INERTIAL SENSOR ORIENTATION DETECTION AND MEASUREMENT CORRECTION FOR NAVIGATION DEVICE
First Claim
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1. A method, comprising:
- processing one or more linear inertial measurements and one or more rotational inertial measurements obtained from an inertial sensor system to obtain one or more transformation values based, at least in part, on a linear acceleration vector and a rotational velocity vector indicated by said measurements,said one or more transformation values enabling transformation of at least one subsequent inertial measurement obtained from the inertial sensor system to at least one corrected inertial measurement.
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Abstract
Implementations relating to methods, apparatuses and systems are disclosed for obtaining corrected inertial measurements based on an observed orientation of an inertial sensor system relative to a reference body.
26 Citations
22 Claims
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1. A method, comprising:
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processing one or more linear inertial measurements and one or more rotational inertial measurements obtained from an inertial sensor system to obtain one or more transformation values based, at least in part, on a linear acceleration vector and a rotational velocity vector indicated by said measurements, said one or more transformation values enabling transformation of at least one subsequent inertial measurement obtained from the inertial sensor system to at least one corrected inertial measurement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system, comprising:
a navigation device, comprising; an inertial sensor system comprising one or more inertial sensors; an electronic storage medium; and a logic subsystem to; process one or more linear inertial measurements and one or more rotational inertial measurements obtained from an inertial sensor system to obtain one or more transformation values based, at least in part, on a linear acceleration vector and a rotational velocity vector indicated by said measurements, said one or more transformation values enabling transformation of at least one subsequent inertial measurement obtained from the inertial sensor system to at least one corrected inertial measurement. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. An electronic storage media having instructions stored thereon executable by one or more processors to:
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process one or more linear inertial measurements and one or more rotational inertial measurements obtained from an inertial sensor system to obtain one or more transformation values based, at least in part, on a linear acceleration vector and a rotational velocity vector indicated by said measurements, said one or more transformation values enabling transformation of at least one subsequent inertial measurement obtained from the inertial sensor system to at least one corrected inertial measurement. - View Dependent Claims (21)
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22. A system, comprising:
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means for obtaining one or more linear inertial measurements indicating a linear acceleration vector; means for obtaining one or more rotational inertial measurements indicating a rotational velocity vector; means for processing the one or more linear inertial measurements and the one or more rotational inertial measurements to obtain one or more transformation values based, at least in part, on the linear acceleration vector and the rotational velocity vector; and means for applying the one or more transformation values to at least one subsequently obtained inertial measurement to transform the at least one inertial measurement to at least one corrected inertial measurement.
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Specification