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1. 发明授权

US08661898B2 Vibrating structural gyroscope with quadrature control 失效
标题翻译：具有正交控制的振动结构陀螺仪
公开(公告)号：US08661898B2
公开(公告)日：2014-03-04
申请号：US12579098
申请日：2009-10-14
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： G01C19/00
CPC分类号： G01C19/5691
摘要： An apparatus and/or method that corrects for tuning errors in vibrating structure gyroscopes that are configured to be driven along a plurality of axes without the need for dedicated torque elements. The correction is accomplished by introducing a phase offset in the drive signal of one or more of the drive elements relative to other drive elements to minimize or reduce the quadrature signal. The tuning may be accomplished as a one time “set and forget” adjustment, as a manual adjustment performed at the discretion of the user, or as a closed loop active correction system. The technique improves the tuning of the resonator assembly, rather than merely compensating for the mistuning. Accordingly, for various embodiments of the invention, the destructive interference between the plurality of drive axes is reduced. Conservation of vibrational energy present in the resonator is thus enhanced, with less vibrational energy transferred to the support structure.
摘要翻译：校正被配置为沿着多个轴被驱动而不需要专用扭矩元件的振动结构陀螺仪中的调谐误差的装置和/或方法。通过在相对于其它驱动元件的一个或多个驱动元件的驱动信号中引入相位偏移来最小化或减小正交信号来实现校正。调谐可以作为一次“设置和忘记”调整来实现，作为由用户自行决定的手动调整，或作为闭环主动校正系统。该技术改进了谐振器组件的调谐，而不仅仅是补偿失谐。因此，对于本发明的各种实施例，减少了多个驱动轴之间的破坏性干扰。因此，谐振器中存在的振动能量的保持增强，较少的振动能量传递到支撑结构。

2. 发明授权

US07801694B1 Gyroscope with temperature compensation 有权
标题翻译：陀螺仪带温度补偿
公开(公告)号：US07801694B1
公开(公告)日：2010-09-21
申请号：US12240960
申请日：2008-09-29
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： G01C19/00 , G06F19/00
CPC分类号： G01C19/56 , G01C25/005
摘要： A method for compensating for bias and scale factor errors in vibrating structure gyroscopes. Certain embodiments utilize the functional relationship that bias and scale factor errors have with resonant frequency of vibration in the main vibrating body. Other embodiments utilize the functional relationships that other drive parameters of vibrating structure gyroscopes, such as drive voltage, have with bias and scale factor errors. The various methods may be used repeatedly during normal gyroscope operation in order to continually compensate for the bias and scale factor errors.
摘要翻译：一种用于补偿振动结构陀螺仪中偏置和比例因子误差的方法。某些实施例利用主振动体中偏置和比例因子误差具有振动谐振频率的功能关系。其他实施例利用振动结构陀螺仪的其它驱动参数（例如驱动电压）具有偏置和比例因子误差的功能关系。在正常陀螺仪操作期间可以重复使用各种方法，以便不断补偿偏差和比例因子误差。

3. 发明授权

US07617727B2 Vibrating inertial rate sensor utilizing split or skewed operational elements 失效
标题翻译：振动惯性速率传感器利用分裂或倾斜的操作元件
公开(公告)号：US07617727B2
公开(公告)日：2009-11-17
申请号：US11693214
申请日：2007-03-29
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： G01P9/04 , G01C19/00
CPC分类号： G01C19/56 , G01C19/5691
摘要： A vibrating inertial rate sensor has operational elements that define axes that are rotationally offset or “skewed” from a node or anti-node reference axis. The skew may be relative to separate node or anti-node reference axes, or take the form of an element that is “split” about the same node axis. Both the drive signal and the sense signal may be resolved from a common set of sensing elements. The drive elements may also operate on a skewed axis angle to rotationally offset the vibration pattern to affect active torquing of the gyroscope. Skewed drive elements may be combined with skewed or split elements on the same device. The skewed sensing scheme may be applied to vibratory systems having one or more node axes. The skewed drive scheme may be applied to vibratory systems having two or more node axes to affect active torquing.
摘要翻译：振动惯性速率传感器具有定义从节点或反节点参考轴旋转偏移或“偏斜”的轴的操作元件。偏斜可能相对于单独的节点或反节点参考轴，或者采用围绕相同节点轴“分裂”的元素的形式。驱动信号和感测信号都可以从一组共同的感测元件中解决。驱动元件还可以以偏斜的轴角度操作以旋转地偏移振动模式以影响陀螺仪的主动扭矩。倾斜的驱动元件可以与相同设备上的偏斜或分离元件组合。倾斜感测方案可以应用于具有一个或多个节点轴的振动系统。偏斜驱动方案可以应用于具有两个或多个节点轴的振动系统以影响主动扭矩。

