公开(公告)号：US12038281B2

公开(公告)日：2024-07-16

申请号：US17263589

申请日：2019-07-30

申请人： Innalabs Limited

发明人： Jose Beitia

IPC分类号： G01C19/5783 ,  G01C19/5677 ,  G01C19/5691

CPC分类号： G01C19/5677 ,  G01C19/5783

摘要： A gyroscope comprising a resonator, a plurality of transducers configured to drive a vibrational mode in the resonator and detect vibrations of the resonator, a base configured to support the resonator, the base including attachment points for attachment to an external system, and a vibration isolator for isolating the resonator from the external system, the vibration isolator being formed from resilient material and being located radially inward of the attachment points.

公开(公告)号：US20160238389A1

公开(公告)日：2016-08-18

申请号：US15099764

申请日：2016-04-15

申请人： Innalabs Limited

发明人： VALERY VALERIANOVICH CHIKOVANI ,  YURII ALEKSEEVICH YATZENKO

IPC分类号： G01C19/56

CPC分类号： G01C19/56 ,  G01C19/5691

摘要： Coriolis vibratory gyroscope includes a thin-walled resonator, fastened centrally on a stem located within the resonator; with 4nk holes in a wall of the resonator and arranged around the stem, where “k” is integer, “n” is order of vibration modes, and the angle between adjacent holes is “π/2nk”. The stem is rotationally symmetric and is fastened on a base; electrodes are arranged on the wall for excitation and measurement of vibration modes, with leads passing from the electrodes through the holes; the base has a seating for the resonator stem, and leads pass from the outside of the base through it, the leads being electrically-insulated and sealed relative to the base; the leads which pass through the base are connected to the leads which pass from the electrodes, allowing signals to pass from outside the base, through the base, through the holes in the resonator wall and to the electrodes.

摘要翻译： 科里奥利振动陀螺仪包括薄壁谐振器，固定在位于谐振器内的杆上; 在谐振器的壁上具有4nk的孔并且围绕杆布置，其中“k”是整数，“n”是振动模式的次序，并且相邻孔之间的角度是“π/ 2nk”。 杆旋转对称并固定在基座上; 电极布置在壁上用于激发和测量振动模式，引线从电极穿过孔; 基座具有用于谐振器杆的座，并且引线从基座的外部通过它，引线相对于基座电绝缘和密封; 穿过基座的引线与从电极通过的引线连接，允许信号从基座外部通过基座通过谐振器壁中的孔和电极。

公开(公告)号：US20210348923A1

公开(公告)日：2021-11-11

申请号：US17263589

申请日：2019-07-30

申请人： Innalabs Limited

发明人： JOSE BEITIA

IPC分类号： G01C19/5677 ,  G01C19/5783

摘要： A gyroscope comprising a resonator, a plurality of transducers configured to drive a vibrational mode in the resonator and detect vibrations of the resonator, a base configured to support the resonator, the base including attachment points for attachment to an external system, and a vibration isolator for isolating the resonator from the external system, the vibration isolator being formed from resilient material and being located radially inward of the attachment points.

公开(公告)号：US20140331740A1

公开(公告)日：2014-11-13

申请号：US14351602

申请日：2011-10-14

申请人： Innalabs Limited

发明人： Isaak Markovich Okon

IPC分类号： G01C25/00

CPC分类号： G01C25/005 ,  G01C19/5691 ,  G01C19/5776

摘要： The invention relates to gyroscopic instruments. The method for calibrating the scale factor of an angular velocity sensor or an axisymmetric vibratory gyroscope, which method uses a control amplitude signal, a control precessional signal CP and a control quadrature signal CQ for exciting the vibration of a resonator on a resonant frequency, involves a first step of pre-calibration which consists of measuring and recording an initial scale factor and the value of an initial control signal, and a second step of measuring the value of the current control signal and establishing a scale factor SF that is corrected on the basis of a proportional relationship involving the initial scale factor SF°, the initial value of the control signal Y° and the current value of the control signal Y° according to the formula SF=SF°Y/Y°.

