Sensor-based orientation system
First Claim
1. A method for determining changes in orientation of an object in six degrees of freedom, comprising:
- providing first and second linear accelerometers disposed on an imaginary axis relative to the object;
providing a third linear accelerometer disposed off the imaginary axis relative to the object;
measuring, with the first linear accelerometer, a first linear movement of the object in relation to an x-y-z coordinate system;
measuring, with the second linear accelerometer, a second linear movement of the object in relation to the x-y-z coordinate system;
measuring, with the third linear accelerometer, a third linear movement of the object in relation to the x-y-z coordinate system;
determining, with measurements from the first, second and third linear accelerometers, a change in position of the object; and
determining, with measurements from the first, second and third linear accelerometers, a change in orientation of the object.
1 Assignment
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Accused Products
Abstract
A method for measuring positional changes of an object, including rotation about any or all of three axes, using linear accelerometers. There is disclosed a method of using a linear accelerometer to integrate two other 3D linear accelerometers in order to measure and supply for further use six-dimensional information, that is, translation in three dimensions and rotation about three axes. Two linear accelerometer sensors are used to determine all but one of the variables in the six degrees of freedom. Output from a third accelerometer generates the data need to determine a sixth, rotational, degree of freedom. The need for a gyroscope for detecting changes in heading (i.e., yaw of azimuth) may therefore be avoided.
111 Citations
14 Claims
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1. A method for determining changes in orientation of an object in six degrees of freedom, comprising:
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providing first and second linear accelerometers disposed on an imaginary axis relative to the object; providing a third linear accelerometer disposed off the imaginary axis relative to the object; measuring, with the first linear accelerometer, a first linear movement of the object in relation to an x-y-z coordinate system; measuring, with the second linear accelerometer, a second linear movement of the object in relation to the x-y-z coordinate system; measuring, with the third linear accelerometer, a third linear movement of the object in relation to the x-y-z coordinate system; determining, with measurements from the first, second and third linear accelerometers, a change in position of the object; and determining, with measurements from the first, second and third linear accelerometers, a change in orientation of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for determining changes in orientation of an object in six degrees of freedom, comprising:
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a first linear accelerometer; a second linear accelerometer positioned with respect to the first linear accelerometer to define an imaginary axis; a third linear accelerometer disposed off the imaginary axis; means for measuring, with the first and second linear accelerometers, the linear movement of the object in relation to an x-y-z coordinate system; means for measuring, with the third linear accelerometer, the linear movement of the object in relation to the x-y-z coordinate system; and a processing unit to determine, from the measurements from the first, second and third linear accelerometers, a change in a position and an orientation of the apparatus. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A computer program product for enabling a computer to determine changes in orientation of an object in six degrees of freedom comprising:
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software instructions for enabling the computer to perform predetermined operations; and a computer readable storage medium bearing the software instructions; the predetermined operations including; providing first and second linear accelerometers disposed on an imaginary axis relative to the object; providing a third linear accelerometer disposed off the imaginary axis relative to the object; measuring, with the first linear accelerometer, a first linear movement of the object in relation to an x-y-z coordinate system; measuring, with the second linear accelerometer, a second linear movement of the object in relation to the x-y-z coordinate system; measuring with the first and second linear accelerometers the annular rotation of the object in relation to two axes of rotation; and measuring with the third linear accelerometer, a third linear movement of the object in relation to the x-y-z coordinate system; determining, with measurements from the first, second and third linear accelerometers, a change in positon of the object; and determining, with measurements from the first, second and third linear accelerometers, a change in orientation of the object, wherein the computer determines changes in orientation of the object in six degrees of freedom.
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Specification