Method and device for improving the inertial navigation of a projectile

Patent metadata

Field	Value
Publication number	US-9534869-B2
Application number	US-201414775260-A
Country	US
Kind code	B2
Filing date	Mar 12, 2014
Priority date	Mar 20, 2013
Publication date	Jan 3, 2017
Grant date	Jan 3, 2017

Abstract

A method for the inertial navigation of a projectile equipped with a mediocre-quality inertial init that is fired from a carrier equipped with a precision inertial unit includes, before firing the projectile, the biases of the accelerometers and of the gyrometers of the inertial unit of the projectile are determined using the inertial unit of the carrier. During the inertial navigation of the projectile, the measurements of the accelermeters and of the gyrometers output by the inertial unit of the projectile are corrected by the biases determined before launching.

First claim

The invention claimed is:

1. A method for improving the inertial navigation of a projectile equipped with a mediocre-quality inertial unit and fired from a carrier equipped with a precision inertial unit, comprising the following steps:
before firing the projectile from the carrier, determining mean biases of accelerometers and of gyrometers of the inertial unit of the projectile from the inertial unit of the carrier;
firing the projectile from the carrier;
inertially navigating the projectile while in flight with the inertial unit of the projectile, and
during the inertial navigation of the projectile, correcting accelerometric and gyrometric measurements provided by the inertial unit of the projectile with the mean biases determined before firing.

2. The method according to claim 1 , in which the inertial unit of the projectile and the inertial unit of the carrier each have a reference axis system with respect to which each inertial unit provides accelerometric and gyrometric measurements, the reference axis systems of the projectile and carrier being fixed with respect to each other, in terms of position and orientation, as long as the projectile is not fired, wherein, for determining the mean biases of the inertial unit of the projectile, the accelerometric and gyrometric measurements of one of the projectile or carrier inertial units are, by a mathematical transformation taking into account relative position and orientation of the reference axis systems, expressed in the reference axis system of the other of the projectile or carrier inertial units.

3. The method according to claim 2 , wherein:
when the inertial unit of the carrier is already in operation, starting the inertial unit of the projectile,
the accelerometric and gyrometric measurements of one of the projectile or carrier inertial units are, by the mathematical transformation taking into account the relative position and orientation of the reference axis systems, expressed in the reference axis system of the other of the projectile or carrier inertial units; and
in the reference axis system of the other of the projectile or carrier inertial units, comparing the accelerometric and gyrometric measurements of the inertial units by taking a difference between accelerometric measurements of the inertial units and a difference between gyrometric measurements of the inertial units.

4. The method according to claim 3 , wherein:
filtering the differences in accelerometric and gyrometric measurements in order to obtain current estimates of the mean biases of the accelerometers and gyrometers of the inertial unit of the projectile; and
at the moment of firing of the projectile, stopping obtaining the current estimates of the mean biases and keeping last obtained values of the estimates of the mean biases of the accelerometers and of the gyrometers of the inertial unit of the projectile.

5. The method according to claim 4 , wherein, during the flight of the projectile, the following operations are performed continuously:
differentiating between instantaneous measurements of the accelerometers and of the gyrometers of the inertial unit of the projectile and the estimates of the mean biases, in order to obtain corrected accelerometric and gyrometric measurements of the projectile; and
inertially navigating the projectile with the corrected accelerometric and gyrometric measurements.

6. A device for improving the inertial navigation of a projectile equipped with an inertial unit of mediocre quality and fired from a carrier equipped with a precision inertial unit, the inertial units each having a reference axis system with respect to which each inertial unit provides accelerometric and gyrometric measurements, and the reference axis systems being fixed with respect to each other, in terms of position and orientation, as long as the projectile is not fired,
the device comprising:
accelerometers to provide accelerometric measurements;
gyrometers to provide gyrometric measurements;
computing means for mathematically transforming, taking into account relative position and orientation of the reference axis systems, and expressing the accelerometric and gyrometric measurements of one of the inertial units in the reference axis system of the other of the inertial units; and
comparison means for comparing, in the reference axis system of the other of the inertial units, the accelerometric and gyrometric measurements of the inertial units.

7. The device according to claim 6 , comprising:
a filter for filtering differences in accelerometric and gyrometric measurements resulting from the comparison using the comparison means and for obtaining current estimates of mean biases of the accelerometers and gyrometers of the inertial unit of the projectile; and
a subtractor for subtracting, from instantaneous measurements of the accelerometers and gyrometers of the inertial unit of the projectile in flight, last obtained values, before firing, of the estimates of the current mean biases.

Assignees

• Mbda France

Inventors

• De Araujo Bruno
• Guibout Vincent
• Larcher Eric

Classifications

• G05D1/107

  specially adapted for missiles · CPC title

• F41G7/36 Primary

  using inertial references · CPC title

• F41G7/007

  Preparatory measures taken before the launching of the guided missiles · CPC title

• G05D1/12

  Target-seeking control · CPC title

• G01C21/16

  by integrating acceleration or speed, i.e. inertial navigation · CPC title