, each of said IMU modules including a temperature sensor for sensing the temperature of the related IMU module and producing an IMU temperature signal related thereto; (b) at least one pressure transducer module, suitable for mounting in an aircraft, for sensing air data and producing raw air data signals related thereto; (c) at least one total air temperature sensor, suitable for mounting in an aircraft, for sensing the outside total air temperature at the skin of the aircraft and producing a total air temperature signal related thereto; and, (d) at least one signal processor coupled to said plurality of IMU modules, said at least one pressure transducer module and said at least one total air temperature sensor, for: (1) receiving said raw angular rate, raw linear acceleration, IMU temperature, raw air data and total air temperature signals; (2) converting said raw angular rate, raw linear acceleration, IMU temperature, raw air data, and total air temperature signals into common time base digital form; (3) compensating said raw angular rate and raw linear acceleration signals in common time base digital form for various types of errors that cause said raw angular rate and raw linear acceleration signals to be inaccurate and producing accurate body angular rate and accurate body linear acceleration signals; (4) calibrating said raw air data signals in common time base digital form to produce accurate air data signals; and, (5) combining said accurate body angular rate and accurate body acceleration signals, and said accurate air data signals, to produce accurate attitude, navigational position and velocity signals that define the attitude, navigational position and velocity of said aircraft and are suitable for use by the automatic flight control, navigation and display systems of said aircraft.
Claim 3
Dependent Claim
46 words
An integrated-strapdown-air-data-sensor system as claimed in claim 1 wherein the two different axes of said inertial sensing means of at least some of said IMU modules are skewed with respect to the two different axes of said inertial sensing means of others of said IMU modules.
Claim 4
Dependent Claim
49 words
An integrated-strapdown-air-data sensor system as claimed in claim 2 wherein said inertial sensing means includes gyroscope means for sensing angular rate along two orthogonal axes and accelerometer means for sensing linear acceleration along the same two orthogonal axes, said two orthogonal axes forming said at least two different axes.
Claim 5
Dependent Claim
26 words
An integrated-strapdown-air-data sensor system as claimed in claim 3 wherein said gyroscope means comprises a two-degree-of-freedom gyroscope and wherein said accelerometer means comprises two single-degree-of-freedom accelerometers.
Claim 6
Dependent Claim
26 words
An integrated-strapdown-air-data sensor system as claimed in claim 3 wherein said gyroscope means comprises two single-degree-of-freedom gyroscopes and wherein said accelerometer means comprises two single-degree-of-freedom accelerometers.
Claim 7
Dependent Claim
49 words
An integrated-strapdown-air-data sensor system as claimed in claim 1 wherein said inertial sensing means includes gyroscope means for sensing angular rate along two orthogonal axes and accelerometer means for sensing linear acceleration along the same two orthogonal axes, said two orthogonal axes forming said at least two different axes.
Claim 8
Dependent Claim
26 words
An integrated-strapdown-air-data sensor system as claimed in claim 6 wherein said gyroscope means comprises a two-degree-of-freedom gyroscope and wherein said accelerometer means comprises two single-degree-of-freedom accelerometers.
Claim 9
Dependent Claim
25 words
An integrated-strapdown-air-data sensor system as claimed in claim 6 wherein said gyroscope means comprises two single-degree-of-freedom gyroscopes and wherein said accelerometer means comprises two-single-degree-of-freedom accelerometers.
Claim 10
Dependent Claim
36 words
An integrated-strapdown-air-data sensor system as claimed in claim 6 including a plurality of pressure transducer modules, each suitable for mounting in an aircraft, for sensing air data and producing said raw air data signals related thereto.
Claim 11
Dependent Claim
29 words
An integrated-strapdown-air-data sensor system as claimed in claim 9 wherein said raw air data signals produced by each of said pressure transducer modules includes static and total pressure signals.
Claim 12
Dependent Claim
31 words
An integrated-strapdown-air-data sensor system as claimed in claim 10 wherein said pressure transducer modules produce said static and total pressure signals in electrical form suitable for receipt by said signal processor.
Claim 13
Dependent Claim
23 words
An integrated-strapdown-air-data sensor system as claimed in claim 11 wherein said static and total pressure signals in electrical form are digital in nature.
Claim 14
Dependent Claim
26 words
An integrated-strapdown-air-data sensor system as claimed in claim 9 wherein said signal processor compensates said raw angular rate signals for V/F scale factor and dynamic errors.
