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Data conversion method and apparatus, and orientation measurement apparatus

  • US 7,414,596 B2
  • Filed: 09/30/2004
  • Issued: 08/19/2008
  • Est. Priority Date: 09/30/2003
  • Status: Active Grant
First Claim
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1. A data conversion method for converting orientation data on a sensor coordinate system defined by an orientation sensor into orientation data on a reference coordinate system, which is different from the sensor coordinate system, with each axis of the reference coordinate system being defined independently of a gravitational direction, comprising:

  • a first setting step of setting first alignment data which represents the gravitational direction on the reference coordinate system;

    a second setting step of setting second alignment data indicating a difference angle in an azimuth direction between the sensor coordinate system and reference coordinate system;

    a first calculation step of calculating a first coordinate conversion matrix for converting the gravitational direction on the sensor coordinate system into the gravitational direction on the reference coordinate system, wherein a rotation angle for the first coordinate conversion matrix is defined as an angle made by a first vector indicating the first alignment data and a second vector indicating the gravitational direction on the sensor coordinate system, and a rotation axis for the first coordinate conversion matrix is defined as a normal vector to a plane formed by the first and second vectors;

    a second calculation step of calculating a second coordinate conversion matrix for which a rotation angle is defined as the second alignment data and a rotation axis is defined as the first alignment data;

    a third calculation step of calculating a third coordinate conversion matrix for converting an orientation on the sensor coordinate system into an orientation on the reference coordinate system as a product of the first and second coordinate conversion matrices;

    an input step of inputting orientation data on the sensor coordinate system; and

    a conversion step of convertng the orientation data on the sensor coordinate system input in the input step into orientation data on the reference coordinate system using the third coordinate conversion matrix.

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