DESC:TECHNICAL FIELD
[0001] The present invention relates generally to measurement systems. The present invention, more particularly, relates to an apparatus for embedded stabilization measurement.

BACKGROUND
[0002] A stabilization technique refers to the easily observed behavior of rigid bodies that tend to keep their orientation in a three-dimensional (3-D) (inertial) space, even if they are exposed to external torques. Figure 1a and Figure 1b illustrates a schematic diagram (100) depicting disturbance effect on weapon pointing with and without stabilization, respectively. Specifically, Figure 1 shows the effect of two-axis stabilization of a weapon system mounted on a battle tank. The stabilization control helps to increase the hit probability of the weapon over a target.

[0003] The key component of stabilization system is a gyroscope. The gyroscope senses the angular rate disturbances (D) generated by the vehicle movement. The servo loop uses these disturbances in a feedback loop for correcting the weapon. Figure 2 illustrates a schematic diagram (200) depicting a typical servo feedback loop with disturbance.

[0004] The stabilization accuracy defines the capability of servo Drives to remain stabilized against external disturbances. The accuracy is calculated as statistical value (1-sigma) from error (e) signal against standard disturbances. The stabilization accuracy is a critical parameter for any stabilized system to meet its end requirements.

[0005] US20110042459 titled "Weapons stabilization and compensation system" discloses stabilized weapon mount systems that allows an operator to mount and operate a standard weapon in a manner similar to a stand-alone weapon while compensating for the motion of a platform. A stabilization device automatically commands a control unit to move the stabilization gimbal relative to the aiming gimbal using the motors to correct for the base movement and maintain the aiming orientation directed toward the target.

[0006] In such systems the accuracy of the system is quantified by measuring the stabilization accuracy. The accuracy can be measured by several methods. The first method involves validating the servo performance from the Open Loop and Closed Frequency Response of the servo system at various frequency band as specified in the standard disturbance pattern.

[0007] In systems with light payload, mainly sighting systems the accuracy is validated using a Rate Table. In this method, the payload will be mounted on the system and real sinusoidal disturbances are generated and the steady state error from gyro is measured to quantify stabilization accuracy. This method has a limitation of payload weight and it can generate a single frequency disturbance at a time.

[0008] For systems with heavy payload and higher shocks the accuracy validation is done by running a vehicle on a standard simulated track (APG - Aberdeen Proving Ground) with bumps and pits. This is a final method of validating stabilization accuracy. Figure 3 illustrates a schematic diagram (300) depicting standard APG track bumps used for measurement of stabilization accuracy. In addition, there are sinusoidal and corrugated tracks for generating the disturbances. The method (400) of qualifying the stabilized system is shown in Figure 4. This involves stage by stage validation. However, if the system does not qualify the actual vehicle running measurement, the whole process is repeated. In this method, the system measures accuracy, as shown at a step (402). For accuracy measurement, the system performs frequency validation, as shown at a step (404). Subsequently, the system checks whether the payload weight is large or small, as shown at a step (406). If the payload weight is small, the system performs rate table validation, as shown at a step (408). If the payload is large, the system performs running trail on standard track, as shown at a step (410). After rate table validation, the system also performs running trail on a standard track, as shown at the step (401). If running trail on the standard track is not performed, the system checks system parameter tuning, as shown at a step (412), and repeat whole method from the step (404). If it runs, the system checks acceptance criteria, as shown at a step (414). If the acceptance criteria meet, the system accepts accuracy, as shown at a step (416).

[0009] M. Hei et al., "Stabilization Accuracy Measurement and Controller On-Line Debugging of Optical-Electro Stabilization System", Key Engineering Materials, Vol. 522, pp. 895-901, 2012 is based on the on-line semi-physical simulation theory, a dSPACE measurement system of the LOS (Line of Sight) stabilization accuracy is designed to measure the LOS stabilization accuracy of an optical-electro stabilization system (OESS), and a controller of stabilization loop is designed on the basis of the measurement data on-line conveniently. More specifically, it discloses a method of stabilization accuracy measurement and controller on-line debugging for OESS.

[0010] Hence, there is a need of an apparatus for embedded stabilization measurement, which solves the above defined problems.

SUMMARY
[0011] This summary is provided to introduce concepts related to an apparatus for embedded stabilization measurement and method thereof. This summary is neither intended to identify essential features of the present invention nor is it intended for use in determining or limiting the scope of the present invention.

