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No. Publication Number Title Publication/Patent Number Publication/Patent Number Publication Date Publication Date
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1 US2020200536A1
GYROSCOPE
Publication/Patent Number: US2020200536A1 Publication Date: 2020-06-25 Application Number: 16/679,521 Filing Date: 2019-11-11 Inventor: Williamson, Matthew   Sheard, John Keith   Gregory, Christopher M.   Assignee: Atlantic Inertial Systems Limited   IPC: G01C19/5726 Abstract: A vibrating structure gyroscope includes a permanent magnet, a structure arranged in a magnetic field of the permanent magnet and arranged to vibrate under stimulation from at least one primary drive electrode and a drive system that includes: one primary drive electrode arranged at least one primary sense electrode arranged to sense motion in the vibrating structure and a drive control loop controlling the primary drive electrode dependent on the primary sense electrode. The structure also includes a compensation unit arranged to receive a signal from the drive system representative of a gain in the drive control loop and arranged to output a scale factor correction based on that signal. As the magnet degrades (e.g. naturally over time as the material ages), the magnetic field weakens. To compensate for this, the primary drive control loop will automatically increase the gain.
2 US10746564B2
Inertial sensor
Publication/Patent Number: US10746564B2 Publication Date: 2020-08-18 Application Number: 15/751,999 Filing Date: 2016-08-05 Inventor: Gregory, Christopher   Assignee: ATLANTIC INERTIAL SYSTEMS, LIMITED   IPC: G01C25/00 Abstract: A method of determining whether parametric performance of an inertial sensor has been degraded comprises: recording first data output from an inertial sensor; then recording second data output from the inertial sensor; comparing the first data output with the second data output; and determining whether the parametric performance of the inertial sensor has been degraded based on the comparison between the first and second data output.
3 EP3599444A1
A NAVIGATION SYSTEM
Publication/Patent Number: EP3599444A1 Publication Date: 2020-01-29 Application Number: 19187941.0 Filing Date: 2019-07-23 Inventor: Skilton, Alastair   Wilkinson, Nicholas Robert Geoffrey   Assignee: Atlantic Inertial Systems Limited   IPC: G01C21/16 Abstract: According to a first aspect, this disclosure provides a navigation system comprising: an inertial navigation system, INS, arranged to provide an INS position estimate and an INS attitude estimate; a terrain based navigation system arranged to provide a terrain based position estimate; a star tracker system arranged to provide a star tracker position and/or attitude estimate; a navigation filter arranged to receive the INS position estimate, the terrain based position estimate, the INS attitude estimate and the star tracker position and/or attitude estimate; the navigation filter arranged to determine an INS error state based at least on the INS position estimate, the terrain based position estimate, the INS attitude estimate and the star tracker position and/or attitude estimate; and the navigation system arranged to output a navigation solution comprising the INS position estimate corrected by the INS error state and the INS attitude estimate corrected by the INS error state. A star tracker system adds an estimate of position and/or attitude that cannot be obtained from a terrain based navigation system. The attitude estimate is more closely related to the raw sensor data than the position estimate obtained from the terrain based navigation system. For example, where the gyroscopes are rate sensors, the attitude angles are only a single integration away from the raw sensor data, whereas the position estimate obtained by the terrain based navigation system is two integrations away from the raw sensor data from the accelerometers. Attitude feedback from the star tracker to improve estimates of the gyroscope errors is especially useful.
4 EP3671117A1
COMPENSATION FOR MAGNET AGING IN INDUCTIVE GYROSCOPE
Publication/Patent Number: EP3671117A1 Publication Date: 2020-06-24 Application Number: 19211755.4 Filing Date: 2019-11-27 Inventor: Williamson, Matthew   Sheard, John Keith   Gregory, Chris   Assignee: Atlantic Inertial Systems Limited   IPC: G01C19/5684 Abstract: A vibrating structure gyroscope, comprising: a permanent magnet; a structure arranged in a magnetic field of the permanent magnet and arranged to vibrate under stimulation from at least one primary drive electrode; a drive system comprising: the at least one primary drive electrode arranged to induce motion in the vibrating structure, at least one primary sense electrode arranged to sense motion in the vibrating structure; and a drive control loop controlling the primary drive electrode dependent on the primary sense electrode; a compensation unit arranged to receive a signal from the drive system representative of a gain in the drive control loop and arranged to output a scale factor correction based on that signal. As the magnet degrades (e.g. naturally over time as the material ages), the magnetic field weakens. As a result, the amplitude of motion induced in the vibrating structure will reduce and the amplitude of the pick-off signal detected at the primary sense electrode will reduce. To compensate for this, the primary drive control loop will automatically increase the gain. Therefore the gain in the drive control loop can be used as a measure of magnet degradation and can be used to compensate for the change in scale factor that is caused by that magnet degradation. comparing the gain at the time of use to a reference gain value obtained at a time of calibration, the change in gain can be used to calculate a change in scale factor since calibration that is due to magnet degradation.