摘要翻译： 本发明涉及陀螺仪。 用于校正角速度传感器或轴对称振动陀螺仪的比例因子的方法，该方法使用控制幅度信号，控制进动信号CP和用于激励谐振器在谐振频率上的振动的控制正交信号CQ，涉及 第一步骤，其包括测量和记录初始比例因子和初始控制信号的值，以及第二步骤，测量电流控制信号的值，并建立在 根据公式SF = SF°Y / Y°，涉及初始比例因子SF°，控制信号Y°的初始值和控制信号Y°的当前值的比例关系的基础。

公开(公告)号：US20180356226A1

公开(公告)日：2018-12-13

申请号：US15780853

申请日：2016-11-28

申请人： Innalabs Limited

发明人： Jose BEITIA ,  Alain RENAULT ,  Isaak OKON

IPC分类号： G01C19/38 ,  G01C21/18

CPC分类号： G01C19/38 ,  G01C21/18

摘要： The invention relates to an inertial navigation system for a carrier comprising a core comprising gyroscopic sensors making it possible to determine the angular velocity thereof according to three axes defining a reference trihedron, two of the axes defining a reference plane and the third axis being at right angles to this plane. The device comprises command and control means making it possible to rotate the core about the third axis and to determine the direction of the geographic north on the basis of the information supplied by the gyroscopic sensors and by an accelerometer placed in the reference plane; the rotation of the core being performed with a period for which the value of the Allan variance of the stability error of the gyroscopic sensors is lower than a given value guaranteeing the accuracy with which the direction of the geographic north can be known.

公开(公告)号：US09671247B2

公开(公告)日：2017-06-06

申请号：US14332602

申请日：2014-07-16

申请人： Innalabs Limited

发明人： Isaak Markovich Okon ,  Alain Renault ,  Jose Beitia

IPC分类号： G01C19/00 ,  G01C19/567 ,  G01C25/00 ,  G01C19/56 ,  G01C19/5776 ,  G01C19/5614 ,  G01C19/5649 ,  G01C19/5726

CPC分类号： G01C25/00 ,  G01C19/56 ,  G01C19/5614 ,  G01C19/5649 ,  G01C19/567 ,  G01C19/5726 ,  G01C19/5776 ,  G01C25/005

摘要： The present invention is concerned with a method of calibrating a vibrating gyroscope. The method comprises exciting a vibration along an excitation axis of a resonant structure wherein the excitation axis is positioned at a first angular position, sensing the vibration of the resonant structure on a first sensing axis of the resonant structure while the excitation axis is positioned at the first angular position, generating a first sensing signal indicative of the sensed vibration of the resonant structure on the first sensing axis, rotating the excitation axis in a continuous manner around the resonant structure to a second angular position, sensing the vibration of the resonant structure on a second sensing axis of the resonant structure while the excitation axis is positioned at the second angular position, generating a second sensing signal indicative of the sensed vibration of the resonant structure on the second sensing axis and adding the first sensing signal to the second sensing signal in order to derive a bias of the gyroscope.

公开(公告)号：US20160018243A1

公开(公告)日：2016-01-21

申请号：US14332602

申请日：2014-07-16

申请人： Innalabs Limited

发明人： ISAAK MARKOVICH OKON ,  ALAIN RENAULT ,  JOSE BEITIA

IPC分类号： G01C25/00 ,  G01C19/56

CPC分类号： G01C25/00 ,  G01C19/56 ,  G01C19/5614 ,  G01C19/5649 ,  G01C19/567 ,  G01C19/5726 ,  G01C19/5776 ,  G01C25/005

摘要： The present invention is concerned with a method of calibrating a vibrating gyroscope. The method comprises exciting a vibration along an excitation axis of a resonant structure wherein the excitation axis is positioned at a first angular position, sensing the vibration of the resonant structure on a first sensing axis of the resonant structure while the excitation axis is positioned at the first angular position, generating a first sensing signal indicative of the sensed vibration of the resonant structure on the first sensing axis, rotating the excitation axis in a continuous manner around the resonant structure to a second angular position, sensing the vibration of the resonant structure on a second sensing axis of the resonant structure while the excitation axis is positioned at the second angular position, generating a second sensing signal indicative of the sensed vibration of the resonant structure on the second sensing axis and adding the first sensing signal to the second sensing signal in order to derive a bias of the gyroscope.

