HIGH RATE ROTATION SENSING
First Claim
1. An inertial measurement unit (IMU) for measuring an input rate of rotation about an input axis, the IMU comprising:
- a first three dimensional gyroscope, the first gyroscope configured to sense rotation about a first set of three mutually orthogonal axes, wherein the first gyroscope is disposed such that a first axis of the first set of three axes is oriented at a skew angle in degrees away from a reference plane, the reference plane normal to the input axis;
one or more processing devices coupled to the first gyroscope; and
one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to calculate the input rate of rotation based on dividing a sensed rate of rotation about the first axis by the sine of the skew angle.
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Accused Products
Abstract
One embodiment is directed towards an inertial measurement unit (IMU) for measuring an input rate of rotation about an input axis. The IMU includes a first three dimensional gyroscope disposed such that a first axis of its three axes is oriented at a skew angle in degrees away from a reference plane, wherein the reference plane is normal to the input axis. The IMU also includes one or more processing devices coupled to the first gyroscope. The IMU also includes one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to calculate the input rate of rotation based on dividing a sensed rate of rotation about the first axis by the sine of the skew angle.
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Citations
20 Claims
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1. An inertial measurement unit (IMU) for measuring an input rate of rotation about an input axis, the IMU comprising:
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a first three dimensional gyroscope, the first gyroscope configured to sense rotation about a first set of three mutually orthogonal axes, wherein the first gyroscope is disposed such that a first axis of the first set of three axes is oriented at a skew angle in degrees away from a reference plane, the reference plane normal to the input axis; one or more processing devices coupled to the first gyroscope; and one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to calculate the input rate of rotation based on dividing a sensed rate of rotation about the first axis by the sine of the skew angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of determining an input rate of rotation about an input axis, the method comprising:
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sensing a first rate of rotation about a first axis of a first three dimensional gyroscope, the first gyroscope configured to sense rotation about a first set of three mutually orthogonal axes, wherein the first axis is in the first set of three axes, wherein the first gyroscope is disposed such that the first axis is oriented at a skew angle in degrees away from a reference plane, the reference plane normal to the input axis; and calculating the input rate of rotation based on dividing the first rate of rotation by the sine of the skew angle. - View Dependent Claims (10, 11, 12, 13, 14)
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15. An inertial measurement unit (IMU) for measuring an input rate of rotation about an input axis, the IMU comprising:
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a housing; a printed circuit board mounted in the housing; a first three dimensional gyroscope die mounted to the printed circuit board, the first gyroscope die configured to sense rotation about a first set of three mutually orthogonal axes, wherein the first gyroscope die is disposed such that a first axis of the first set of three axes is oriented at a skew angle in degrees away from a reference plane, the reference plan normal to the input axis; a second three dimensional gyroscope die mounted to the printed circuit board, the second gyroscope die configured to sense rotation about a second set of three mutually orthogonal axes; one or more processing devices mounted to the printed circuit board and coupled to the first gyroscope die and the second gyroscope die; and one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices, including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to; calculate a first rate of rotation by dividing a sensed rate of rotation about the first axis by the sine of the skew angle; and calculate the input rate of rotation based on the first rate of rotation and on a sensed rate of rotation by the second gyroscope about a second axis of the second set of three mutually orthogonal axes. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification