Patent ID: 6219616
Filing Date: 2001-04-17
Classification: G01C

Abstract:
A method for updating the attitude of a body by utilizing a plurality of gyros to measure as a function of time the angular rate vector or the integrated angular rate vector for the body, the method comprising the steps:obtaining measured values of the angular rate vector at a plurality of readout intervals;obtaining a smoothed value of each of one or more smoothed representations of the angular rate vector at the end of each of a plurality of smoothing intervals, a smoothed representation being a weighted sum of the measured values obtained during a smoothing interval, at least one of the weights for at least one of the smoothed representations being different from the other weights for the same smoothed representation, the ratio of the smoothing interval to the readout interval being an integer N;obtaining the updated attitude of the body at the end of an update interval by utilizing the attitude at the beginning of the update interval and the smoothed values of the smoothed representations of the angular rate vector obtained during the update interval, the ratio of the update interval to the smoothing interval being an integer M.