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Direct determination of rigid body motion using data collected from independent accelerometers

  • US 7,657,394 B1
  • Filed: 03/12/2007
  • Issued: 02/02/2010
  • Est. Priority Date: 03/12/2007
  • Status: Active Grant
First Claim
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1. A method of direct determination of angular and translational velocity at a particular location on a rigid body in a global reference frame based on measured accelerations collected from a plurality of independent accelerometers instrumented on the rigid body, the method comprising:

  • (a) receiving, in a computer system having an application module for direct determination of angular and translation velocity at a particular location on a rigid body installed thereon, the measured accelerations, orientation of each of the accelerometers and orientation of the rigid body;

    (b) forming initial direction cosine matrices for said each of the accelerometers and for the rigid body using the respective orientations in the computer system;

    (c) initializing current solution time in the computer system;

    (d) transforming measured accelerations to the global reference frame in the computer system;

    (e) calculating global velocity by integrating the transformed global accelerations in the computer system;

    (f) calculating current direction cosine matrices based on previous direction cosine matrices and the angular velocity matrix in the computer system;

    (g) creating a first set of redundant vector equations for the angular velocity in the computer system;

    (h) obtaining the angular velocity by solving the first set of redundant equations using a first solution technique in the computer system;

    (i) creating a second set of redundant vector equations for the translational velocity in the computer system;

    (j) obtaining the translational velocity by solving the second set of redundant equations using a second technique in the computer system;

    (k) updating the current solution time in the computer system; and

    repeating (d) to (k) until the current time is greater than pre-defined total solution time, wherein both the angular velocity and the translational velocity are displayed to a monitor coupled to the computer system.

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