Litton Systems, Inc.

Toyon Research Corporation

Gregory M Johnson

John Christopher Baker

Daniel T Zaida

Kenan Osman Ezal

Patrick A Toole

An exemplary radio-frequency (RF)-based navigation reference system uses one or more non-collocated and time-synchronized direction-finding transmitters to enable a client receiver to estimate its own 3-D position, velocity and time (PVT) using direction-finding (DF) waveforms obtained from said reference transmitters. At least one reference transmitter is sufficient for obtaining a 3-D PVT solution provided the client receiver is equipped with an accurate (low-drift) local clock such as a chip-scale atomic clock (CSAC). All other client receivers require at least two reference transmitters to estimate their 3-D PVT.

System for positioning, navigation, and time (PNT)

A vibratory sensor with a resonator for measuring angular rotation, such as for example a hemispherical resonator gyroscope (HRG) operating in force rebalance mode, includes circuitry to generate a virtual node and antinode in the resonator standing wave. Shifting a pair of pickoff electrodes from a position directly over an actual node in the HRG standing wave to an offset position where the primary and secondary harmonic contributions at the first pickoff electrode are equal to the primary and secondary harmonic contributions at the second pickoff electrode permits the elimination of secondary harmonics contribution. A virtual node is created by offsetting a pair of pickoff electrodes 22.5 degrees from the actual antinode such that each pickoff electrode includes an equal contribution of the secondary harmonic signal present in the standing wave. Differencing the two signals eliminates both the primary signal contribution as well as the secondary harmonic signal contribution, thereby reducing the signal below the actual node signal. The virtual node can then be amplified to a greater extent without the filtering and shifting that is ordinarily required of the signal processing at the actual node. While the virtual antinode includes contributions of the secondary harmonic signal at both pickoff electrodes, the peak amplitude of the secondary harmonic is typically only one percent of the primary vibration pattern and does not adversely affect the processing of the virtual antinode. Using a circuit which adds and differences the two inputs requires only two additional buffers and results in a vibratory sensor with significantly better accuracy.

Vibratory sensor with virtual node/antinode correction of secondary harmonics

A time based digital to analog converter is presented in which known reference voltages are used to create variable period waveforms which, when combined according to a desired computation, can convert digital words into a sinusoidal signal of a precision variable. To illustrate the application of the present invention, a hemispherical resonator gyroscope (HRG) operating in force rebalance is presented wherein a time based digital to analog converter with a variable period output controls the HRG electronics in nulling the standing wave. A rate of the standing wave is calculated, and a software component calculates the fraction of the maximum rate needed to oppose and null the initial rate of the standing wave. The fraction of the maximum rate is converted to digital words corresponding to the number of periods of a clock connected to the circuit. Using the digital words thus determined, a gate array using digital logic generates waveforms having variable periods, where the amplitude of the waveforms correspond to fixed reference voltage sources, and the period of the waveforms are determined by the digital words in the earlier calculation. Using the waveforms, the HRG rate controls can be maintained at a high level of precision.

Time based digital-to-analog conversion of a precision variable amplitude sine wave

A vibratory sensor, such as for example a hemispherical resonator gyroscope (HRG) operating in the whole angle mode, is disclosed with a self-calibrating function and an improved precision. Precision is improved using two multiplying low noise DACs to estimate the position of the standing wave relative to a fixed position on the HRG. During a first half cycle the DACs multiply a measured standing wave position by an estimated standing wave position, such that the product of the two signals approach zero. The small voltage output can then be amplified using high gain to minimize the noise in the standing wave angle prediction. Using an ADC, the amplified signal is converted and transmitted to a microprocessor for evaluation. In the second half cycle, the low noise multipliers are evaluated using a known reference signal, where the product of the known reference signal and the multipliers are evaluated against a predicted signal to determine multiplier drift. Subsequently, future estimations of the standing wave precess angle are processed using the evaluation of the multipliers, thereby establishing a self-calibration mode.

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Goleta, CA, United States of America

Gregory M Johnson