Dynamic motion compensation for orientation instrumentation
First Claim
1. A method for an orientation measuring instrument to transform magnetic and acceleration data in an ambient magnetic field into the vector acceleration of gravity, G, comprising the steps:
- acquiring a first sequence of data in time, Bmeas, from two or more magnetometers sensing the ambient magnetic field and a second sequence of data in time, Gmeas, from two or more accelerometers sensing local accelerations wherein the two or more accelerometers are operable with the two or more magnetometers;
processing changes in orientation from Bmeas wherein the ambient magnetic field is used as a rotation reference; and
processing the changes in orientation with Gmeas wherein a rotation matrix is determined from Bmeas and applied to Gmeas such that the result is the vector acceleration of gravity, G.
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Abstract
The instant invention discloses a method for an orientation measuring instrument to isolate and separate gravitational and non-gravitational components of acceleration from accelerometer measurements by using an ambient magnetic field, typically the earth'"'"'s magnetic field, as a fixed rotation reference. Using magnetic field measurements, one can track changes in orientation of a device and use that information to determine the gravitation direction, during periods when acceleration measurements include non-gravitational acceleration combined with gravitational acceleration components. In addition to determining orientation, a method and associated instrument provide a non-gravity acceleration vector of the device.
88 Citations
17 Claims
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1. A method for an orientation measuring instrument to transform magnetic and acceleration data in an ambient magnetic field into the vector acceleration of gravity, G, comprising the steps:
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acquiring a first sequence of data in time, Bmeas, from two or more magnetometers sensing the ambient magnetic field and a second sequence of data in time, Gmeas, from two or more accelerometers sensing local accelerations wherein the two or more accelerometers are operable with the two or more magnetometers; processing changes in orientation from Bmeas wherein the ambient magnetic field is used as a rotation reference; and processing the changes in orientation with Gmeas wherein a rotation matrix is determined from Bmeas and applied to Gmeas such that the result is the vector acceleration of gravity, G. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for an orientation measuring instrument to transform acquired data into the vector acceleration of gravity, G, and a substantially undistorted magnetic field, B, in an ambient magnetic field comprising the steps:
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acquiring a first sequence of data in time, Bmeas, from two or more magnetometers sensing the ambient magnetic field and acquiring a second sequence of data in time, Gmeas, from two or more accelerometers, sensing local accelerations wherein the two or more accelerometers are operable with the two or more magnetometers; first processing changes in orientation using Bmeas as a rotation reference; second processing the changes in orientation with Gmeas to determine G; third processing changes in orientation using G as a rotation reference; and fourth processing the changes in orientation with Bmeas to determine B. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. An instrument for processing data acquired in an ambient magnetic field such that a vector acceleration of gravity, G, is determined comprising:
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two or more magnetometers sensing the ambient magnetic field; two or more accelerometers sensing local accelerations wherein the two or more accelerometers are operable with the two or more magnetometers; means for processing sequences of data and vectors and matrices as are acquired in an ambient magnetic field and by an accelerometer such that the vector acceleration of gravity, G, may be determined; means for acquiring and storing a first sequence of data in time, Bmeas, from the two or more magnetometers, and a second sequence of data in time, Gmeas, from the two or more accelerometers; and wherein the means for processing comprises means for signal conditioning, constraint setting and matrix calculation;
such that the means for processing is operative to determine the vector acceleration of gravity, G based upon a rotation matrix determined from Bmeas and applied to Gmeas. - View Dependent Claims (17)
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Specification