5 US202025786A1
SENSOR PACKAGES
Publication/Patent Number: US202025786A1 Publication Date: 2020-01-23 Application Number: 20/191,651 Filing Date: 2019-07-15 Inventor: Malvern, Alan   Harish, Kiran   Assignee: Atlantic Inertial Systems Limited   IPC: G01P1/02 Abstract: A sensor package comprising: a sensor, wherein the sensor comprises a sensing structure formed in a material layer and one or more further material layers arranged to seal the sensing structure to form a hermetically sealed sensor unit; a support structure; one or more springs flexibly fixing the hermetically sealed sensor unit to the support structure; wherein the one or more springs are formed in the same material layer as the sensing structure of the sensor unit; and one or more external package wall(s) encapsulating the sensor unit, the support structure, and the one or more springs, wherein the support structure is fixed to at least one of the package wall(s). The springs decouple mechanical stresses between the sensor unit and the external package wall(s) so as to reduce the long term drift of scale factor and bias.
6 EP3486609B1
VIBRATING STRUCTURE GYROSCOPE WITH FINE ELECTROSTATIC FREQUENCY TUNING
Publication/Patent Number: EP3486609B1 Publication Date: 2020-08-26 Application Number: 18275175.0 Filing Date: 2018-11-08 Inventor: Townsend, Kevin   Kazer, Andrew   Assignee: Atlantic Inertial Systems Limited   IPC: G01C19/5684
7 US2020158751A1
ACCELEROMETER
Publication/Patent Number: US2020158751A1 Publication Date: 2020-05-21 Application Number: 16/679,509 Filing Date: 2019-11-11 Inventor: Malvern, Alan   Assignee: Atlantic Inertial Systems Limited   IPC: G01P15/125 Abstract: An accelerometer includes a planar proof mass mounted to a fixed substrate so as to be linearly moveable in an out-of-plane sensing direction in response to an applied acceleration. The proof mass includes first and second sets of moveable capacitive electrode fingers extending from the proof mass perpendicular to the sensing direction in a first in-plane direction and laterally spaced in a second in-plane direction perpendicular to the sensing direction. The moveable capacitive electrode fingers interdigitate with corresponding sets of fixed capacitive electrode fingers mounted to the substrate. The first set of fixed fingers has a thickness less than a thickness of the first set of moveable fingers; and wherein the second set of fixed fingers has a thickness greater than a thickness of the second set of moveable fingers.
8 US202041537A1
ACCELEROMETERS
Publication/Patent Number: US202041537A1 Publication Date: 2020-02-06 Application Number: 20/191,665 Filing Date: 2019-10-15 Inventor: Townsend, Kevin   Durston, Michael   Sitch, Douglas   Assignee: Atlantic Inertial Systems Limited   IPC: G01P15/13 Abstract: A method for closed loop operation of a capacitive accelerometer uses a single current source and a single current sink to apply an in-phase drive signal V1′ to a first set of fixed capacitive electrode fingers and a corresponding anti-phase drive signal V2′ to a second set of fixed capacitive electrode fingers. This provides a net electrostatic restoring force on the proof mass for balancing the inertial force of the applied acceleration and maintains the proof mass at a null position.
9 US10670400B2
Vibrating structure gyroscopes
Publication/Patent Number: US10670400B2 Publication Date: 2020-06-02 Application Number: 16/143,634 Filing Date: 2018-09-27 Inventor: Townsend, Kevin   Kazer, Andrew   Assignee: ATLANTIC INERTIAL SYSTEMS, LIMITED   IPC: G01C19/5684 Abstract: A vibrating structure gyroscope includes an annular resonator arranged to vibrate in a plane in response to electrostatic driving forces and a set of capacitive drive electrodes arranged to apply a voltage creating an electrostatic driving force to excite a primary cos nθ resonance along a primary axis at a primary frequency fP, such that Coriolis forces, resulting from an angular rate applied about an out-of-plane axis, induce a secondary cos nθ resonance along a secondary axis at a secondary frequency fS. The gyroscope also includes digitally-controlled first and second sets to creating a static electrostatic balancing.
