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Cuboid inertial measurement unit

  • US 10,473,464 B2
  • Filed: 01/17/2019
  • Issued: 11/12/2019
  • Est. Priority Date: 01/17/2018
  • Status: Active Grant
First Claim
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1. An inertial measurement unit, comprising:

  • a substrate;

    a plurality of MEMS gyroscopes arranged on the substrate as opposing pairs, wherein the MEMS gyroscopes of each of the opposing pairs of MEMS gyroscopes are arranged on opposite sides of an axis of rotation of the substrate, and wherein the MEMS gyroscopes of each of the opposing pairs of MEMS gyroscopes are oriented in opposite directions of one another; and

    a processor that is configured to;

    receive a rotational measurement from each of the plurality of MEMS gyroscopes;

    compare the measurements from the MEMS gyroscopes of each of the opposing pairs with one another;

    determine at least one of a mean or a median rotation value for the measurements of each of the opposing pairs of MEMS gyroscopes;

    compare the at least one of the mean or the median rotation value with a threshold value;

    remove one or more of the at least one of the mean or the median rotation values based on the comparison;

    after removing the one or more of the at least one of the mean or median values, assign a weight to the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes; and

    determine a rotation of the inertial measurement unit based on the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes and the respective weight for each of the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes.

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