4. 发明授权

US07526957B2 Vibrating inertial rate sensor utilizing skewed drive or sense elements 有权
标题翻译：振动惯性速率传感器利用偏移驱动或感应元件
公开(公告)号：US07526957B2
公开(公告)日：2009-05-05
申请号：US11640823
申请日：2006-12-18
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： G01P9/04 , G01C19/00
CPC分类号： G01C19/56 , G01C19/5691
摘要： A vibrating inertial rate sensor has sense elements that operate on axes that are rotationally skewed from a node reference axis, enabling both a rate sense and a drive sense determination. Alternatively, the skew may be applied to rotationally offset the drive elements from antinode reference axes to affect active torquing of the gyroscope. The skewed sensing scheme may be applied to vibratory systems having one or more node axes. The skewed drive scheme may be applied to vibratory systems having two or more node axes to affect active torquing.
摘要翻译：振动惯性速率传感器具有操作在从节点参考轴旋转偏斜的轴上的感测元件，能够实现速率感测和驱动感测定。或者，可以施加偏斜以将驱动元件从波腹参考轴旋转偏移以影响陀螺仪的主动扭矩。倾斜感测方案可以应用于具有一个或多个节点轴的振动系统。偏斜驱动方案可以应用于具有两个或多个节点轴的振动系统以影响主动扭矩。

5. 发明授权

US06550329B2 High Q angular rate sensing gyroscope 有权
标题翻译：高Q角速度传感陀螺仪
公开(公告)号：US06550329B2
公开(公告)日：2003-04-22
申请号：US09880433
申请日：2001-06-13
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： G01C1900
CPC分类号： G01C19/567 , G01C19/5642 , G01C19/5677
摘要： A structure and arrangement for improving the accuracy and efficiency of an angular rate sensing gyroscope is herein disclosed. Voltage pick-off conductors are applied to an area of the surface of a resonating element of an angular rate sensing gyroscope that is subject to substantially zero stress when the gyroscope is rotationally stationary. Actuator conductors are similarly applied to a resonating element at a location bounded by areas of the resonating element subject to substantially uniform levels of stress when the gyroscope is rotationally stationary. A method for improving the voltage response of a piezoelectric resonating element is also disclosed.
摘要翻译：本文公开了一种用于提高角速度感测陀螺仪的精度和效率的结构和装置。当陀螺仪旋转静止时，电压拾取导体被施加到角速度感测陀螺仪的谐振元件的表面的区域，该角度传感陀螺仪的谐振元件受到基本上零的应力。当陀螺仪旋转静止时，致动器导体类似地应用于由谐振元件的区域限定的位置处的谐振元件，该谐振元件受到基本上均匀的应力水平的施加。还公开了一种用于改善压电谐振元件的电压响应的方法。

6. 发明授权

US5270648A Single core triaxial flux-gate magnetometer 失效
标题翻译：单核三轴磁通门磁力计
公开(公告)号：US5270648A
公开(公告)日：1993-12-14
申请号：US565794
申请日：1990-08-10
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： G01R33/02 , G01R33/04
CPC分类号： G01R33/045 , G01R33/0206
摘要： A single core triaxial flux-gate magnetometer including a tall-toroidal core having a radial excitation winding, two orthogonal sets of axial or circumferential output windings, and an equatorial output winding oriented orthogonal to both axial output windings. The core is fabricated from a strip of magnetic tape material wrapped to form a toroid having a height approximately equal to its diameter. Each end of the strip is uniformly tapered along the top and bottom edges such that the tapered segments extend around an integer multiple of complete revolutions of the wrapping, the length of each tapered segment thereby being equal to the inner or outer circumference of the toroid or an integer multiple thereof. Leakage of the induced magnetic field at any point along the edge of the tapered segment will be generally proportional to the height of the tapered segment between its edges at that point, and will extend with equal magnitude in opposite directions from the strip parallel to the planar surface of the toroid and perpendicular to the edges. The tapered segments are oriented and aligned relative to one another in the wrapped toroid such that the induced magnetic field leakage is generally symmetrical and balanced across any diameter of the core.
摘要翻译：包括具有径向激励绕组的高环形铁芯，两个正交的轴向或周向输出绕组组以及与两个轴向输出绕组正交定向的赤道输出绕组的单核心三轴磁通门磁强计。芯由一条磁带材料制成，该条带被包裹以形成高度近似等于其直径的环形线圈。带材的每个端部沿着顶部和底部边缘均匀地锥形，使得锥形部分围绕包装的整个转数的整数倍延伸，每个锥形部分的长度因此等于环形线圈的内圆周或外圆周，其整数倍。沿着锥形段的边缘的任何点处的感应磁场的泄漏通常与该点处的边缘之间的锥形段的高度成比例，并且将沿与平行于平面的条带相反的方向以相反的方向延伸环形面的表面和垂直于边缘的表面。锥形段在包裹的环形面中相对于彼此定向和对准，使得感应磁场泄漏通常在芯的任何直径上对称和平衡。