10 EP3617656A1
INERTIAL NAVIGATION SYSTEM
Publication/Patent Number: EP3617656A1 Publication Date: 2020-03-04 Application Number: 19193154.2 Filing Date: 2019-08-22 Inventor: Henderson, Geoffrey   Assignee: Atlantic Inertial Systems Limited   IPC: G01C25/00 Abstract: An inertial navigation system comprising: a first inertial measurement unit comprising at least a first sensor; and a second inertial measurement unit comprising at least a second sensor corresponding in type to the first sensor; wherein the first inertial measurement unit is rotatably mounted relative to the second inertial measurement unit; and wherein the inertial navigation system further comprises a controller arranged to: acquire a first set of measurements simultaneously from both the first inertial measurement unit and the second inertial measurement unit; rotate the first inertial measurement unit relative to the second inertial measurement unit; acquire a second set of measurements simultaneously from both the first inertial measurement unit and the second inertial measurement unit; and calculate from the first set of measurements and the second set of measurements at least one error characteristic of the first sensor and/or the second sensor. Using two separate IMUs rotatable relative to one another means that the orientation of some or all of the sensors in the first IMU can be changed with respect to their counterparts in the second IMU. With this arrangement the error characteristics of the sensors can be determined at the same time as obtaining measurements of the continually changing main sensor output. This allows the inertial measurement calibration to be performed while on the move rather than having to perform calibration while the IMU is at rest.
11 US10670623B2
Accelerometers
Publication/Patent Number: US10670623B2 Publication Date: 2020-06-02 Application Number: 15/754,293 Filing Date: 2016-08-11 Inventor: Harish, Kiran Mysore   Malvern, Alan   Assignee: Atlantic Inertial Systems Limited   IPC: G01P15/125 Abstract: A capacitive accelerometer comprises: a substantially planar proof mass mounted to a fixed substrate by flexible support legs so as to be linearly moveable in an in-plane sensing direction. The proof mass comprises first and second sets of moveable capacitive electrode fingers. First and second sets of fixed capacitive electrode fingers interdigitates with the first and second sets of moveable electrode fingers respectively. A set of moveable damping fingers extend from the proof mass substantially perpendicular to the sensing direction, laterally spaced in the sensing direction. A set of fixed damping fingers mounted to the fixed substrate interdigitates with the set of moveable damping fingers and comprises an electrical connection to the proof mass so that the interdigitated damping fingers are electrically common. The damping fingers are mounted in a gaseous medium that provides a damping effect.
12 EP3250888B1
MULTIPLE SENSOR INTEGRATION
Publication/Patent Number: EP3250888B1 Publication Date: 2020-03-11 Application Number: 16701875.3 Filing Date: 2016-01-26 Inventor: Sheard, John Keith   Faulkner, Nicholas Mark   Assignee: Atlantic Inertial Systems Limited   IPC: G01C21/16
13 EP3111166B1
INERTIAL NAVIGATION SYSTEM
Publication/Patent Number: EP3111166B1 Publication Date: 2020-09-02 Application Number: 15710550.3 Filing Date: 2015-02-16 Inventor: Sheard, John Keith   Faulkner, Nicholas Mark   Assignee: Atlantic Inertial Systems Limited   IPC: G01C19/02
14 US2020025786A1
SENSOR PACKAGES
Publication/Patent Number: US2020025786A1 Publication Date: 2020-01-23 Application Number: 16/511,433 Filing Date: 2019-07-15 Inventor: Malvern, Alan   Harish, Kiran   Assignee: Atlantic Inertial Systems Limited   IPC: G01P1/02 Abstract: A sensor package comprising: a sensor, wherein the sensor comprises a sensing structure formed in a material layer and one or more further material layers arranged to seal the sensing structure to form a hermetically sealed sensor unit; a support structure; one or more springs flexibly fixing the hermetically sealed sensor unit to the support structure; wherein the one or more springs are formed in the same material layer as the sensing structure of the sensor unit; and one or more external package wall(s) encapsulating the sensor unit, the support structure, and the one or more springs, wherein the support structure is fixed to at least one of the package wall(s). The springs decouple mechanical stresses between the sensor unit and the external package wall(s) so as to reduce the long term drift of scale factor and bias.
15 US2020025571A1
NAVIGATION SYSTEM
Publication/Patent Number: US2020025571A1 Publication Date: 2020-01-23 Application Number: 16/512,481 Filing Date: 2019-07-16 Inventor: Skilton, Alastair   Wilkinson, Nicholas Robert Geoffrey   Assignee: Atlantic Inertial Systems Limited   IPC: G01C21/16 Abstract: A navigation system comprising: an inertial navigation system, INS, arranged to provide an INS position estimate and an INS attitude estimate; a terrain based navigation system arranged to provide a terrain based position estimate; a star tracker system arranged to provide a star tracker position and/or attitude estimate; a navigation filter arranged to receive the INS position estimate, the terrain based position estimate, the INS attitude estimate and the star tracker position and/or attitude estimate; the navigation filter arranged to determine an INS error state based at least on the INS position estimate, the terrain based position estimate, the INS attitude estimate and the star tracker position and/or attitude estimate; and the navigation system arranged to output a navigation solution comprising the INS position estimate corrected by the INS error state and the INS attitude estimate corrected by the INS error state.
