Engineering topics
Publications and source records attributed to Hruby, R. J..
Acceptable accuracy obtained with short alignment time. Report describes successful helicopter tests of laser inertial navigational equipment. Tests conducted over 3-year period, both in laboratory and flight. Inertial system used as position/velocity/attitude indicator and later also served as part of automatic flight-control system.
A helicopter flight test program undertaken to evaluate the performance of Tetrad (a strap down, laser gyro, inertial navigation system) is described. The results of 34 flights show a mean final navigational velocity error of 5.06 knots, with a standard deviation of 3.84 knots; a corresponding mean final position error of 2.66 n. mi., with a standard deviation of 1.48 n. mi.; and a modeled mean position error growth rate for the 34 tests of 1.96 knots, with a standard deviation of 1.09 knots. No laser gyro or accelerometer failures were detected during the flight tests. Off line parity residual studies used simulated failures with the prerecorded flight test and laboratory test data. The airborne Tetrad system's failure--detection logic, exercised during the tests, successfully demonstrated the detection of simulated ""hard'' failures and the system's ability to continue successfully to navigate by removing the simulated faulted sensor from the computations. Tetrad's four ring laser gyros provided reliable and accurate angular rate sensing during the 4 yr of the test program, and no sensor failures were detected during the evaluation of free inertial navigation performance.
The present flight test program results indicate that an all-digital inertial sensing system can be used in helicopter flight guidance and control, provided that the rotor rotation-induced motions are filtered from body rate and accelerometer signals before they are used in the feedback control system. Attention is given to the problem posed by the different repetition rates used by each of the manufacturers involved in the procurement of such all-digital subsystems. Autopilot designers must accordingly predict the need for filters and install them where called for in the sensor software. Two alternatives to this method are explored. Recent technological developments indicate that strapped down inertial systems will replace vertical and direction gyros as well as body rate accelerometers in future aircraft systems.
Results are presented for the first flight demonstration test of a strapdown laser inertial navigation system in a helicopter environment. It is noted that acceptable navigation accuracies were obtained with system alignment times as short as 5 min or less, and that the use of all four available sensors in the navigation algorithm did not significantly improve performance over that achievable by means of only three orthogonal sensors. Failure detection by means of the parity residual from four axes proved successful for failure levels far below the noise threshold of flight control sensing requirements. Summing the gyro parity residual for a period of 13-20 min can yield step-shifted laser gyro sensor bias error detection comparable to the gyro random shift specification.
Algorithms were developed that attempt to identify which sensor in a tetrad configuration has experienced a step failure. An algorithm is also described that provides a measure of the confidence with which the correct identification was made. Experimental results are presented from real-time tests conducted on a three-axis motion facility utilizing an ortho-skew tetrad strapdown inertial sensor package. The effects of prediction errors and of quantization on correct failure identification are discussed as well as an algorithm for detecting second failures through prediction.
A precision capacitive shaft encoder providing a dc signal corresponding to the angular position of a shaft is described. Two variable capacitances are coupled in tandem by a rotatable shaft. Each capacitor has a capacitance that varies linearly with a change in the angular position of the shaft. The sum of the two capacitances is always constant for any angular position of the shaft. Each capacitance is alternately coupled to a reference dc voltage and a discharge circuit. The capacitances are electrically coupled in series and the charge periodically acquired at the junction of the capacitance is a function of the position of the shaft. An error-compensating voltage is imposed on the junction when the capacitances are coupled to the reference voltages. The junction is coupled to sample-and-hold apparatus provided with a error-correcting circuit.
Results of flight tests of the Strapdown Inertial Reference Unit (SIRU) navigation system are presented. The fault tolerant SIRU navigation system features a redundant inertial sensor unit and dual computers. System software provides for detection and isolation of inertial sensor failures and continued operation in the event of failures. Flight test results include assessments of the system's navigational performance and fault tolerance. Performance shortcomings are analyzed.
Results of flight tests of the Strapdown Inertial Reference Unit (SIRU) navigation system are presented. The fault tolerant SIRU navigation system features a redundant inertial sensor unit and dual computers. System software provides for detection and isolation of inertial sensor failures and continued operation in the event of failures. Flight test results include assessments of the system's navigational performance and fault tolerance. Selected facets of the flight tests are also described in detail and include some of the following: (1) flight test plans and ground track plots; (2) navigation residual plots; (3) effects of approximations in navigation algorithms; (4) vibration spectrum of the CV-340 aircraft; and (5) modification of the statistical FDICR algorithm parameters for the flight environment.
Flight test results of the strapdown inertial reference unit (SIRU) navigation system are presented. The fault-tolerant SIRU navigation system features a redundant inertial sensor unit and dual computers. System software provides for detection and isolation of inertial sensor failures and continued operation in the event of failures. Flight test results include assessments of the system's navigational performance and fault tolerance.
Economical device is less subject to wear than conventional resistive-potentiometer devices.
The invention relates to an inverted geometry transistor wherein the emitter is buried within the substrate. The transistor can be fabricated as a part of a monolithic integrated circuit and is particularly suited for use in applications where it is desired to employ low actuating voltages. The transistor may employ the same doping levels in the collector and emitter, so these connections can be reversed.
Introduction of sinusoidal signal across welded structure to determine reliability of integrated circuit connections is discussed. In-phase frequencies and quadrature frequency functions are used to evaluate weld reliability. Schematic diagram of test equipment and components is provided.
Silicon transistor, developed for use in biotelemetry circuits, provides high current gain at low levels of power and voltage. Device operates from biopotential or miniature batteries and is suitable for incorporation into monolithic integrated circuits. Coaxial configuration and small size offer promise for high frequency application.
Substrate emitter monolithic inverted transistor structure for low-power high-current gain application
Brief description of a joint program undertaken near Austin and San Antonio, Tex., to detect the presence of subsurface voids such as caverns and tunnels by microwave radiometry. Mi crowave radiometric temperature measurements using both vertical and horizontal polarization were taken with fixed-view angle traverses across three sites at two locations. No unambiguous correlation between the microwave temperature contours and the subsurface voids was observed at either location, but a correlation between microwave temperature and moisture patterns was observed at both locations. The large microwave temperature anomalies observed at all three sites indicated a sensitivity to near-surface structure and moisture distribution. A close correlation was noted between low soil-bearing strength values and the tunnel location at the San Antonio site.
Transient video signal tape recorder with expanded playback
Surface defect detection by reflected microwave radiation pattern
Nondestructive noncontacting microwave depth measurement of thin slits and cracks in metal surfaces