AHRS Latency Compensation Using Slave Gyroscope Segmentation
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Solution Overview
Problem
Conventional navigational systems for mobile structures often require significant calibration, leading to increased operational costs and complexity, and suffer from system latency that degrades navigational awareness and autopilot reliability, especially when using a single attitude and heading reference system (AHRS).
Innovation Solution
The system employs a logic device that communicates with multiple navigational sensors, including a gyroscope and AHRS, to determine the orientation and position of a mobile structure, and uses signal processing to correct for latency and sampling delays in digital communication networks, allowing slave devices to refresh AHRS data locally without replicating the full AHRS implementation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple AHRS systems are used to improve navigational accuracy, then measurement precision is improved, but device complexity and calibration requirements increase
Solution Approach 1:
The system divides the navigational sensing function into two segments: a master AHRS that provides comprehensive attitude and heading data, and slave gyroscopes that provide supplemental angular velocity data. This segmentation allows the system to achieve enhanced navigational accuracy through multiple sensors while avoiding the complexity of multiple full AHRS systems, as the slave devices only need basic gyroscope functionality rather than complete AHRS implementations.
Solution Approach 2:
The system merges data from the master AHRS and slave gyroscope through sensor fusion algorithms. The master AHRS provides primary attitude and heading information, while the slave gyroscope provides complementary angular velocity measurements. By combining these different but complementary data sources, the system achieves improved navigational accuracy without the complexity of multiple complete AHRS systems.
2Device complexity
If a single AHRS is used to reduce device complexity, then device complexity is reduced, but system latency degrades navigational awareness
Solution Approach 1:
The slave gyroscope continuously pre-measures angular velocity changes at high frequency, maintaining ready-to-use data that can immediately compensate for latency when master AHRS data is delayed or unavailable. This preliminary action ensures that the system always has current orientation information without waiting for the master AHRS update cycle.
Solution Approach 2:
The system implements feedback by continuously comparing master AHRS data with slave gyroscope data, using the gyroscope measurements to detect and compensate for latency in the master system. The slave device provides real-time feedback on actual motion, allowing the system to correct for delays in the master AHRS data stream.
Data Source
AI summary
Techniques are disclosed for systems and methods for navigating mobile structures. The mobile structure may include a main attitude & heading reference system (AHRS) and one or more devices. The one or more devices may include a slave AHRS such as a gyroscope. Data may be transmitted from the main AHRS to the one or more devices through a network. Latency may be present in the transmission of data. As such, data from the slave AHRS may be used to determine changes in heading and/or attitude of the mobile structure to compensate for such latency. In addition, such data may be used to determine changes in wind direction and/or heading experienced by the mobile structure.