[0012] For example, various embodiments herein may include one or more apparatuses for embedded stabilization measurement and methods thereof are provided. In one of the embodiments, a method for measuring embedded stabilization of servo drives includes a step of sensing, by a sensing module, movement of a vehicle. The method includes a step of acquiring, by the sensing module, measurement data associated with the sensed movement of the vehicle. The method includes a step of determining, by a determination module, disturbance data based on the measurement data. The method includes a step of storing, in a first storage unit, the measurement data, disturbance data, and pre-defined sampling rates. The method includes a step of performing, by a sampler, sampling on the disturbance data using pre-defined sampling rates, and generating sampled data. The method includes a step of interpolating, by an interpolator, the sampled data. The method includes a step of controlling, by a control unit, the interpolated data, and generating a command for correcting the interpolated data. The method includes a step of correcting, by the control unit, the interpolated data based on the command. The method includes a step of validating, by a validation module, accuracy of the corrected data.

[0013] In another embodiment, an apparatus for embedded stabilization measurement includes a sensing module, a determination module, a first storage unit, a sampler, an interpolator, a control unit, and a validation module. The sensing module is configured to sense movement of a vehicle, and acquire measurement data associated with the sensed movement of the vehicle. The determination module is configured to c determine disturbance data based on the measurement data. The first storage unit is configured to store the measurement data, disturbance data, and pre-defined sampling rates. The sampler is configured to perform sampling on the disturbance data using pre-defined sampling rates, and generate sampled data. The
interpolator is configured to interpolate the sampled data in the first storage unit. The control unit is configured to control the interpolated data, generate a command to correct the interpolated data, and correct the interpolated data based on the command. The validation module is configured to validate accuracy of the corrected data.

BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS
[0014] The detailed description is described with reference to the accompanying figures. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the drawings to reference like features and modules.

[0015] Figure 1 illustrates a schematic diagram depicting a disturbance effect on weapon pointing with and without stabilization.

[0016] Figure 2 illustrates a schematic diagram depicting typical servo feedback loop with disturbance.

[0017] Figure 3 illustrates a schematic diagram depicting a standard APG track for disturbance generation.

[0018] Figure 4 illustrates a flow diagram depicting an existing method of stabilization accuracy measurement.

[0019] Figure 5 illustrates a block diagram depicting an apparatus for embedded stabilization measurement, according to an exemplary implementation of the present invention.

[0020] Figure 6 illustrates a block diagram depicting a disturbance measurement setup, according to an exemplary implementation of the present invention.

[0021] Figure 7 illustrates a block diagram depicting a model of embedded disturbance injection, according to an exemplary implementation of the present invention.

[0022] Figure 8 illustrates a flow diagram depicting an improved method of embedded stab accuracy measurement, according to an exemplary implementation of the present invention.

[0023] Figure 9 illustrates a flowchart depicting a method for measuring embedded stabilization, according to an exemplary implementation of the present invention.

[0024] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative systems embodying the principles of the present invention. Similarly, it will be appreciated that any flowcharts, flow diagrams, and the like represent various processes which may be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.

DETAILED DESCRIPTION
[0025] In the following description, for the purpose of explanation, specific details are set forth in order to provide an understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these details. One skilled in the art will recognize that embodiments of the present invention, some of which are described below, may be incorporated into a number of systems.

[0026] The various embodiments of the present invention provide an apparatus for embedded stabilization measurement and method thereof.

[0027] Furthermore, connections between components and/or modules within the figures are not intended to be limited to direct connections. Rather, these components and modules may be modified, re-formatted or otherwise changed by intermediary components and modules.

[0028] References in the present invention to “one embodiment” or “an embodiment” mean that a particular feature, structure, characteristic, or function described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment.

[0029] In one of the embodiments, a method for measuring embedded stabilization of servo drives includes a step of sensing, by a sensing module, movement of a vehicle. The method includes a step of acquiring, by the sensing module, measurement data associated with the sensed movement of the vehicle. The method includes a step of determining, by a determination module, disturbance data based on the measurement data. The method includes a step of storing, in a first storage unit, the measurement data, disturbance data, and pre-defined sampling rates. The method includes a step of performing, by a sampler, sampling on the disturbance data using pre-defined sampling rates, and generating sampled data. The method includes a step of interpolating, by an interpolator, the sampled data. The method includes a step of controlling, by a control unit, the interpolated data, and generating a command for correcting the interpolated data. The method includes a step of correcting, by the control unit, the interpolated data based on the command. The method includes a step of validating, by a validation module, accuracy of the corrected data.

