1
Todays lecture
• Refresh basic mechanics– Angular momentum– Moment of inertia– Torque
• Gyros– Platforms– Strap-down
• Inertial Measurement Units IMU
Material from• Hyperphysics http://
hyperphysics.phy-astr.gsu.edu/• Fraden Chapter 8• Bosch/Sensonor• Advances in Navigation
Sensors and Integration Technology www.rta.nato.int
• Handbook of Virtual Environment Technology
2
Dreie impuls
3
Dreie impuls og treghetsmoment
4
(Kraft-) moment
5
Mekaniske gyro prinsipper
dt
Ld
Gyro kompass(Gyro stabilized platform) =0
L
Rate gyro(Strap-down gyro)
Følger ”bilen”Måles
6
Bosch gyro
7
Automotive rate gyro
Sensonor
8
Fiber optisk ring gyro
9
IMU-INS
• Inertial measurement unit (IMU)
• Inertial navigation system (INS)
10
Militære anvendelser og krav
11
Handbook of Virtual Environment Technology
12
Teknologiske trender (2003)
13
Akselerometere (2003)
14
Kostnadsbildet
15
Teknologiforventninger (2003)