Method and system for detecting a spatial movement state of moving objects
First Claim
1. A method of detecting a spatial movement state of a moving object, comprising:
- detecting at least three components of the spatial movement state by manner of a plurality of sensors in at least three different spatial detection directions; and
combining the at least three components together to calculate a plurality of resultants;
wherein at least one of the at least three different spatial detection directions is not a Cartesian coordinate in order to form a plurality of redundant sensor signals.
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Abstract
A method and a system for detecting the spatial movement state of moving objects, e.g., vehicles. Due to a, for example, non-cartesian arrangement of four rotational rate sensors and/or acceleration sensors, it is also possible to obtain a redundant signal in addition to the desired useful signal indicating the spatial movement state, e.g., the rotational movement and/or acceleration in space; if this redundant signal is large enough in comparison with the rotational rate actually applied, it may be used for detection of the size of the error and the defective sensor. The four sensors are mounted, for example, on a sensor platform forming a three-sided truncated pyramid so that all possible three-way combinations of sensors are mutually linearly independent. The accuracy about the vertical axis is defined by the angle of inclination of the side faces of the truncated pyramid.
28 Citations
31 Claims
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1. A method of detecting a spatial movement state of a moving object, comprising:
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detecting at least three components of the spatial movement state by manner of a plurality of sensors in at least three different spatial detection directions; and
combining the at least three components together to calculate a plurality of resultants;
wherein at least one of the at least three different spatial detection directions is not a Cartesian coordinate in order to form a plurality of redundant sensor signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for detecting a spatial movement state of a moving object, comprising:
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a sensor platform that is rigidly connected to the moving object and that includes at least one of at least three rotational rate sensors and a plurality of acceleration sensors in a rigid alignment relative to one another, the at least three rotational rate sensors and the plurality of acceleration sensors having different detection directions that are not a cartesian coordinate, a plurality of signals being derivable from the at least three rotational rate sensors and the plurality of acceleration sensors, each signal of the plurality of signals indicating a component of the spatial movement state in a particular detection direction; and
a computing unit for combining the plurality of signals received thereby to calculate a plurality of resultants of the component of the spatial movement state indicated by one of the plurality of signals. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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Specification