[0030] In another implementation, the method includes storing, in a second storage unit, multiple disturbance data associated with the vehicle.

[0031] In another implementation, determining the disturbance data is based on pre-determined disturbances related data.

[0032] In another implementation, validating accuracy of the corrected data includes stabilizing with zero error based on the validated accuracy of the corrected data.

[0033] In another implementation, determining, by the determination module, angular rate disturbance data based on the measurement data of the vehicle.

[0034] In another implementation, the stored disturbance data includes reference disturbances or pre-determined disturbances related data for simulating movement of the vehicle.

[0035] In another implementation, acquiring the measurement data is based on movement conditions of the vehicle, running speed of the vehicle, and associated track conditions.

[0036] In another implementation, the method includes acquiring, by the sensing module, in situ measurement data.

[0037] In another implementation, the stored multiple disturbance data is used for acquiring the in situ measurement data.

[0038] In another embodiment, an apparatus for embedded stabilization measurement includes a sensing module, a determination module, a first storage unit, a sampler, an interpolator, a control unit, and a validation module. The sensing module is configured to sense movement of a vehicle, and acquire measurement data associated with the sensed movement of the vehicle. The determination module is configured to c determine disturbance data based on the measurement data. The first storage unit is configured to store the measurement data, disturbance data, and pre-defined sampling rates. The sampler is configured to perform sampling on the disturbance data using pre-defined sampling rates, and generate sampled data. The
interpolator is configured to interpolate the sampled data in the first storage unit. The control unit is configured to control the interpolated data, generate a command to correct the interpolated data, and correct the interpolated data based on the command. The validation module is configured to validate accuracy of the corrected data.

[0039] In another implementation, the apparatus includes a second storage unit configured to store multiple disturbance data associated with the vehicle.

[0040] In another implementation, the validation module is configured to stabilize the apparatus with zero error based on the validated accuracy of the corrected data.

[0041] In another implementation, the determination module is configured to determine angular rate disturbance data based on the measurement data of the vehicle.

[0042] In another implementation, the first storage unit having a look-up table configured to store the measurement data, disturbance data, pre-defined sampling rates, and pre-determined disturbances related data.

[0043] In another implementation, the sensing module is configured to acquire the measurement data based on movement conditions of the vehicle, running speed of the vehicle, and associated track conditions.

[0044] Figure 5 illustrates a block diagram depicting an apparatus for embedded stabilization measurement, according to an exemplary implementation of the present invention.

[0045] An apparatus for embedded stabilization measurement (hereinafter referred to as “apparatus) (500) is configured to measure embedded stabilization of servo drives associated with one or more vehicles. The apparatus (500) is configured to implement sections such as a storage unit, a sampler, an interpolator, serial interface, and the like, in an embedded controller for facilitating disturbance injection and embedded accuracy measurement. The apparatus (500) emulated the dynamics of a computing platform in a static environment for accuracy measurement. The apparatus (500) can be used for in situ measurement. Further, the apparatus (500) is configured to measure the stabilization accuracy of any inertial stabilized systems with the actual disturbance in bench level testing.

[0046] In an embodiment, the apparatus (500) is configured to validate the stabilization accuracy by using a disturbance injection technique. In the disturbance injection technique, the standard disturbances are measured and logged prior to the servo tuning process. The apparatus (500) is implemented with embedded servo drive with a gyroscope interface to aid injection of the measured disturbances in to simulate the dynamics of the platform and stabilization accuracy is measured.

[0047] In an exemplary embodiment, in any dynamic scenario like vehicle movement, the majority of angular disturbance produced on a vehicle (for example, weapon system) are rate disturbance. The gyroscope is used to sense these disturbances and generate correction on the weapon system. If the disturbance is corrected perfectly, the apparatus (500) is stabilized with zero error. with limited bandwidth and gains of the servo loop.

[0048] In another exemplary embodiment, the apparatus (500) is configured to measure the angular rate disturbances from the gyroscope and logged in to files. These are then used as a reference disturbance for simulating the vehicle running. The disturbances can be measured across various tracks and running conditions. If these disturbances are added to the gyroscope's signal, this emulate the vehicle movement even though the platform is static. Thus, the vehicle running condition can be emulated in a static condition or even in bench level testing. The servo tuning and accuracy can be validated by injecting the various disturbances.

