System and Method for Calibrating Inertial Measurement Units
First Claim
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1. A method for calibrating sensor modules, the method comprising:
- obtaining, from each of a plurality of sensor modules attached to a body, a direction measurement of an acceleration event occurring where the sensor module is located on the body, each direction measurement being derived from a present orientation of the sensor module and data on the acceleration event in the sensor module;
determining a common reference direction, the common reference direction determined from at least one of the direction measurements; and
determining, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction.
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Abstract
Inertial measurement units attached to a non-rigid body may measure a common motion event when the body changes direction of travel. Acceleration measurements made by the inertial measurement units of the event are used to determine a common reference direction which in turn can be used to derive, individually for each inertial measurement unit, a new orientation intended to be a better representation of the actual orientation of the inertial measurement unit.
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Citations
40 Claims
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1. A method for calibrating sensor modules, the method comprising:
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obtaining, from each of a plurality of sensor modules attached to a body, a direction measurement of an acceleration event occurring where the sensor module is located on the body, each direction measurement being derived from a present orientation of the sensor module and data on the acceleration event in the sensor module; determining a common reference direction, the common reference direction determined from at least one of the direction measurements; and determining, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for calibrating sensor modules, the system comprising
a plurality of sensor modules; - and
a processor communicatively coupled to each of the sensor modules, wherein the processor is configured to obtain, from each of the plurality of sensor modules, a direction measurement of an acceleration event occurring where the sensor module is located, each direction measurement having been derived from a present orientation of the sensor module and data on the acceleration event in the sensor module, and wherein the processor is configured to determine a common reference direction from at least one of the direction measurements, and wherein the processor is configured to determine, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction.
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21-38. -38. (canceled)
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39. A non-transitory computer readable medium having a stored computer program embodying instructions, which when executed by a computer, causes the computer to perform one or more steps for calibrating sensor modules, the computer readable medium comprising:
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instructions for obtaining, from each of a plurality of sensor modules, a direction measurement of an acceleration event occurring where the sensor module is located, each direction measurement having been derived from a present orientation of the sensor module and data on the acceleration event in the sensor module; instructions for determining a common reference direction from at least one of the direction measurements to determine; and instructions for determining, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction.
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40-41. -41. (canceled)
Specification