Patent ID: 6061611
Filing Date: 2000-05-09
Classification: B64C,B64G

Abstract:
In a vehicle such as a flight vehicle, a control system comprising:acceleration sensors with a angular velocity processor for providing 3-D angular velocities;a navigation computer for computing trajectory corrections from attitude angles of said vehicle;a kinematics equations integrator for updating a set of vehicle attitude angles of a vehicle using said 3-dimensional angular velocities of said vehicle, said integrator being connected to said navigation computer and to said angular velocity processor and comprising:an integrating factor module which computes an integrating factor matrix from quantities corresponding to said 3-dimensional angular velocities;a total integrated angular rate module which computes a total integrated angular rate from said quantities corresponding to 3-dimensional angular velocities;a state transition matrix module, connected to said integrating factor module and said total integrated angular rate module, which computes a state transition matrix as a sum of (a) a first complementary function of said total integrated angular rate and (b) said integrating factor matrix multiplied by a second complementary function of said total integrated angular rate; andan updating module which updates said set of vehicle attitude angles using said state transition matrix for output to said navigation computer.