# US 9,519,076 B2 · De-centralized control architecture for improved sensitivity of accelerometer-based gravity gradiometers > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,519,076 B2 - Document ID: US9519076B2 - Status: Granted - Kind: B2 - Application number: 14/185,634 - Filed: 2014-02-20 - Published: 2015-08-20 - Granted: 2016-12-13 - Earliest claimed: 2014-02-20 - Assignees: Lockheed Martin Corporation - Applicants: Lockheed Martin Corporation - Inventors: Thomas J. Meyer - Web page: https://patentgrep.com/patent/US9519076B2 ## CPC - G01V 7/00: Measuring gravitational fields or waves; Gravimetric prospecting or detecting - G01P 15/125: by capacitive pick-up - G01P 15/132: {with electromagnetic counterbalancing means} - G01V: GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS (means for indicating the location of accidentally buried, e.g. snow-buried, persons A63B29/02) - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) ## Abstract A method for rebalancing a group of accelerometers in a gravity gradiometer instrument (GGI) includes the steps of defining and implementing a number of group-wise actuation constrainment modes based on a design of the gravity gradiometer instrument and its accelerometers. Implementing one constrainment mode comprises differentially scaling and distributing a single electrical current to multiple accelerometers' rebalance circuitry to cancel a specific acceleration effect experienced by the group of accelerometers or gradiometer as a whole. Superposition of a number of such modes enables rebalancing the full acceleration environment experienced by the group of accelerometers, given negligible local differential acceleration effects specific to, say, an individual accelerometer of the assembly. Mathematically, the multiple of constrainment modes are encapsulated by an actuation or constrainment modal influence matrix, arranged one mode per column of the matrix, and the electrical currents of respective modes are encapsulated in a vector listing of currents. ## Claims ### Claim 1 A method of rebalancing a plurality of accelerometers arranged in a gravity gradiometer instrument (GGI), each accelerometer of said plurality of accelerometers being decoupled from each other accelerometer, the method comprising the steps of: implementing at least one constrainment mode, wherein each of said at least one constrainment mode corresponds to a subset of accelerometers in said plurality of accelerometers; defining an actuation modes matrix, each column of said actuation modes matrix containing a vector listing of summation coefficients for accelerometers of a constrainment mode associated with the column of the actuation modes matrix; generating a vector listing of constrainment currents for each accelerometer associated with said at least one constrainment mode and applying said vector listing of constrainment currents to said actuation modes matrix to generate an actuation current for each at least one constrainment mode; applying said generated actuation current to each accelerometer associated with said at least one constrainment mode. ### Claim 2 (depends on 1) The method of claim 1, wherein generating a vector listing of constrainment currents comprises: determining a vector listing of pickoff voltages for a plurality of accelerometers associated with one of said at least one constrainment modes, wherein said pickoff voltages are proportional to the displacement of a proof mass of each accelerometer; subtracting said vector listing of pickoff voltages from a reference voltage to produce a vector listing of error voltages; applying said vector listing of error voltages to a constrainment circuit to generate said vector listing of constrainment currents for one of said at least one constrainment modes. ### Claim 3 (depends on 2) The method of claim 2, wherein said constrainment circuit produces a diagonal matrix of constrainment currents for a plurality of constrainment modes. ### Claim 4 (depends on 2) The method of claim 2, further comprising the steps of: attenuating a constrainment current corresponding to a selected constrainment mode by a coordinate scaling circuit Y to produce a vector listing iQ of constrainment currents for said selected constrainment mode. ### Claim 5 (depends on 1) The method of claim 1, wherein each column in said actuation modes matrix is mutually orthogonal to each other column in said actuation modes matrix. ### Claim 6 (depends on 1) The method of claim 1, further comprising: applying a plurality of actuation currents to each accelerometer in said GGI, thereby superimposing the actuation currents of a plurality of constrainment modes to the GGI as a whole to provide a rebalancing force for all accelerometers in the GGI, each accelerometer being decoupled from each other accelerometer in the GGI. ### Claim 7 (depends on 1) The method of claim 1, further comprising: applying a vector listing of actuation currents, each actuation current corresponding to a constrainment mode, to an actuation control circuit, said actuation control circuit providing each actuation current to a rebalancing servo of each accelerometer associated with the constrainment mode corresponding to each actuation current for producing a rebalance force for each accelerometer associated with each constrainment mode. ### Claim 8 (depends on 7) The method of claim 7, wherein each actuation current of said vector listing of actuation currents is a single current value and said single current value is applied to a plurality of accelerometers defining a constrainment mode. ### Claim 9 A non-transitory computer readable medium upon which are stored instructions, said instructions when executed by a processor cause the processor to perform rebalancing of a plurality of accelerometers arranged in a gravity gradiometer instrument (GGI), each accelerometer of said plurality of accelerometers being decoupled from each other accelerometer, the processor performing the steps of: implementing at least one constrainment mode, wherein each of said at least one constrainment mode corresponds to a subset of accelerometers in said plurality of accelerometers; defining a actuation modes matrix, each column of said actuation modes matrix containing a vector listing of summation coefficients for accelerometers of a constrainment mode associated with the column of the actuation modes matrix; generating a vector listing of constrainment currents for each accelerometer associated with said at least one constrainment mode and applying said vector listing of constrainment currents to said actuation modes matrix to generate an actuation current for each at least one constrainment mode; applying said generated actuation current to each accelerometer associated with said at least one constrainment mode. ### Claim 10 (depends on 9) The computer readable medium of claim 9, wherein generating a vector listing of constrainment currents comprises: determining a vector listing of pickoff voltages for a plurality of accelerometers associated with one of said at least one constrainment modes, wherein said pickoff voltages are proportional to the displacement of a proof mass of each accelerometer; subtracting said vector listing of pickoff voltages from a reference voltage to produce a vector listing of error voltages; applying said vector listing of error voltages to a constrainment circuit to generate said vector listing of constrainment currents for said one of at least one constrainment modes. ### Claim 11 (depends on 10) The non-transitory computer readable medium of claim 10, further storing instructions that when executed by the processor cause the processor to produce a diagonal matrix of constrainment currents for a plurality of constrainment modes. ### Claim 12 (depends on 10) The non-transitory computer readable medium of claim 10, further storing instructions that when executed by the processor cause the processor to attenuate a constrainment current corresponding to a selected constrainment mode by a coordinate scaling circuit Y to produce a vector listing iQ of constrainment currents for said selected constrainment mode. ### Claim 13 (depends on 9) The non-transitory computer readable medium of claim 9, wherein each column in said actuation modes matrix is mutually orthogonal to each other column in said actuation modes matrix. ### Claim 14 (depends on 9) The non-transitory computer readable medium of claim 9, further storing instructions that when executed by the processor cause the processor to apply a plurality of actuation currents to each accelerometer in said GGI, thereby superimposing the actuation currents of a plurality of constrainment modes to the GGI as a whole to provide a rebalancing force for all accelerometers in the GGI, each accelerometer being decoupled from each other accelerometer in the GGI. ### Claim 15 (depends on 9) The non-transitory computer readable medium of claim 9, further storing instructions that when executed by the processor cause the processor to apply a vector listing of actuation currents, each actuation current corresponding to a constrainment mode, to an actuation control circuit, said actuation control circuit providing each actuation current to a rebalancing servo of each accelerometer associate with the constrainment mode corresponding to each actuation current for producing a rebalance force for each accelerometer associated with each constrainment mode.