3 results about "Inertial reference unit" patented technology

The invention provides a disturbance control method and system based on an inertial reference unit, a platform of the inertial reference unit is provided with a light source used for emitting a reference light beam, the disturbance control method comprises the following steps: generating a driving voltage based on instruction information, the instruction information comprising a target angle; based on the driving voltage, the platform is controlled to rotate, the rotation angle of the reference light beam is obtained, angle deviation exists between the rotation angle and the target angle, and the angle deviation is caused by disturbance; and based on the target angle and the rotation angle, the platform is controlled to rotate by using n disturbance observers, so that the reference light beam rotates to the target angle, and n is greater than or equal to 2.

The present invention relates to an inertial reference unit (URI), comprising: a first measurement channel (V1), comprising: a first high-performance inertial measurement unit (UMI1), comprising a first measurement unit for measuring specific force and a first measurement unit for measuring angular velocity, a first calculation unit (CPU1), which can calculate pure inertial data based on the measurement values ​​of the first measurement unit; a second measurement channel (V2), comprising: a second inertial measurement unit (UMI2), which has a lower performance than the first inertial measurement unit (UMI1), comprising a second measurement unit for measuring specific force unit and a second measuring unit for measuring angular velocity; a second calculation unit (CPU2), which is capable of calculating pure inertial data based on the measurement values ​​of the second measuring unit; an integrity check function (CTR), which is capable of implementing a method for checking the integrity of the data of the first measurement channel (V1) based on the data provided by the second measurement channel (V2); a synchronization unit, which is used to synchronize the measurement values ​​of the first inertial measurement unit and the measurement values ​​of the second inertial measurement unit; the first inertial measurement unit and the second inertial measurement unit are mechanically fixedly installed in the inertial reference unit (URI).

A disturbance suppression system based on frequency adaptive observation includes an inertial reference unit base and a platform. The platform has a laser and a sensing device. The laser emits laser light when a first motion occurs to measure a first rotation angle, and the sensing device measures a first angular velocity. A control unit obtains a first target angular velocity based on the first rotation angle and a target rotation angle. The disturbance observation unit includes a first observer that obtains a first observation frequency based on the first angular velocity and a first driving voltage; a second observer that generates a first observation angular velocity based on the first angular velocity and the first driving voltage; a control unit that generates a first angular velocity difference based on the first observation angular velocity and the first target angular velocity; a second observer that generates a first compensation angular velocity based on the first angular velocity and the first observation frequency; and a control unit that generates a second driving voltage based on the first compensation angular velocity and the first angular velocity difference. A driver drives the platform to undergo a second motion at the first target angular velocity based on the second driving voltage, and the platform rotates to the target rotation angle.