Device for validating measurements of a dynamic magnitude
First Claim
1. A device for validating measurements of a dynamic magnitude x coming from an article having placed thereon three main sensors for sensing, respectively, along three concurrent main axes forming a basis e={e1 e2 . . . ep} of a physical space having p=3 dimensions, the three main sensors serving to measure components Vj of said dynamic magnitude x along, respectively, the p=3 main axes, and the device comprising:
- at least two additional sensors for measuring at least two additional components of said dynamic magnitude, said at least two additional sensors being placed on said article for sensing along at least two additional axes that are concurrent with said three main axes and that are not contained in any of the planes defined by any pair of said three main axes, said main and additional axes forming a set a={a1, a2, . . . , aq} of q observation axes, where q>
p, and said three main and additional sensors together form a group of observation sensors;
determination means for determining an estimator U representative of said dynamic magnitude from said components Vj j ε
1;
q delivered by said observation sensors along, respectively, the q axes;
validation means for validating said determination of the estimator U representative of the dynamic magnitude;
error detector means for detecting a measurement error associated with said determination of the estimator U representative of the dynamic magnitude;
localization means for locating valid components of said dynamic magnitude not giving rise to said measurement error; and
reconstitution means for reconstituting a new estimator U representative of said dynamic magnitude from said valid components delivered by said observation sensors,wherein the determination means for determining the estimator U representative of the dynamic magnitude comprise;
first calculation means for calculating an observation matrix M that synthesizes the geometrical configuration of said observation axes, the observation matrix M of dimension p×
q being defined by M=C.A, C being the matrix of the direction cosines of the basis e, and A being the matrix component of the set a of q axes;
first calculation means for calculating an estimation matrix L from said observation matrix M satisfying L.TM=Ip; and
first calculation means for calculating said estimator U representative of the dynamic magnitude as a function of said estimation matrix L of said components Vj measured by said observation sensors.
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Abstract
The invention relates to a device for validating measurements of a dynamic magnitude x coming from an article having main sensors placed thereon on three main axes for measuring of said dynamic magnitude x. The device includes at least two additional sensors for measuring at least two additional components of the dynamic magnitude. The additional sensors are placed on the article on at least two additional axes that are concurrent with the three main axes and that are not contained in any of the planes defined by any pair of the three main axes. The device further includes a unit for determining an estimator U representative of the dynamic magnitude from the components; and means for validating the determination of the estimator U representative of the dynamic magnitude, as well as an error detector and a localization unit for locating valid components of the dynamic magnitude.
6 Citations
15 Claims
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1. A device for validating measurements of a dynamic magnitude x coming from an article having placed thereon three main sensors for sensing, respectively, along three concurrent main axes forming a basis e={e1 e2 . . . ep} of a physical space having p=3 dimensions, the three main sensors serving to measure components Vj of said dynamic magnitude x along, respectively, the p=3 main axes, and the device comprising:
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at least two additional sensors for measuring at least two additional components of said dynamic magnitude, said at least two additional sensors being placed on said article for sensing along at least two additional axes that are concurrent with said three main axes and that are not contained in any of the planes defined by any pair of said three main axes, said main and additional axes forming a set a={a1, a2, . . . , aq} of q observation axes, where q>
p, and said three main and additional sensors together form a group of observation sensors;determination means for determining an estimator U representative of said dynamic magnitude from said components Vj j ε
1;
q delivered by said observation sensors along, respectively, the q axes;validation means for validating said determination of the estimator U representative of the dynamic magnitude; error detector means for detecting a measurement error associated with said determination of the estimator U representative of the dynamic magnitude; localization means for locating valid components of said dynamic magnitude not giving rise to said measurement error; and reconstitution means for reconstituting a new estimator U representative of said dynamic magnitude from said valid components delivered by said observation sensors, wherein the determination means for determining the estimator U representative of the dynamic magnitude comprise; first calculation means for calculating an observation matrix M that synthesizes the geometrical configuration of said observation axes, the observation matrix M of dimension p×