7. 再颁专利

USRE42916E1 Single bar type vibrating element angular rate sensor system 有权
标题翻译：单杆式振动元件角速率传感器系统
公开(公告)号：USRE42916E1
公开(公告)日：2011-11-15
申请号：US11030713
申请日：2005-01-06
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： H01L41/08
CPC分类号： G01C19/5642 , H01L2224/48091 , H01L2924/01039 , H01L2924/00014
摘要： An angular rate sensor system [10] comprising a vibratory sensing element [12] and signal processing circuit [14]. The element [12] is preferably a polymorphic rectangular bar fabricated from two layers of piezoceramic material [26, 28] divided by a thin center electrode [Ec], and a plurality of electrodes [E1-E4] scored onto the planar conductive surfaces [30, 32]. The element [12] is suspended at its acoustic nodes [N, N′] to vibrate in one direction [V] normal to the physical plane of the electrodes [Ec, E1-E4] using any suitable mounting structure such as parallel crossed filaments [34] or inwardly angled support arms [64] that provide predetermined degrees of lateral [S′] and longitudinal [S] stiffness. The circuit [14] may optionally constitute totally shared [FIG. 7], partially shared [FIG. 8], or totally isolated [FIG. 9] driving and sensing functions, the corresponding element [12] being configured with dual-pair, single-pair, or single-triple outer electrodes [E1-E4], respectively. The circuit [14] typically utilizes an automatic gain control and two operational amplifiers, and may include various signal conditioning components and a separate tuning module.
摘要翻译：包括振动感测元件[12]和信号处理电路[14]的角速率传感器系统[10]。元件[12]优选是由两层压电陶瓷材料[26,28]除以薄的中心电极[Ec]制成的多形矩形棒，以及划分到平面导电表面上的多个电极[E1-E4] 30，32]。元件[12]悬挂在其声响节点[N，N']处，以使用任何合适的安装结构（如平行的交叉丝线）在垂直于电极[Ec，E1-E4]的物理平面的一个方向[V]振动或向内成角度的支撑臂[64]，其提供预定程度的横向[S']和纵向[S]刚度。电路[14]可以可选地构成完全共享。 7]，部分共享[ 8]，或完全隔离[ 9]驱动和感应功能，相应的元件[12]分别配置有双对，单对或单三重外部电极[E1-E4]。电路[14]通常利用自动增益控制和两个运算放大器，并且可以包括各种信号调理部件和单独的调谐模块。