Claim 15
Dependent Claim
30 words
An integrated-strapdown-air-data sensor system as claimed in claim 13 wherein said signal processor also compensates said raw angular rate signals for gyro bias, scale factor, mass unbalance and temperature errors.
Claim 16
Dependent Claim
25 words
An integrated-strapdown-air-data sensor system as claimed in claim 14 wherein said signal processor compensates said raw acceleration signals for bias, scale factor and temperature errors.
Claim 17
Dependent Claim
33 words
An integrated-strapdown-air-data sensor system as claimed in claim 15 wherein said signal processor also compensates said raw angular rate signals for misalignment between said two orthogonal axes and predetermined axes of said aircraft.
Claim 18
Dependent Claim
32 words
An integrated-strapdown-air-data sensor system as claimed in claim 16 wherein said signal processor also compensates said raw acceleration signals for misalignment between said two orthogonal axes and predetermined axes of said aircraft.
Claim 19
Dependent Claim
41 words
An integrated-strapdown-air-data sensor system as claimed in claim 17 wherein said two orthogonal axes are nominally related to predetermined axes of said aircraft and wherein said predetermined axes of said aircraft include the pitch, roll and yaw axes of the aircraft.
Claim 20
Dependent Claim
32 words
An integrated-strapdown-air-data sensor system as claimed in claim 18 wherein said accurate body angular rate and said accurate body linear acceleration signals are combined to produce accurate navigational position and velocity signals.
Claim 21
Dependent Claim
181 words
An integrated-strapdown-air-data sensor system as claimed in claim 19 wherein said signal processor produces said accurate velocity signals by: determining the angular rate of the navigational coordinate system relative to an earth-centered coordinate system, exposed instantaneously in navigational coordinates, based on the value of a position matrix, the altitude of the aircraft and the velocity of the aircraft; developing and updating said position matrix based on said angular rate of the navigational coordinate system of the aircraft relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates; developing and updating an attitude matrix based on said accurate body angular rate signals, said angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, and said position matrix; transforming said accurate body acceleration signals to accurate navigational coordinate acceleration signals based on said attitude matrix; and, combining said accurate navigational coordinate acceleration signals with said angular rate of the navigational coordinate system to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, gravity and said position matrix to produce accurate navigational coordinate velocity signals.
Claim 22
Dependent Claim
27 words
An integrated-strapdown-air-data sensor system as claimed in claim 20 wherein said signal processor produces said accurate navigational position signals by combining selected portions of said position matrix.
Claim 23
Dependent Claim
31 words
An integrated-strapdown-air-data sensor system as claimed in claim 21 wherein selected portions of said attitude matrix and position matrix are also combined by said signal processor to produce accurate attitude signals.
Claim 24
Dependent Claim
43 words
An integrated-strapdown-air-data sensor system as claimed in claim 22 wherein said signal processor determines the initial value of said attitude matrix prior to the takeoff of said aircraft based on said accurate body linear acceleration signals and said accurate body angular rate signals.
Claim 25
Dependent Claim
53 words
An integrated-strapdown-air-data sensor system as claimed in claim 23 wherein said initial value of said attitude matrix is determined by first producing a rough estimate of said initial value of said attitude matrix and, then, refining said initial value in a continuous manner to produce an accurate initial value of said attitude matrix.
Claim 26
Dependent Claim
39 words
An integrated-strapdown-air-data sensor system as claimed in claim 24 wherein said signal processor produces initial values representing the attitude of said aircraft as well as said initial value of said attitude matrix prior to the takeoff of said aircraft.
Claim 27
Dependent Claim
51 words
An integrated-strapdown-air-data sensor system as claimed in claim 25 wherein said signal processor also produces signals representing the altitude, indicated airspeed, Mach number, corrected static and total pressure and corrected total air temperature signals suitable for use by the automatic flight control, navigation and display systems of an aircraft, as required.
Claim 28
Dependent Claim
235 words
An integrated-strapdown-air-data sensor system as claimed in claim 9 including a plurality of signal processors suitable for selective connection to said plurality of IMU modules, said plurality of pressure transducer modules and said at least one total air temperature sensor for: (a) selectively receiving said raw angular rate, raw linear acceleration, IMU temperature, raw air data and total air temperature signals from said plurality of IMU modules, said plurality of pressure transducer modules and said at least one total air temperature sensor; (b) individually converting said received raw angular rate, raw linear acceleration, IMU temperature, raw air data and total air temperature signals into common time base digital form; (c) individually compensating said raw angular rate and raw linear acceleration signals in common time base digital form for various types of errors that cause said raw angular rate and raw linear acceleration signals to be inaccurate and producing accurate body angular rate and accurate body linear acceleration signals; (d) individually calibrating said raw air data signals in common time base digital form to produce accurate air data signals; and, (c) individually combining said accurate body angular rate and accurate body linear acceleration signals and said accurate air data signals to produce accurate attitude, navigational position and velocity signals related to the attitude, navigational position and velocity of said aircraft and suitable for use by the automatic flight control, navigation and display systems of said aircraft.
Claim 29
Dependent Claim
26 words
An integrated-strapdown-air-data sensor system as claimed in claim 27 wherein said signal processors compensate said raw angular rate signals for V/F scale factor and dynamic errors.
Claim 30
Dependent Claim
30 words
An integrated-strapdown-air-data sensor system as claimed in claim 28 wherein said signal processors also compensate said raw angular rate signals for gyro bias, scale factor, mass unbalance and temperature errors.
Claim 31
Dependent Claim
26 words
An integrated-strapdown-air-data sensor system as claimed in claim 29 wherein said signal processors compensate said raw linear acceleration signals for bias, scale factor and temperature errors.
Claim 32
Dependent Claim
33 words
An integrated-strapdown-air-data sensor system as claimed in claim 30 wherein said signal processors also compensate said raw angular rate signals for misalignment between said two orthogonal axes and predetermined axes of said aircraft.
Claim 33
Dependent Claim
33 words
An integrated-strapdown-air-data sensor system as claimed in claim 31 wherein said signal processors also compensate said raw linear acceleration signals for misalignment between said two orthogonal axes and predetermined axes of said aircraft.
Claim 34
Dependent Claim
41 words
An integrated-strapdown-air-data sensor system as claimed in claim 32 wherein said two orthogonal axes are nominally related to predetermined axes of said aircraft and wherein said predetermined axes of said aircraft include the pitch, roll and yaw axes of the aircraft.
Claim 35
Dependent Claim
32 words
An integrated-strapdown-air-data sensor system as claimed in claim 33 wherein said accurate body angular rate and said accurate body linear acceleration signals are combined to produce accurate navigational position and velocity signals.
Claim 36
Dependent Claim
181 words
An integrated-strapdown-air-data sensor system as claimed in claim 34 wherein said signal processors produce said accurate velocity signals by: determining the angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, based on a value of a position matrix, the altitude of the aircraft and the velocity of the aircraft; developing and continuously updating said position matrix based on said angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates; developing and continuously updating an attitude matrix based on said accurate body angular rate signals, said angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, and said position matrix; transforming said accurate body acceleration signals to accurate navigational coordinate acceleration signals based on said attitude matrix; and, combining said accurate navigational coordinate acceleration signals with said angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, gravity and said position matrix to produce accurate navigational coordinate velocity signals.
Claim 37
Dependent Claim
27 words
An integrated-strapdown-air-data sensor system as claimed in claim 35 wherein said signal processors produce said accurate navigational position signals by combining selected portions of said position matrix.
Claim 38
Dependent Claim
31 words
An integrated-strapdown-air-data sensor system as claimed in claim 36 wherein selected portions of said attitude matrix and position matrix are also combined by said signal processors to produce accurate attitude signals.
Claim 39
Dependent Claim
43 words
An integrated-strapdown-air-data sensor system as claimed in claim 37 wherein said signals processors determine the initial value of said attitude matrix prior to the takeoff of said aircraft based on said accurate body linear acceleration signals and said accurate body angular rate signals.
Claim 40
Dependent Claim
53 words
An integrated-strapdown-air-data sensor system as claimed in claim 38 wherein said initial value of said attitude matrix is determined by first producing a rough estimate of said initial value of said attitude matrix and, then, refining said initial value in a continuous manner to produce an accurate initial value of said attitude matrix.
Claim 41
Dependent Claim
39 words
An integrated-strapdown-air-data sensor system as claimed in claim 39 wherein said signal processors produce initial values representing the attitude of said aircraft as well as said initial value of said attitude matrix prior to the takeoff of said aircraft.
Claim 42
Dependent Claim
51 words
An integrated-strapdown-air-data sensor system as claimed in claim 40 wherein said signal processors also produce signals representing the altitude, indicated airspeed, Mach number, corrected static and total pressure and corrected total air temperature signals suitable for use by the automatic flight control, navigation and display systems of an aircraft, as required.
Claim 43
Dependent Claim
243 words
A strapdown inertial sensing system suitable for use in an aircraft to produce signals representing the attitude, position and velocity of the aircraft, said strapdown inertial sensing system comprising: (a) a plurality of inertial measuring unit (IMU) modules, suitable for strapdown mounting in an aircraft, each of said plurality of IMU modules including inertial sensing means for sensing the angular rate and the linear acceleration of said aircraft along at least two different axes and producing raw angular rate and raw linear acceleration signals related thereto, each of said IMU modules including a temperature sensor for sensing the temperature of the related IMU module and producing an IMU temperature signal related thereto; and, (b) at least one signal processor coupled to said plurality of IMU modules for: (1) receiving said raw angular rate, raw linear acceleration and IMU temperature signals; (2) converting said raw angular rate, raw linear acceleration and IMU temperature signals into common time base digital form; (3) compensating said raw angular rate and raw linear acceleration signals in common time base digital form for various types of errors that cause said raw angular rate and raw linear acceleration signals to be inaccurate and producing accurate body angular rate and accurate body linear acceleration signals; (4) combining said accurate body angular rate and accurate body linear acceleration signals with an altitude signal to produce accurate signals representing the attitude, position and velocity of an aircraft incorporating said strapdown inertial sensing system.
Claim 44
Dependent Claim
243 words
A strapdown inertial sensing system suitable for use in an aircraft to produce signals representing the attitude, position and velocity of the aircraft, said strapdown inertial sensing system comprising: (a) a plurality of inertial measuring unit (IMU) modules, suitable for strapdown mounting in an aircraft, each of said plurality of IMU modules including inertial sensing means for sensing the angular rate and the linear acceleration of said aircraft along at least two different axes and producing raw angular rate and raw linear acceleration signals related thereto, each of said IMU modules including a temperature sensor for sensing the temperature of the related IMU module and producing an IMU temperature signal related thereto; and, (b) at least one signal processor coupled to said plurality of IMU modules for: (1) receiving said raw angular rate, raw linear acceleration and IMU temperature signals; (2) converting said raw angular rate, raw linear acceleration and IMU temperature signals into common time base digital form; (3) compensating said raw angular rate and raw linear acceleration signals in common time base digital form for various types of errors that cause said raw angular rate and raw linear acceleration signals to be inaccurate and producing accurate body angular rate and accurate body linear acceleration signals; (4) combining said accurate body angular rate and accurate body linear acceleration signals with an altitude signal to produce accurate signals representing the attitude, position and velocity of an aircraft incorporating said strapdown inertial sensing system.
Claim 45
Dependent Claim
48 words
A strapdown inertial sensing system as claimed in claim 42 wherein the two different axes of said inertial sensing means of at least some of said IMU modules are skewed with respect to the two different axes of said inertial sensing means of others of said IMU modules.
Claim 46
Dependent Claim
50 words
A strapdown inertial sensing system as claimed in claim 43 wherein said inertial sensing means includes gyroscope means for sensing angular rate along two orthogonal axes and accelerometer means for sensing linear acceleration along the same two orthogonal axes, said two orthogonal axes forming said at least two different axes.
Claim 47
Dependent Claim
27 words
A strapdown inertial sensing system as claimed in claim 44 wherein said gyroscope means comprises a two-degree-of-freedom gyroscope and wherein said accelerometer means comprises two single-degree-of-freedom accelerometers.
Claim 48
Dependent Claim
27 words
A strapdown inertial sensing system as claimed in claim 44 wherein said gyroscope means comprises two single-degree-of-freedom gyroscope and wherein said accelerometer means comprises two single-degree-of-freedom accelerometers.
Claim 49
Dependent Claim
50 words
A strapdown inertial sensing system as claimed in claim 42 wherein said inertial sensing means includes gyroscope means for sensing angular rate along two orthogonal axes and accelerometer means for sensing linear acceleration along the same two orthogonal axes, said two orthogonal axes forming said at least two different axes.
Claim 50
Dependent Claim
27 words
A strapdown inertial sensing system as claimed in claim 47 wherein said gyroscope means comprises a two-degree-of-freedom gyroscope and wherein said accelerometer means comprises two single-degree-of-freedom accelerometers.
Claim 51
Dependent Claim
27 words
A strapdown inertial sensing system as claimed in claim 47 wherein said gyroscope means comprises two single-degree-of-freedom gyroscopes and wherein said accelerometer means comprises two single-degree-of-freedom accelerometers.
Claim 52
Dependent Claim
42 words
A strapdown inertial sensing system as claimed in claim 47 wherein said two orthogonal axes are nominally related to predetermined axes of said aircraft and wherein said predetermined axes of said aircraft include the pitch, roll and yaw axes of the aircraft.
Claim 53
Dependent Claim
27 words
A strapdown inertial sensing system as claimed in claim 42 wherein said signal processor compensates said raw angular rate signals for V/F scale factor and dynamic errors.
Claim 54
Dependent Claim
31 words
A strapdown inertial sensing system as claimed in claim 51 wherein said signal processor also compensates said raw angular rate signals for gyro bias, scale factor, mass unbalance and temperature errors.
Claim 55
Dependent Claim
27 words
A strapdown inertial sensing system as claimed in claim 42 wherein said signal processor compensates said raw linear acceleration signals for bias, scale factor and temperature errors.
Claim 56
Dependent Claim
33 words
A strapdown inertial sensing system as claimed in claim 42 wherein said signal processor compensates said raw angular rate signals for misalignment between said two different axes and predetermined axes of said aircraft.
Claim 57
Dependent Claim
33 words
A strapdown inertial sensing system as claimed in claim 42 wherein said signal processor compensates said raw linear acceleration signals for misalignment between said two different axes and predetermined axes of said aircraft.
Claim 58
Dependent Claim
32 words
A strapdown inertial sensing system as claimed in claim 42 wherein said accurate body angular rate and said accurate body acceleration signals are combined to produce accurate navigational position and velocity signals.
Claim 59
Dependent Claim
180 words
A strapdown inertial sensing system as claimed in claim 56 wherein said signal processor produces said accurate velocity signals by: determining the angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, based on the value of a position matrix, the altitude of the aircraft and the velocity of the aircraft; developing and updating said position matrix based on said angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates; developing and updating an attitude matrix based on said accurate body angular rate signals, said angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, and said position matrix; transforming said accurate body acceleration signals to accurate navigational coordinate acceleration signals based on said attitude matrix; and, combining said accurate navigational coordinate acceleration signals with said angular rate of the navigational coordinate system relative to an earth-centered coordinate system, expressed instantaneously in navigational coordinates, gravity and said position matrix to produce accurate navigational coordinate velocity signals.
Claim 60
Dependent Claim
28 words
A strapdown inertial sensing system as claimed in claim 57 wherein said signal processor produces said accurate navigational position signals by combining selected portions of said position matrix.
Claim 61
Dependent Claim
32 words
A strapdown inertial sensing system as claimed in claim 58 wherein selected portions of said attitude matrix and position matrix are also combined by said signal processor to produce accurate attitude signals.
Claim 62
Dependent Claim
44 words
A strapdown inertial sensing system as claimed in claim 59 wherein said signal processor determines the initial value of said attitude matrix prior to the takeoff of said aircraft based on said accurate body linear acceleration signals and said accurate body angular rate signals.
Claim 63
Dependent Claim
54 words
A strapdown inertial sensing system as claimed in claim 60 wherein said initial value of said attitude matrix is determined by first producing a rough estimate of said initial value of said attitude matrix and, then, refining said initial value in a continuous manner to produce an accurate initial value of said attitude matrix.
Claim 64
Dependent Claim
40 words
A strapdown inertial sensing system as claimed in claim 61 wherein said signal processor produces initial values representing the attitude of said aircraft as well as said initial value of said attitude matrix prior to the takeoff of said aircraft.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1984-11-30 | 1985-06-01 | 1985-12-01 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1988-11-30 | 1989-06-01 | 1989-12-01 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1992-11-30 | 1993-06-01 | 1993-12-01 | $7700.00 | Window Closed / Lapsed |