Acceleration corrected attitude estimation systems and methods
First Claim
1. A system comprising:
- a logic device configured to receive one or more sensor signals from one or more sensors mounted on a mobile structure, and determine a stabilized attitude estimate for the mobile structure, wherein the logic device is adapted to;
receive an angular velocity, an acceleration, and a speed of the mobile structure;
determine a motion compensated acceleration of the mobile structure from the acceleration of the mobile structure and, at least in part, the angular velocity and/or speed;
determine an estimated absolute coordinate frame based on the motion compensated acceleration and, at least in part, the angular velocity, and/or the speed;
determine the stabilized attitude estimate based, at least in part, on the angular velocity and the estimated absolute coordinate frame; and
control operation of the mobile structure based, at least in part, on the stabilized attitude estimate.
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Accused Products
Abstract
Techniques are disclosed for systems and methods to provide accurate attitude estimation for a mobile structure. An attitude estimation system includes a logic device in communication with a gyroscope, an accelerometer, and/or a speed sensor. Sensor signals provided by the various sensors are used to determine an estimated absolute coordinate frame relative to the mobile structure, which can be referenced to the Earth'"'"'s gravity. Angular velocities provided by the gyroscope are transformed to the estimated absolute coordinate frame and used to determine a stabilized attitude estimate for the mobile structure. The stabilized attitude estimate may be displayed to a user, used to calculate a heading or route for the mobile structure, and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.
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Citations
20 Claims
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1. A system comprising:
a logic device configured to receive one or more sensor signals from one or more sensors mounted on a mobile structure, and determine a stabilized attitude estimate for the mobile structure, wherein the logic device is adapted to; receive an angular velocity, an acceleration, and a speed of the mobile structure; determine a motion compensated acceleration of the mobile structure from the acceleration of the mobile structure and, at least in part, the angular velocity and/or speed; determine an estimated absolute coordinate frame based on the motion compensated acceleration and, at least in part, the angular velocity, and/or the speed; determine the stabilized attitude estimate based, at least in part, on the angular velocity and the estimated absolute coordinate frame; and control operation of the mobile structure based, at least in part, on the stabilized attitude estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
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receiving one or more sensor signals from one or more sensors mounted on a mobile structure, representing an angular velocity, an acceleration, and a speed of the mobile structure; determining a motion compensated acceleration of the mobile structure from the acceleration of the mobile structure and, at least in part, the angular velocity and/or speed; determining an estimated absolute coordinate frame based on the motion compensated acceleration and, at least in part, an angular velocity, and/or a speed of the mobile structure; determining a stabilized attitude estimate for the mobile structure based, at least in part, on the angular velocity and the estimated absolute coordinate frame; and controlling operation of the mobile structure based, at least in part, on the stabilized attitude estimate. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification