Calibration of orthogonal sensor suite
First Claim
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1. A method for calibrating a plurality of sensors, each mounted in a fixed orientation relative to the other, the method including the steps of:
- a) imparting a plurality of accelerations on the plurality of sensors;
b) measuring motion signals from the sensor resulting from the plurality of accelerations; and
c) generating a transformation matrix based upon the motion signals.
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Abstract
A method for calibrating an orthogonal sensor suite includes the steps of imparting on the sensor suite a series of known accelerations at orientations known relative to each other, while recording readings from the sensors from each acceleration at each orientation. This data is used to create a transformation matrix which removes offsets from each sensor and removes any cross-coupling of the sensors.
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Citations
19 Claims
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1. A method for calibrating a plurality of sensors, each mounted in a fixed orientation relative to the other, the method including the steps of:
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a) imparting a plurality of accelerations on the plurality of sensors;
b) measuring motion signals from the sensor resulting from the plurality of accelerations; and
c) generating a transformation matrix based upon the motion signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
d) generating an inverse of the transformation matrix comprising the motion signals minus the offsets.
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11. The method of claim 1 further including the steps of:
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d) mounting the plurality of sensors to a substrate;
e) storing the transformation matrix on the substrate.
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12. The method of claim 11 further including the steps of:
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f) connecting a sensor suite to a processor; and
g) the processor reading the transformation matrix.
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13. An inertial sensor suite comprising:
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a) a plurality of generally orthogonally oriented inertial sensors; and
b) a computer readable medium storing a transformation matrix, which when utilized by a processor, converts signals from the plurality of inertial sensor into orthogonal motion signals and calibrates said generally oriented inertial sensors using said converted signals. - View Dependent Claims (14, 15, 16, 17, 18)
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19. An inertial sensor suite comprising:
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a) a plurality of generally orthogonally oriented inertial sensors; and
b) a computer readable medium storing a transformation matrix, which when utilized by a processor, converts signals from the plurality of inertial sensor into orthogonal motion signals, wherein the transformation matrix removes offsets from the signals from the plurality of inertial sensors.
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Specification