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Recent patent applications related to

A navigation system comprising: an inertial navigation system arranged to output a first position estimate; a terrain based navigation unit arranged to output a second position estimate; a stored gravity map arranged to receive a position and to output gravity information for that position; and an iterative algorithm unit arranged to determine an ins error state in each iteration; wherein in each iteration the iterative algorithm unit is arranged to: receive the first position estimate and the second position estimate; determine a gravity corrected position estimate based on the first position estimate, the ins error state and the gravity information; and update the ins error state for the next iteration based on the ins error state, the gravity corrected position estimate and the second position estimate.. . ... Atlantic Inertial Systems Limited

Anti-vibration mounting system

A mounting system for mounting an electronic component (2) in a housing (8) comprises a visco-elastic damping element (14, 20) for damping the transmission of vibration from the housing (8) to the component (2) in use, and a support (24, 52) for supporting the component (2) in the housing (8) independently of the damping element (14, 20) whereby the weight of the component (2) is substantially or completely removed from the damping element (14, 20). The support (24, 52) is configured to be selectively releasable from the component (2) such that the component (2) is then supported only by the damping element (14, 20).. ... Atlantic Inertial Systems Limited

An assembly (2) for attachment to a projectile comprises a first part (4) and a second part (6) mounted for rotation relative to the first part (4) about an axis (a). There is an axial gap (g) between the first and second parts (4, 6). ... Atlantic Inertial Systems Limited

A method of compensating for signal error is described, comprising: receiving a first signal from a first sensor, said first signal indicative of a movement characteristic; applying an error compensation to said first signal to produce an output signal; applying a variable gain factor to said error compensation; receiving a second signal from a second sensor indicative of said movement characteristic; wherein said error compensation is calculated using the difference between said output signal and said second signal, and said variable gain factor is calculated using said first signal.. . ... Atlantic Inertial Systems Limited

There is provided a method of sensing a rotation rate using a vibrating structure gyroscope, said gyroscope comprising an electronic control system comprising one or more control loops, wherein at least one of said control loops comprises a filter having a variable time constant, said method comprising the steps of: determining or estimating a characteristic of the vibrating structure of said gyroscope; and adapting or varying said time constant of said filter with the determined or estimated characteristic of said vibrating structure.. . ... Atlantic Inertial Systems Limited

An inertial measurement system for a spinning projectile comprising: first (roll), second and third gyros with axes arranged such that they define a three dimensional coordinate system; at least a first linear accelerometer; a controller, arranged to: compute a current projectile attitude comprising a roll angle, a pitch angle and a yaw angle; compute a current velocity vector from the accelerometer; combine a magnitude of said velocity vector with an expected direction for said vector to form a pseudo-velocity vector; provide the velocity vector and the pseudo-velocity vector to a kalman filter that outputs a roll gyro scale factor error calculated as a function of the difference between the velocity vector and the pseudo-velocity vector; and apply the roll gyro scale factor error from the kalman filter as a correction to the output of the roll gyro.. . ... Atlantic Inertial Systems Limited

Oversampling noise-shaping successive approximation adc

A successive approximation analogue to digital converter (adc), comprising: a sample and hold device arranged to sample and hold an input signal at the beginning of a conversion cycle; a successive approximation register that sequentially builds up a digital output from its most significant bit to its least significant bit; a digital to analogue converter that outputs a signal based on the output of the successive approximation register; a comparator that compares the output of the digital to analogue converter with an output of the sample and hold device and supplies its output to the successive approximation register; and a residual signal storage device arranged to store the residual signal at the end of a conversion cycle; and wherein the successive approximation adc is arranged to add the stored residual signal from the residual signal storage device to the input signal stored on the sample and hold device at the start of each conversion cycle. After each adc full conversion by the sar, the analogue conversion of the digital output is as close to the original input signal as the resolution will allow. ... Atlantic Inertial Systems Limited

Inertial navigation system with compensation of roll scale factor error

An inertial measurement system (200) for a longitudinal projectile, comprising a first, roll gyro to be oriented substantially parallel to the longitudinal axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system. The system further comprises a controller (225, 250), arranged: —to compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; —for at least two time points, to compare the computed pitch and yaw angles with expected values for the pitch and yaw angles; —for each of said at least two time points, to calculate a roll angle error based on the difference between the computed pitch and yaw angles and the expected pitch and yaw angles; —to calculate a roll angle error difference between said at least two time points; —to calculate the total roll angle subtended between said at least two time points; —to calculate a roll angle scale factor error based on said computed roll angle error difference and said total subtended roll angle and apply the calculated roll angle scale factor error to the output of the roll gyro.. ... Atlantic Inertial Systems Limited

Digital controlled vco for vibrating structure gyroscope

A digitally controlled voltage controlled oscillator comprising an nbit digital to analogue convertor arranged to receive a frequency change demand signal as a digital nbit word, and having an output provided via an integrator to a voltage controlled oscillator configured to provide a frequency output.. . ... Atlantic Inertial Systems Limited

An inertial measurement system for a spinning projectile comprising: a first, roll gyro to be oriented substantially parallel to the spin axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system; a controller, arranged to: compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; calculate a roll angle error based on the difference between the computed pitch and yaw angles and expected pitch and yaw angles; provide the roll angle error as an input to a kalman filter that outputs a roll angle correction and a roll rate scale factor correction; and apply the calculated roll angle correction and roll rate scale factor correction to the output of the roll gyro; wherein the kalman filter models roll angle error as a function of roll rate and one or more wind variables. The system provides improved calibration of the roll axis rate gyro scale factor, e.g. ... Atlantic Inertial Systems Limited

A method for closed loop operation of a capacitive accelerometer uses a single current source (62) and a single current sink (64) to apply an in-phase drive signal v1′ to a first set of fixed capacitive electrode fingers and a corresponding anti-phase drive signal v2′ to a second set of fixed capacitive electrode fingers. This provides a net electrostatic restoring force on the proof mass for balancing the inertial force of the applied acceleration and maintains the proof mass at a null position.. ... Atlantic Inertial Systems Limited

A sensor comprises a substrate 16 and a sensor element 20 anchored to the substrate 16, the substrate 16 and sensor element 20 being of dissimilar materials and having different coefficients of thermal expansion, the sensor element 20 and substrate 16 each having a generally planar face arranged substantially parallel to one another, the sensor further comprising a spacer 26, the spacer 26 being located so as to space at least part of the sensor element 20 from at least part of the substrate 16, wherein the spacer 26 is of considerably smaller area than the area of the smaller of face of the substrate 16 and that of the sensor element 20.. . ... Atlantic Inertial Systems Limited

A method for closed loop operation of a capacitive accelerometer comprising: a proof mass; first and second sets of both fixed and moveable capacitive electrode fingers, interdigitated with each other; the method comprising: applying pwm drive signals to the fixed fingers; sensing displacement of the proof mass and changing the mark:space ratio of the pwm drive signals, to provide a restoring force on the proof mass that balances the inertial force of the applied acceleration and maintains the proof mass at a null position; detecting when the mark:space ratio for the null position is beyond a predetermined upper or lower threshold; and further modulating the pwm drive signals by extending or reducing x pulses in every y cycles, where x>1 and y>1, to provide an average mark:space ratio beyond the upper or lower threshold without further increasing or decreasing the mark length of the other pulses.. . ... Atlantic Inertial Systems Limited

An inertial measurement system for a longitudinal projectile comprising: a first, roll gyro to be oriented substantially parallel to the longitudinal axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system; a controller, arranged to: compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; compare the computed pitch and yaw angles with expected values for the pitch and yaw angles; calculate a roll angle error and a roll scale factor error based on the difference between the computed pitch and yaw angles and the expected pitch and yaw angles; and apply the calculated roll angle error and roll scale factor error to the output of the roll gyro.. . ... Atlantic Inertial Systems Limited

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