摘要翻译： 本发明涉及校准振动陀螺仪的方法。 该方法包括激励沿着谐振结构的激励轴的振动，其中激励轴定位在第一角度位置，感测在谐振结构的第一感测轴上的谐振结构的振动，同时激励轴位于 第一角位置，产生指示在第一感测轴上感测到的谐振结构的振动的第一感测信号，使激励轴以连续的方式围绕着谐振结构旋转到第二角位置，感测谐振结构的振动 所述谐振结构的第二检测轴在所述激励轴位于所述第二角位置时产生指示所述第二感测轴上所述谐振结构感测的振动的第二感测信号，并将所述第一感测信号与所述第二感测信号相加 以便导出陀螺仪的偏差。

公开(公告)号：US10718614B2

公开(公告)日：2020-07-21

申请号：US15780853

申请日：2016-11-28

申请人： Innalabs Limited

发明人： Jose Beitia ,  Alain Renault ,  Isaak Okon

IPC分类号： G01C19/38 ,  G01C21/18

摘要： The invention relates to an inertial navigation system for a carrier comprising a core comprising gyroscopic sensors making it possible to determine the angular velocity thereof according to three axes defining a reference trihedron, two of the axes defining a reference plane and the third axis being at right angles to this plane. The device comprises command and control means making it possible to rotate the core about the third axis and to determine the direction of the geographic north on the basis of the information supplied by the gyroscopic sensors and by an accelerometer placed in the reference plane; the rotation of the core being performed with a period for which the value of the Allan variance of the stability error of the gyroscopic sensors is lower than a given value guaranteeing the accuracy with which the direction of the geographic north can be known.

公开(公告)号：US20170350700A1

公开(公告)日：2017-12-07

申请号：US15535131

申请日：2015-12-17

申请人： Innalabs Limited

发明人： JOSE BEITIA ,  ALAIN RENAULT ,  CHRISTOPHER FELL

IPC分类号： G01C19/5642

CPC分类号： G01C19/5642 ,  G01C19/5783

摘要： A gyroscope comprising a resonant structure and a plurality of transducers configured to drive a vibrational mode in the resonant structure and detect vibrations of the resonant structure, wherein at least one of the plurality of transducers comprises a piezoelectric mono crystal.

公开(公告)号：US09476710B2

公开(公告)日：2016-10-25

申请号：US15099764

申请日：2016-04-15

申请人： Innalabs Limited

发明人： Valery Valerianovich Chikovani ,  Yurii Alekseevich Yatzenko

IPC分类号： G01C19/56 ,  G01C19/5691

CPC分类号： G01C19/56 ,  G01C19/5691

摘要： Coriolis vibratory gyroscope includes a thin-walled resonator, fastened centrally on a stem located within the resonator; with 4nk holes in a wall of the resonator and arranged around the stem, where “k” is integer, “n” is order of vibration modes, and the angle between adjacent holes is “π/2nk”. The stem is rotationally symmetric and is fastened on a base; electrodes are arranged on the wall for excitation and measurement of vibration modes, with leads passing from the electrodes through the holes; the base has a seating for the resonator stem, and leads pass from the outside of the base through it, the leads being electrically-insulated and sealed relative to the base; the leads which pass through the base are connected to the leads which pass from the electrodes, allowing signals to pass from outside the base, through the base, through the holes in the resonator wall and to the electrodes.

摘要翻译： 科里奥利振动陀螺仪包括薄壁谐振器，固定在位于谐振器内的杆上; 在谐振器的壁上具有4nk的孔并且围绕杆布置，其中“k”是整数，“n”是振动模式的次序，并且相邻孔之间的角度是“π/ 2nk”。 杆旋转对称并固定在基座上; 电极布置在壁上用于激发和测量振动模式，引线从电极穿过孔; 基座具有用于谐振器杆的座，并且引线从基座的外部通过它，引线相对于基座电绝缘和密封; 穿过基座的引线与从电极通过的引线连接，允许信号从基座外部通过基座通过谐振器壁中的孔和电极。