Importance

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Abstract

A gyroscope that may include various sources of error, with those sources of error each being dependent upon a different parameter, is associated with a simulation or 'model' of the gyroscope which is typically a computer simulation. The computer simulation is provided with errors which can be adjusted to be identical with the errors present in the real gyroscope. An arrangement is provided to adjust the errors in the model of the gyroscope to be identical with the errors in the real gyroscope, that arrangement including Kalman filters which receive signals generated by subtracting the outputs of the real gyroscope and the model gyroscope, while simultaneously varying the various inputs to the real gyroscope. The Kalman filters also generate a signal which is an estimate of the angular rotation being sensed by the real gyroscope. When the model of the gyroscope is running in perfect synchronism with the real gyroscope, it can be assumed that all of the errors in the real gyroscope are replicated in the model gyroscope, and the estimate of angular rotation being supplied to the model gyroscope is actually equal to the real angular rotation being sensed by the real gyroscope.

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First Claim