Inertial motion tracking device
First Claim
1. An inertial motion tracking device (IMTD) comprising:
- a microcontroller programmed with Inertial Measurement Engine (IME) that performs the operations of;
receiving accelerometer and gyroscope input;
computing linear acceleration, velocity and position of the IMTD from the accelerometer and gyroscope input where a linear acceleration value is determined from said accelerometer and gyroscope input, a velocity value is computed using a velocity integrator operating on the linear acceleration value and a position value is computed using a position integrator operating on the computed velocity value;
determining whether a no motion condition has occurred with an Acceleration, Velocity and Position Correction (AVPC) logic block over repeating time periods, where the no motion condition exists when either the AVCP logic block receives the linear acceleration value and determines it is below a selected linear acceleration change threshold or the AVCP logic block receives and compares a current velocity value and a previous velocity value and determines a change in the velocity integrator value is below a selected velocity change threshold; and
after said no motion condition the velocity integrator value and the position integrator value are reset and a linear acceleration bias value is adjusted to zero the computed linear acceleration by the AVCP logic block;
wherein an initial period of the repeating time periods the velocity integrator value and the position integrator value are reset and the linear acceleration bias value is adjusted to zero the linear acceleration by the AVCP logic block.
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Accused Products
Abstract
A compact autonomous device undergoing motion tracks and analyzes its definite movement relative to local Earth coordinates with optimal accuracy and repeatability of 1 mm over distances of greater than two meters. The Inertial Motion Tracking Device (IMTD) comprises a gyroscope, accelerometer, magnetometer, and digital processor programmed with a general purpose Inertial Measurement Engine (IME), an application specific Motion Analysis and Adaptation (MAA) program and a low power radio. The IMTD tracks its motion with optimum accuracy using compact practical sensors that may have noise and drift by periodically and autonomously checking its velocity changes at an optimum interval, computing a linear acceleration therefrom and determining a no-motion or motion condition relative to a threshold and correcting its velocity, position and acceleration errors when there is no motion.
12 Citations
17 Claims
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1. An inertial motion tracking device (IMTD) comprising:
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a microcontroller programmed with Inertial Measurement Engine (IME) that performs the operations of; receiving accelerometer and gyroscope input; computing linear acceleration, velocity and position of the IMTD from the accelerometer and gyroscope input where a linear acceleration value is determined from said accelerometer and gyroscope input, a velocity value is computed using a velocity integrator operating on the linear acceleration value and a position value is computed using a position integrator operating on the computed velocity value; determining whether a no motion condition has occurred with an Acceleration, Velocity and Position Correction (AVPC) logic block over repeating time periods, where the no motion condition exists when either the AVCP logic block receives the linear acceleration value and determines it is below a selected linear acceleration change threshold or the AVCP logic block receives and compares a current velocity value and a previous velocity value and determines a change in the velocity integrator value is below a selected velocity change threshold; and after said no motion condition the velocity integrator value and the position integrator value are reset and a linear acceleration bias value is adjusted to zero the computed linear acceleration by the AVCP logic block; wherein an initial period of the repeating time periods the velocity integrator value and the position integrator value are reset and the linear acceleration bias value is adjusted to zero the linear acceleration by the AVCP logic block. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An inertial motion tracking device (IMTD) comprising:
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an Inertial Measurement Engine (IME) receives digital accelerometer and gyroscope samples each sample time period and includes a linear acceleration value is determined from said accelerometer and gyroscope samples, a velocity integrator, a position integrator, and an Acceleration, Velocity and Position Correction (AVPC) logic block, where the velocity integrator computes a velocity value as the linear acceleration value scaled by the sample time period and the position integrator computes a position value as the velocity value scaled by the sample time period and the AVCP logic block receives and compares a current velocity value and a previous velocity value and determines whether a change in the velocity integrator value is below a selected velocity change threshold; wherein the AVPC logic block periodically determines whether the change in the velocity integrator value remains below the selected velocity change threshold and if so the velocity integrator value and the position integrator value are reset and a linear acceleration bias register value is adjusted to zero the linear acceleration register value; and wherein after an initial AVPC time period the velocity integrator value and the position integrator value are reset and the linear acceleration bias register value is adjusted by the AVPC logic block to zero the linear acceleration register value.
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17. An inertial motion tracking device (IMTD) comprising:
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an Inertial Measurement Engine (IME) receives digital accelerometer and gyroscope samples each sample time period and includes a linear acceleration value is determined from said accelerometer and gyroscope samples, a velocity integrator, a position integrator, and an Acceleration, Velocity and Position Correction (AVPC) logic block, where the velocity integrator computes a velocity value as the linear acceleration value scaled by the sample time period and the position integrator computes a position value as the velocity value scaled by the sample time period and the AVCP logic block receives the linear acceleration value and determines whether it is below a selected linear acceleration threshold; wherein the AVPC logic block periodically determines whether the linear acceleration value remains below a selected linear acceleration threshold and if so the velocity integrator value and the position integrator value are reset and a linear acceleration bias register value is adjusted to zero the linear acceleration register value; and wherein after an initial AVPC time period the velocity integrator value and the position integrator value are reset and the linear acceleration bias register value is adjusted by the AVPC logic block to zero the linear acceleration register value.
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Specification