Vehicle gyro based steering assembly angle and angular rate sensor
First Claim
1. A method for estimation of relative coordinates between at least two parts of a system comprising the steps of:
- (A) providing each of said at least two parts of said system with at least one coordinate sensor;
(B) measuring a set of relevant coordinates for each said parts of said system; and
(C) processing each said measurement result performed in said step (B) to estimate said relative coordinates between at least two said parts of said system;
wherein said relative coordinates are selected from the group consisting of;
relative position coordinates;
relative position rate (velocity) coordinates;
relative position acceleration coordinates;
relative angle coordinates;
relative angular rate coordinates; and
relative angular acceleration coordinates.
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Abstract
A method for estimation of relative coordinates between at least two parts of a system. The method generally includes two main steps: measuring a set of relevant coordinates for each part of the system; and processing each measurement result to estimate the relative coordinates between at least two parts of the system. The system includes a main body and at least one sub assembly. A first sensor A is configured to measure a movement rate of a sub assembly. A second sensor B is configured to measure a movement rate of a main body. A third absolute measurement sensor C is configured to estimate an integrator offset and a drift rate due to the first sensor A bias and due to the second sensor B bias.
23 Citations
19 Claims
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1. A method for estimation of relative coordinates between at least two parts of a system comprising the steps of:
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(A) providing each of said at least two parts of said system with at least one coordinate sensor; (B) measuring a set of relevant coordinates for each said parts of said system; and (C) processing each said measurement result performed in said step (B) to estimate said relative coordinates between at least two said parts of said system;
wherein said relative coordinates are selected from the group consisting of;
relative position coordinates;
relative position rate (velocity) coordinates;
relative position acceleration coordinates;
relative angle coordinates;
relative angular rate coordinates; and
relative angular acceleration coordinates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for estimation of relative coordinates between at least two parts of a system comprising:
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(A) a means for measuring a set of relevant coordinates for each said part of said system; and (B) a means for processing a set of measurements to estimate said relative coordinates between at least two said parts of said system;
wherein said relative coordinates are selected from the group consisting of;
relative position coordinates;
relative position rate (velocity) coordinates;
relative position acceleration coordinates;
relative angle coordinates;
relative angular rate coordinates; and
relative angular acceleration coordinates. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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Specification