Method for harmonising two inertial measurement units with one another and navigation system implementing this method
A method of harmonizing a first inertial measurement unit and a second inertial measurement unit with each other includes the steps of: causing a control unit to compare the vectors measured by the inertial measurement units in order to determine a specific force difference and a rotation difference while taking account of the lever arms between the two measurement units; and causing the control unit to determine a harmonization value from the specific force difference and the rotation difference while taking account of the lever arms between the two measurement units. Navigation apparatus performs the method.
1. Vehicle navigation apparatus including an optoelectronic instrument having a base configured to be attached to a vehicle and a turret provided with a sighting device and mounted on the base to pivot about a first axis, and comprising a first inertial measurement unit secured to the base of the optoelectronic instrument and a second inertial measurement unit secured to the turret and arranged to stabilize the sighting device carried by the turret, the sighting device including a support frame carrying an electronic image sensor, and a stabilizer device which connects the electronic image sensor to the support frame and which comprises actuators connected to a control circuit for moving the electronic image sensor in response to signals coming from the second inertial measurement unit, the first inertial measurement unit and the second inertial measurement unit each being arranged to determine a respective specific force vector and a respective instantaneous rotation vector and both being connected to an electronic control unit arranged to determine a sighting line for the sighting device from the measurements of the second inertial measurement unit, and to project that line into a reference frame of the first inertial measurement unit; the electronic control unit being also arranged to perform a method of harmonizing the first inertial measurement unit and the second inertial measurement unit with each other, said method comprising the steps of:
causing the control unit to compare the two specific force vectors determined by the inertial measurement units between them and the two instantaneous rotation vectors determined by the inertial measurement units between them in order to determine a specific force difference and a rotation difference while taking account of a lever arm between the two inertial measurement units without performing navigation in order to make the comparison and without computing an inertial reference frame in order to make the comparison; and
causing the control unit to determine a harmonization value from said difference while taking account of the lever arm between the two measurement units.
2. The vehicle navigation apparatus according to claim 1 , wherein each of the first inertial measurement unit and the second inertial measurement unit has three accelerometers, each arranged along a respective axis of the reference frame, and the specific force vectors are compared by comparing the outputs of the accelerometers of the two inertial measurement units in pairs.
3. The vehicle navigation apparatus according to claim 1 , wherein each of the first inertial measurement unit and the second inertial measurement unit has three angle sensors, each arranged about a respective axis of the reference frame, and the instantaneous rotation vectors are compared by comparing the outputs from the angle sensors of the two inertial measurement units in pairs.
4. The vehicle navigation apparatus according to claim 1 , wherein harmonization is performed periodically.
5. The vehicle navigation apparatus according to claim 1 , wherein harmonization is performed in real time.
6. A vehicle comprising a body and a vehicle navigation apparatus including an optoelectronic instrument having a base fixed to the vehicle and a turret provided with a sighting device and mounted on the base to pivot about a first axis, and comprising a first inertial measurement unit secured to the base of the optoelectronic instrument and a second inertial measurement unit secured to the turret and arranged to stabilize the sighting device carried by the turret, the sighting device including a support frame carrying an electronic image sensor, and a stabilizer device which connects the electronic image sensor to the support frame and which comprises actuators connected to a control circuit for moving the electronic image sensor in response to signals coming from the second inertial measurement unit, the first inertial measurement unit and the second inertial measurement unit each being arranged to determine a respective specific force vector and a respective instantaneous rotation vector and both being connected to an electronic control unit arranged to determine a sighting line for the sighting device from the measurements of the second inertial measurement unit, and to project that line into a reference frame of the first inertial measurement unit; the electronic control unit being also arranged to perform a method of harmonizing the first inertial measurement unit and the second inertial measurement unit with each other, said method comprising the steps of:
causing the control unit to compare the two specific force vectors determined by the inertial measurement units between them and the two instantaneous rotation vectors determined by the inertial measurement units between them in order to determine a specific force difference and a rotation difference while taking account of a lever arm between the two inertial measurement units without performing navigation in order to make the comparison and without computing an inertial reference frame in order to make the comparison; and
causing the control unit to determine a harmonization value from said difference while taking account of the lever arm between the two measurement units.