06895678 is referenced by 29 patents and cites 23 patents.

An omnidirectional borehole navigation system is provided which features a housing for traversing a borehole; a gimbal system including at least one outer gimbal connected to the housing and at least one inner gimbal nested in and connected to the outer gimbal; a solid state three-axis gyro assembly mounted on the inner gimbal; a solid state three-axis accelerometer assembly mounted on the inner gimbal; gyro logic circuits on the inner gimbal responsive to the three-axis gyro assembly to produce the inertial angular rate about each gyro input axis; accelerometer logic circuits on the inner gimbal to produce the non-gravitational acceleration along each accelerometer input axis; and a microprocessor responsive to the gyro logic circuits and the accelerometer logic circuits for determining the attitude and the position and velocity of the housing in its borehole.

Title
Borehole navigation system
Application Number
10/632717
Publication Number
6895678 (B2)
Application Date
August 1, 2003
Publication Date
May 24, 2005
Inventor
Richard T Martorana
Andover
MA, US
Michael E Ash
Lexington
MA, US
Agent
Iandiorio & Teska
Assignee
The Charles Stark Draper Laboratory
MA, US
IPC
G01C 009/00
G01C 019/00
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