low-cost INS

• Main Authors: PITT ALEXANDER, DUNN MARK, MALOS JOHN, REID PETER
• Format: Patent
• Language: Chinese; English
• Published: 27.12.2019
• Subjects: CONTROLLING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The disclosure relates to an underground mining vehicle comprising a three-axis MEMS gyroscope rotatable about a rotation axis and a gyroscope interface that calculates a first rotation rate bias withrespect to a first axis different to the rotation axis, a second rotation rate bias with respect to a second axis different to the first axis and different to the rotation axis, a rotation rate aboutthe rotation axis based on the Earth rotation rate vector by correcting the rotational measurement data using the first rotation rate bias and the second rotation rate bias and a third rotation ratebias with respect to the rotation axis based on the calculated rotation rate about the rotation axis. A navigation unit receives the first rotation rate bias, the second rotation rate bias and the third rotation rate bias and calculates a pose of the vehicle. 本公开涉及一种地下采矿车辆，该地下采矿车辆包括：三轴MEMS陀螺仪，其可绕旋转轴线旋转；以及陀螺仪接口，其计算：相对于与所述旋转轴不同的第一轴的第一旋转速率偏差；相对于与所述第一轴和所述旋转轴不同的第二轴的第二旋转速率偏差；通过使用所述第一旋转速率偏差和所述第二旋转速率偏差校正所述旋转测量数据基于地球旋转速率矢量计算绕所述旋转轴的旋