[0049] The apparatus (500) includes a sensing module (502), a determination module (504), a first storage unit (506), a sampler (508), an interpolator (510), a control unit (512), and a validation module (514).

[0050] The sensing module (502) is configured to sense movement of a vehicle, and acquire measurement data associated with the sensed movement of the vehicle. The sensing module (502) is configured to acquire the measurement data based on movement conditions of the vehicle, running speed of the vehicle, and associated track conditions. In an embodiment, the sensing module (502) is configured to acquire in situ measurement data. In an embodiment, the sensing module (502) includes one or more sensors that senses angular rate disturbances generated by the movement of the vehicle. In one embodiment, the sensing module (502) can be a gyroscope.

[0051] The determination module (504) is configured to cooperate with the sensing module (502) to receive the measurement data. The determination module (504) is further configured to determine disturbance data based on the measurement data. In an embodiment, the determination module (504) is configured to determine the disturbance data based on pre-determined disturbances related data. In one embodiment, the determination module (504) is configured to determine angular rate disturbance data based on the measurement data of the vehicle.

[0052] The first storage unit (506) is configured to store the measurement data, disturbance data, and pre-defined sampled rates. In an embodiment, the first storage unit (506) can be a database. In an embodiment, the first storage unit (506) having a look up table, which is configured to store the measurement data based on movement conditions of the vehicle, running speed of the vehicle, and associated track conditions. The first storage unit (506) can be implemented as, but is not limited to, an enterprise storage unit, a remote storage unit, a local storage unit, and the like. In one embodiment, the first storage unit (506) may themselves be located either within the vicinity of each other or may be located at different geographic locations. In another embodiment, the first storage unit (506) can be implemented inside or outside the apparatus (500).

[0053] In an embodiment, the apparatus (500) includes an updater (not shown in a figure). The updater is configured to update the look-up table periodically.

[0054] The sampler (508) is configured to cooperate with the first storage unit (506). The sampler (508) is configured to perform sampling on the disturbance data using pre-defined sampling rates, and generate sampled data.

[0055] The interpolator (510) is configured to cooperate with the first storage unit (506) and the sampler (508). The interpolator (510) is configured to interpolate the sampled data in the first storage unit (506).

[0056] The control unit (512) is configured to cooperate with the interpolator (510) and the first storage unit (506) to receive the interpolated data and the stored data. The control unit (512) is configured to control the interpolated data, and generate a command to correct the interpolated data, and correct the interpolate data based on the generated command. In an embodiment, the control unit (512) is an embedded controller configured to facilitate disturbance data, and embedded accuracy measurement.

[0057] The validation module (514) is configured to cooperate with the control unit to receive the generated command for correction of the interpolated data. The validation module (514) is further configured to validate the accuracy of the corrected data. In an embodiment, the validation module (514) is configured to stabilize the apparatus (500) with zero error based on the validated accuracy of the corrected data.

[0058] In an embodiment, the apparatus (500) includes a second storage unit (516). The second storage unit (516) is configured to store multiple disturbance data associated with the vehicle. In one embodiment, the stored multiple disturbance data is used to acquire in situ measurement data. In another embodiment, the second storage unit (516) is the non-volatile memory.

[0059] Figure 6 illustrates a block diagram depicting a disturbance measurement setup (600), according to an exemplary implementation of the present invention.

[0060] In Figure 6, the apparatus (500) (as shown in Figure 5) is configured to measure the disturbances experienced by a sensing module (502) of Figure 5, when the vehicle is running on standard tracks. In an exemplary embodiment, an external Random Access Memory (RAM) (610) is added in the apparatus (500). The RAM (610) has a two-dimensional (2D) look up table for logging the sensed data. In an embodiment, the sense data receives from a gyroscope (604) and a command (602). The sensed data then transmits a compensator (608), which is located at a stabilization controller (606). The compensator (608) can improve characteristics and provide safety at the time of using with feedback control. In an embodiment, a control unit (512) includes a stabilization controller which is an embedded controller for facilitating disturbance injection and embedded accuracy measurement. The sampler (508) is configured to allow a user to log data at different sampling rates based on the disturbance data duration. This disturbance data logged on to the RAM (610) can be downloaded into a data logger (614) using serial communication like CAN (Controller Area Networking) or RS232 (Recommended Standard-232). The data logger (614) can be a portable data logger, such as mobile, laptop, etc.

[0061] Figure 7 illustrates a block diagram depicting a model of embedded disturbance injection (700), according to an exemplary implementation of the present invention.

[0062] In an exemplary embodiment, an external interface (714) to the existing servo loop adds the disturbance data from a 2-D look up table from the RAM (712) with the actual gyroscope signal. By using a datalogger (718), the logged disturbances from a disturbance data (720) are downloaded into the embedded controller (706) using a serial (RS232/CAN) interface. The controller (706) receives and updates the look-up table in a memory (716) and configures the sampler (508) and interpolator (510) for injecting at the disturbance at the same rate at which gyroscope (704) is interfaced. In an embodiment, the memory (716) is a Non-volatile memory (or flash memory). In one embodiment, the second storage unit (516) is the non-volatile memory. Once the table is filled completely, the disturbance can be enabled and the disturbance the value from the look up table is read and added with the gyroscope signal creating a resultant gyroscope signal (Correction and Disturbance). This signal is fed into the servo loop as a feedback signal. The servo loop generates a corrective command (702) to the drive (710) to nullify the disturbance.

[0063] The error from the servo loop is downloaded into the data logger (720) and integrated to generate a position variation for the injected disturbance. This emulates a complete running trial of the computing platform on the specified track. The accuracy is calculated from the standard deviation on the position variation. Further, in Figure 7, the non-volatile storage/ memory (716) onboard with the embedded controller (706) which can store the multiple disturbance gyroscope data. This can be used for in situ measurement.

[0064] Figure 8 illustrates a flow diagram depicting an improved method of embedded stab accuracy measurement, according to an exemplary implementation of the present invention.

[0065] The flow diagram (800) starts at a step (802), accuracy measurement. In an embodiment, an apparatus (500) is configured to measure accuracy of the sensed data associated with a vehicle. At a step (804), the apparatus (500) performs frequency response validation. Thereafter, the apparatus (500) measures embedded accuracy using a disturbance data stored in (810), as shown at a step (808). In an embodiment, the disturbance data (810) is configured to store in a first storage unit (506). Subsequently, the apparatus (500) checks whether the accuracy met or not, as shown at a step (812). If the accuracy met, the apparatus (500) performs running trail on a standard track, as shown at a step (816). If the accuracy is not met, the apparatus (500) checks system parameter tuning, as shown at a step (814), and repeat from the step (804). If it runs, the apparatus (500) checks acceptance criteria, as shown at a step (818). If the acceptance criteria meet, the apparatus (500) accepts, as shown at a step (822), else generate a log disturbance, as shown at a step (820), and go to the step (808) and repeat the same.

[0066] In an embodiment, the flow diagram (800) is an improved method of the implementation of embedded stabilization accuracy measurement. The method (800) facilitates the stabilization accuracy measurement prior to running trials with the actual disturbance. In this method, the number of iterations for servo tuning is reduced and enormous time was saved by avoiding the tedious process of stabilization accuracy measurement. In an embodiment, the method (800) helps in the cycle time reduction for measuring stabilization accuracy for various stabilized systems. This method (800) reduces the tuning and validation of servo systems with actual disturbances.

[0067] Figure 9 illustrates a flowchart depicting a method for measuring embedded stabilization, according to an exemplary implementation of the present invention.

[0068] The flowchart (900) starts at a step (902), sensing, by a sensing module (502), movement of a vehicle. In an embodiment, a sensing module (502) is configured to sense movement of a vehicle. At a step (904), acquiring, by the sensing module (502), measurement data associated with the sensed movement of the vehicle. In an embodiment, the sensing module (502) is configured to acquire measurement data associated with the sensed movement of the vehicle. At a step (906), determining, by a determination module (504), disturbance data based on the measurement data. In an embodiment, a determination module (504) is configured to determine disturbance data based on the measurement data. At a step (908), storing, in a first storage unit (506), the measurement data, disturbance data, and pre-defined sampling rates. In an embodiment, a first storage unit (506) is configured to store the measurement data, disturbance data, and pre-defined sampling rates. At a step (910), performing, by a sampler (508), sampling on the disturbance data using pre-defined sampling rates, and generating sampled data. In an embodiment, a sampler (508) is configured to perform sampling on the disturbance data using pre-defined sampling rates, and generate sampled data. At a step (912), interpolating, by an interpolator (510), the sampled data. In an embodiment, an interpolator (510) is configured to interpolate the sampled data in the first storage unit (506). At a step (914), controlling, by a control unit (512), the interpolated data, and generating a command for correcting the interpolated data. In an embodiment, a control unit (512) is configured to control the interpolated data, and generate a command for correcting the interpolated data. At a step (916), correcting, by said control unit (512), said interpolated data based on the command. In an embodiment, the control unit (512) is configured to correct the interpolated data based on the command. At a step (918), validating, by a validation module (514), accuracy of the corrected data. In an embodiment, a validation module (514) is configured to validate accuracy of the corrected data.