8. 发明申请

US20090119937A1 METHOD AND SYSTEM FOR HEADING INDICATION WITH DRIFT COMPENSATION 有权
标题翻译：用于补偿补偿的方法和系统
公开(公告)号：US20090119937A1
公开(公告)日：2009-05-14
申请号：US11939153
申请日：2007-11-13
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： E21B47/022 , G01C19/38
CPC分类号： G01C19/38 , E21B47/022 , G01C19/56 , G01C19/5607 , G01C19/5649
摘要： An apparatus and method for compensation of the effects of various bias errors encountered by inertial rate gyroscopes, particularly vibrating element gyroscopes, configured to detect heading relative to true north. Certain embodiments are suitable for reducing rotational dynamic errors associated with rotating gyroscopes. Other embodiments may include compensation of biases not related to rotational dynamics, such as thermal drift. The various methods disclosed may also account for the bias by sampling the rotational vector of the earth at an arbitrary heading, and at a heading that is 180° offset from the arbitrary heading. The sequence may be repeated numerous times to compensate for bias drift. The bias drift may be constant with respect to time (linear) or changing over time (non-linear) during the data acquisition sequence. Some embodiments include methods that utilize data from accelerometers to infer the bank and elevation angles as well as earth latitude location relative to the equator.
摘要翻译：用于补偿惯性速度陀螺仪，特别是振动元件陀螺仪遇到的各种偏差的影响的装置和方法，其被配置为检测相对于真北部的航向。某些实施例适用于减少与旋转陀螺仪相关联的旋转动态误差。其他实施例可以包括与旋转动力学无关的偏差的补偿，例如热漂移。所公开的各种方法还可以通过在任意航向上采样地球的旋转矢量以及距离任意航向偏移180°的航向来解决偏差。该序列可以重复多次以补偿偏置漂移。在数据采集序列期间，偏置漂移可能相对于时间（线性）或随时间变化（非线性）而变化。一些实施例包括使用来自加速度计的数据来推断相对于赤道的堤岸和仰角以及地球纬度位置的方法。

9. 发明授权

US06845667B1 High Q angular rate sensing gyroscope 有权
标题翻译：高Q角速度传感陀螺仪
公开(公告)号：US06845667B1
公开(公告)日：2005-01-25
申请号：US10048601
申请日：2000-09-14
申请人： William S. Watson
发明人： William S. Watson
IPC分类号： G01C19/56 , G01P9/02
CPC分类号： G01C19/5642 , G01C19/567
摘要： A structure and arrangement for improving the accuracy and efficiency of an angular rate sensing gyroscope is herein disclosed. Voltage pick-off conductors are applied to an area of the surface of a resonating element of an angular rate sensing gyroscope that is subject to substantially zero stress when the gyroscope is rotationally stationary. Actuator conductors are similarly applied to a resonating element at a location bounded by areas of the resonating element subject to substantially uniform levels of stress when the gyroscope is rotationally stationary. A method for improving the voltage response of a piezoelectric resonating element is also disclosed.
摘要翻译：本文公开了一种用于提高角速度感测陀螺仪的精度和效率的结构和装置。当陀螺仪旋转静止时，电压拾取导体被施加到角速度感测陀螺仪的谐振元件的表面的区域，该角度传感陀螺仪的谐振元件受到基本上零的应力。当陀螺仪旋转静止时，致动器导体类似地应用于由谐振元件的区域限定的位置处的谐振元件，该谐振元件受到基本上均匀的应力水平的施加。还公开了一种用于改善压电谐振元件的电压响应的方法。

10. 发明授权

US5802728A Liquid level and angle detector 失效
标题翻译：液位和角度检测器
公开(公告)号：US5802728A
公开(公告)日：1998-09-08
申请号：US516310
申请日：1995-08-17
申请人： Drew A. Karnick , William S. Watson
发明人： Drew A. Karnick , William S. Watson
IPC分类号： G01F23/00 , G01C9/06 , G01C9/20 , G01D5/20 , G01D5/24 , G01D5/241 , G01F23/24 , G01F23/26 , G08C19/10
CPC分类号： G01F23/24 , G01C9/20 , G01D5/2046 , G01D5/2405 , G01D5/2412 , G01F23/266 , G01F23/268 , G01C2009/062
摘要： A feedback circuit for generating an output signal from a sensor that makes changing electrical and temperature characteristics of the sensor and any sensing medium irrelevant. The sensor is placed in the forward loop of the circuit to make the output depend on the area of the parallel plates the sensor, not on any electrical or temperature characteristics of the sensor or sensing medium. A liquid filled sensor having parallel conducting plates, one solid and the other being split into two differential plate sections may be used in the forward loop as a liquid level sensor or an inclinometer. Alternative sensors such as inductive sensors may also be used.
摘要翻译：用于产生来自传感器的输出信号的反馈电路，该传感器改变传感器的电和温度特性以及任何感测介质不相关。传感器放置在电路的正向环路中，使得输出取决于传感器的平行板的面积，而不是传感器或传感介质的任何电气或温度特性。作为液位传感器或倾斜计，可以在正向回路中使用具有平行导电板的液体填充传感器，一个固体，另一个被分成两个差分板部分。还可以使用诸如感应传感器的替代传感器。

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