Cuboid inertial measurement unit
First Claim
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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Accused Products
Abstract
An inertial measurement unit includes a substrate having MEMS gyroscopes arranged on the substrate as opposing pairs. The gyroscopes of each opposing pair are arranged on opposite sides of an axis of rotation of the substrate and each opposing pair has a central axis that intersects an axis of rotation of the substrate. A processor receives a rotational measurement from each gyroscope, compares the measurements from gyroscopes of each opposing pair, determines a mean or median rotation value for each opposing pair, and compares the mean or median rotation value with a threshold value. The processor assigns a weight to the mean or median value for each opposing pair and determines a rotation of the cuboid inertial measurement unit based on the mean or median value for each opposing pair and the respective weight for the mean or median value for each opposing pair.
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Citations
19 Claims
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1. An inertial measurement unit, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of determining a rotation, comprising:
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receiving a rotational measurement from each of a plurality of MEMS gyroscopes positioned on a substrate of a cuboid inertial measurement unit, wherein the plurality of MEMS gyroscopes are arranged on the substrate as opposing pairs, and wherein the MEMS gyroscopes of each of the opposing pairs of MEMS gyroscopes are oriented in opposite directions of one another; comparing the measurements from the MEMS gyroscopes of each of the opposing pairs with one another; determining at least one of a mean or a median rotation value for the measurements of each of the opposing pairs of MEMS gyroscopes; comparing the at least one of the mean or the median rotation value with a threshold value; removing 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, assigning a weight to the at least one of the mean or the median value for each of the opposing pairs of MEMS gyroscopes; and determining a rotation of the cuboid 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. - View Dependent Claims (9, 10, 11, 12, 13)
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14. An inertial measurement unit, comprising:
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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; the MEMS gyroscopes of each of the opposing pairs of MEMS gyroscopes are oriented in opposite directions of one another; and the plurality of MEMS gyroscopes are configured to measure a rotation of the substrate; at least one electrical circuit in communication with the plurality of MEMS gyroscopes; a processor; and a connector that is in communication with the at least one electrical circuit and that is coupled with the processor so as to electronically couple the plurality of MEMS gyroscopes with the processor, wherein the processor 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. - View Dependent Claims (15, 16, 17, 18, 19)
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Specification