q being defined by M=C.A, C being the matrix of the direction cosines of the basis e, and A being the matrix component of the set a of q axes;first calculation means for calculating an estimation matrix L from said observation matrix M satisfying L.TM=Ip; and first calculation means for calculating said estimator U representative of the dynamic magnitude as a function of said estimation matrix L of said components Vj measured by said observation sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer implemented method of validating measurements of a dynamic magnitude coming from an article, on which there are placed three main sensors on three respective concurrent main axes forming a basis e={e1 e2 . . . ep} of a physical space having p=3 dimensions, the three main sensors serving to measure components Vj of said dynamic magnitude x, along, respectively, the p=3 main axes, using a computer having a non-transitory computer-readable medium having computer executable instructions stored therein for implementing the method, the method comprising the following steps:
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measuring at least two additional components of said dynamic magnitude by means of at least two additional sensors placed on said article on at least two additional axes that are concurrent with said three main axes and that are not contained in any of the planes defined by any two of said three main axes, said main and additional axes forming a set a={a1, a2, a3 . . .aq} of q observation axes, where q>
p and said three main and additional sensors together form a group of observation sensors;determining an estimator U representative of said dynamic magnitude from said components Vj delivered by said observation sensors; validating said determination of the estimator U representative of the dynamic magnitude; detecting a measurement error associated with said determination of the estimator U representative of the dynamic magnitude; locating valid components of said dynamic magnitude that do not generate said measurement error; and reconstituting a new estimator U representative of said dynamic magnitude from said valid components delivered by said observation sensors, wherein the determination of the estimator U representative of the dynamic magnitude comprises the following steps; calculating an observation matrix M synthesizing the geometrical configuration of said observation axes, the observation matrix M of dimension pxq being defined by M=C.A, C being the matrix of the direction cosines of the basis e, and A being the matrix component of the set a ofq axes; calculating an estimation matrix L from said observation matrix M satisfying L.TM=Ip; and calculating said estimator U representative of the dynamic magnitude as a function of said estimation matrix L and of said components Vj measured by said observation sensors. - View Dependent Claims (11, 12, 13, 14)
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15. A non-transitory computer readable medium containing computer instructions stored therein for causing a computer processor to perform a method of validating measurements of a dynamic magnitude x coming from an article on which there are placed three main sensors on three respective concurrent main axes forming a basis e={e1 e2 . . . ep} of a physical space having p=3 dimensions, the three main sensors serving to measure components Vj of said dynamic magnitude x, along, respectively, the p=3 main axes, the method comprising:
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measuring at least two additional components of said dynamic magnitude by means of at least two additional sensors placed on said article on at least two additional axes that are concurrent with said three main axes and that are not contained in any of the planes defined by any two of said three main axes, said main and additional axes forming a set a={a1, a2, a3, . . . aq} of q observation axes, where q>
p and said three main and additional sensors together form a group of observation sensors;determining an estimator U representative of said dynamic magnitude from said components Vj delivered by said observation sensors; Validating said determination of the estimator U representative of the dynamic magnitude; detecting a measurement error associated with said determination of the estimator U representative of the dynamic magnitude; locating valid components of said dynamic magnitude that do not generate said measurement error; and reconstituting a new estimator U representative of said dynamic magnitude from said valid components delivered by said observation sensors, wherein the determination of the estimator U representative of the dynamic magnitude comprises the following steps; calculating an observation matrix M synthesizing the geometrical configuration of said observation axes, the observation matrix M of dimension p′
q being defined by M=C.A, C being the matrix of the direction cosines of the basis e, and A being the matrix component of the set a of q axes;calculating an estimation matrix L from said observation matrix M satisfying L.TM=Ip; and calculating said estimator U representative of the dynamic magnitude as a function of said estimation matrix L and of said components Vj measured by said observation sensors.
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Specification