[0069] It should be noted that the description merely illustrates the principles of the present invention. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described herein, embody the principles of the present invention. Furthermore, all examples recited herein are principally intended expressly to be only for explanatory purposes to help the reader in understanding the principles of the invention and the concepts contributed by the inventor to furthering the art, and are to be construed as being without limitation to such specifically recited examples and conditions. Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass equivalents thereof.

,CLAIMS:
1. A method for measuring embedded stabilization of servo drives, said method comprising:
sensing, by a sensing module (502), movement of a vehicle;
acquiring, by said sensing module (502), measurement data associated with said sensed movement of said vehicle;
determining, by a determination module (504), disturbance data based on said measurement data;
storing, in a first storage unit (506), said measurement data, disturbance data, and pre-defined sampling rates;
performing, by a sampler (508), sampling on said disturbance data using pre-defined sampling rates, and generating sampled data;
interpolating, by an interpolator (510), said sampled data;
controlling, by a control unit (512), said interpolated data, and generating a command for correcting said interpolated data;
correcting, by said control unit (512), said interpolated data based on said command; and
validating, by a validation module (514), accuracy of said corrected data.

2. The method as claimed in claim 1, wherein said method includes storing, in a second storage unit (516), multiple disturbance data associated with said vehicle.

3. The method as claimed in claim 1, wherein determining said disturbance data is based on pre-determined disturbances related data.

4. The method as claimed in claim 1, wherein validating accuracy of said corrected data includes stabilizing with zero error based on said validated accuracy of said corrected data.

5. The method as claimed in claim 1, wherein determining, by said determination module (504), angular rate disturbance data based on said measurement data of said vehicle.

6. The method as claimed in claim 1, wherein said stored disturbance data includes reference disturbances or pre-determined disturbances related data for simulating movement of said vehicle.

7. The method as claimed in claim 1, wherein acquiring said measurement data is based on movement conditions of said vehicle, running speed of said vehicle, and associated track conditions.

8. The method as claimed in claim 1, said method includes acquiring, by said sensing module, in situ measurement data.

9. The method as claimed in claims 2 and 8, wherein said stored multiple disturbance data is used for acquiring said in situ measurement data.

10. An apparatus (500) for embedded stabilization measurement of servo drives, said apparatus (500) comprising:
a sensing module (502) configured to sense movement of a vehicle, and acquire measurement data associated with said sensed movement of said vehicle;
a determination module (504) configured to cooperate with said sensing module (502), said determination module (504) configured to determine disturbance data based on said measurement data;
a first storage unit (506) configured to store said measurement data, disturbance data, and pre-defined sampling rates;
a sampler (508) configured to cooperate with said first storage unit (506), said sampler (508) configured to perform sampling on said disturbance data using pre-defined sampling rates, and generate sampled data;
an interpolator (510) configured to cooperate with said first storage unit (506) and said sampler (508), said interpolator (510) configured to interpolate said sampled data in said first storage unit (506);
a control unit (512) configured to cooperate with said interpolator (510) and said first storage unit (506), said control unit (512) configured to control said interpolated data, generate a command to correct said interpolated data, and correct said interpolated data based on said command; and
a validation module (514) configured to cooperate with said control unit (512), said validation module (514) configured to validate accuracy of said corrected data.

11. The apparatus (500) as claimed in claim 10, wherein said apparatus (500) includes a second storage unit (516) configured to store multiple disturbance data associated with said vehicle.

12. The apparatus (500) as claimed in claim 10, wherein said validation module (514) is configured to stabilize said apparatus (500) with zero error based on said validated accuracy of said corrected data.

13. The apparatus (500) as claimed in claim 10, wherein said determination module (504) is configured to determine angular rate disturbance data based on said measurement data of said vehicle.

14. The apparatus (500) as claimed in claim 10, wherein said first storage unit (506) having a look-up table configured to store said measurement data, disturbance data, pre-defined sampling rates, and pre-determined disturbances related data.

15. The apparatus (500) as claimed in claim 10, wherein said sensing module (502) is configured to acquire said measurement data based on movement conditions of said vehicle, running speed of said vehicle, and associated track conditions.