16 US2020064136A1
INERTIAL NAVIGATION SYSTEM
Publication/Patent Number: US2020064136A1 Publication Date: 2020-02-27 Application Number: 16/548,941 Filing Date: 2019-08-23 Inventor: Henderson, Geoffrey Thomas   Assignee: Atlantic Inertial Systems Limited   IPC: G01C21/18 Abstract: An inertial navigation system includes a first inertial measurement unit with at least a first sensor and a second inertial measurement unit with at least a second sensor corresponding in type to the first sensor. The first inertial measurement unit is rotatably mounted relative to the second inertial measurement unit, The inertial navigation system further include a controller arranged to: acquire a first set of measurements simultaneously from both the first inertial measurement unit and the second inertial measurement unit; rotate the first inertial measurement unit relative to the second inertial measurement unit; acquire a second set of measurements simultaneously from both the first inertial measurement unit and the second inertial measurement unit; and calculate from the first set of measurements and the second set of measurements at least one error characteristic of the first sensor and/or the second sensor.
17 US2020116491A1
NAVIGATION SYSTEM
Publication/Patent Number: US2020116491A1 Publication Date: 2020-04-16 Application Number: 16/564,784 Filing Date: 2019-09-09 Inventor: Henderson, Geoffrey Thomas   Assignee: Atlantic Inertial Systems Limited   IPC: G01C21/20 Abstract: A terrain-based navigation system include at least three laser range finders, each fixedly mounted to a vehicle body, each pointing in a different direction and arranged such that they can be used to calculate terrain gradient in two dimensions. Existing terrain-based navigation systems for aircraft that use a radar altimeter to determine the distance of the vehicle from the ground make use of the large field of view of the radar altimeter. The first return signal from the radar altimeter may not be from directly below the aircraft, but will be interpreted as being directly below the aircraft, thereby impairing the chances of obtaining a terrain match, or impairing the accuracy of a terrain match. The use of a plurality of laser range finders each fixedly mounted to the vehicle body allows more terrain information to be obtained as the terrain can be detected from the plurality of different directions.
18 EP3205978B1
INERTIAL SENSORS
Publication/Patent Number: EP3205978B1 Publication Date: 2020-04-15 Application Number: 17155260.7 Filing Date: 2017-02-08 Inventor: Malvern, Alan Richard   Assignee: Atlantic Inertial Systems Limited   IPC: G01C19/5684
19 EP3597590A1
SENSOR PACKAGES
Publication/Patent Number: EP3597590A1 Publication Date: 2020-01-22 Application Number: 19187276.1 Filing Date: 2019-07-19 Inventor: Malvern, Alan   Harish, Kiran   Assignee: Atlantic Inertial Systems Limited   IPC: B81B7/00 Abstract: A sensor package (200) comprising: a sensor, wherein the sensor comprises a sensing structure (204) formed in a material layer (202) and one or more further material layers arranged to seal the sensing structure (204) to form a hermetically sealed sensor unit (210); a support structure (214); one or more springs (212) flexibly fixing the hermetically sealed sensor unit (210) to the support structure (214); wherein the one or more springs (212) are formed in the same material layer (202) as the sensing structure (204) of the sensor unit (210); and one or more external package wall(s) (216,220) encapsulating the sensor unit (210), the support structure (214), and the one or more springs (212), wherein the support structure (214) is fixed to at least one of the package wall(s) (216,220). The springs (212) decouple mechanical stresses between the sensor unit (210) and the external package wall(s) (216,220) so as to reduce the long term drift of scale factor and bias. Furthermore, the effects of temperature sensitivity on bias and scale factor can also be reduced e.g. for an inertial sensor.
20 EP3640592A1
A NAVIGATION SYSTEM
Publication/Patent Number: EP3640592A1 Publication Date: 2020-04-22 Application Number: 19198716.3 Filing Date: 2019-09-20 Inventor: Henderson, Geoffrey   Assignee: Atlantic Inertial Systems Limited   IPC: G01C21/00 Abstract: A terrain-based navigation system comprising: at least three laser range finders, each fixedly mounted to a vehicle body, each pointing in a different direction and arranged such that they can be used to calculate terrain gradient in two dimensions. Existing terrain-based navigation systems for aircraft that use a radar altimeter to determine the distance of the vehicle from the ground make use of the large field of view of the radar altimeter. The first return signal from the radar altimeter may not be from directly below the aircraft, but will be interpreted as being directly below the aircraft, thereby impairing the chances of obtaining a terrain match, or impairing the accuracy of a terrain match. Laser range finders have a narrow field of view, but a complication is that the navigation system must know the direction of the laser range finder so that it can take account of the geometry and determine where the return signal came from. The use of a plurality of laser range finders each fixedly mounted to the vehicle body allows more terrain information to be obtained as the terrain can be detected from the plurality of different directions, while allowing the system to remain relatively simple and cost-effective by not requiring complex mechanical mounting structures.