Dynamic motion control
First Claim
Patent Images
1. A method comprising:
- in a processor, compensating a time delay of an inertial heading of a device by continuously filtering long term drift from measurements of the inertial heading of the device and subtracting the continuously filtered drift from the inertial heading of the device, wherein continuously filtering long term drift includes applying at least one low-pass filter to the inertial heading and adjusting the at least one low-pass filter based on long term measurements from the inertial heading; and
determining an accurate device heading as a function of continuously combining an average magnetic heading of the device with the compensated inertial heading.
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Abstract
In one embodiment a method and corresponding apparatus are arranged to determine an accurate device heading by continuously combining an average magnetic heading with the compensated inertial heading. The example embodiment obtains the compensated inertial heading by compensating for a time delay of an inertial heading.
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Citations
31 Claims
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1. A method comprising:
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in a processor, compensating a time delay of an inertial heading of a device by continuously filtering long term drift from measurements of the inertial heading of the device and subtracting the continuously filtered drift from the inertial heading of the device, wherein continuously filtering long term drift includes applying at least one low-pass filter to the inertial heading and adjusting the at least one low-pass filter based on long term measurements from the inertial heading; and determining an accurate device heading as a function of continuously combining an average magnetic heading of the device with the compensated inertial heading. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method comprising:
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in a processor, continuously combining an error corrected inertial heading of a device, obtained from continuously filtering long term drift from measurements of an inertial heading of the device and subtracting the continuously filtered drift from the inertial heading of the device, with an average magnetic heading of the device to provide accurate device heading; wherein continuously filtering long term drift includes applying at least one low-pass filter to the inertial heading and adjusting the at least one low-pass filter based on long term measurements from the inertial heading. - View Dependent Claims (8, 9, 10, 11, 12, 13)
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14. An apparatus comprising:
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a compensation module to compensate a time delay of an inertial heading by continuously filtering long term drift from measurements of the inertial heading and subtracting the continuously filtered drift from the inertial heading, wherein continuously filtering long term drift includes applying at least one low-pass filter to the inertial heading and adjusting the at least one low-pass filter based on long term measurements from the inertial heading; and a determination module to determine an accurate device heading as a function of continuously combining an average magnetic heading with the compensated inertial heading. - View Dependent Claims (15, 16, 17, 18, 19)
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20. An apparatus comprising:
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a combination module arranged to continuously combine an error corrected inertial heading, obtained from continuously filtering long term drift from measurements of an inertial heading and subtracting the continuously filtered drift from the inertial heading, with an average magnetic heading to provide accurate device heading, wherein continuously filtering long term drift includes applying at least one low-pass filter to the inertial heading and adjusting the at least one low-pass filter based on long term measurements from the inertial heading; and a reporting module arranged to report the provided accurate device heading. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. A computer program product comprising a non-transitory computer readable medium having computer readable code stored thereon, which, when executed by a processor, causes the processor to:
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compensate a time delay of an inertial heading by continuously filtering long term drift from measurements of the inertial heading and subtracting the continuously filtered drift from the inertial heading, wherein continuously filtering long term drift includes applying at least one low-pass filter to the inertial heading and adjusting the at least one low-pass filter based on long term measurements from the inertial heading; and determine an accurate device heading as a function of continuously combining an average magnetic heading with the compensated inertial heading.
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28. An apparatus comprising:
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a rate gyro determining rate of turn data for a device; a low-pass filter coupled to the rate gyro, the low-pass filter continuously filtering long term drift from the rate of turn data and arranged to be adjusted based on long term measurements from an inertial heading; and a subtractor coupled to the rate gyro, the low-pass filter, and an integrator, the subtractor subtracting the continuously filtered drift from the rate of turn data, the subtractor output being passed through the integrator providing a relative inertial heading of the device. - View Dependent Claims (29, 30)
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31. A method comprising:
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receiving rate of turn data for a device from a rate gyro; coupling the rate gyro to a low-pass filter, the low-pass filter continuously filtering long term drift from the rate of turn data; coupling a subtractor to the rate gyro, the low-pass filter, and an integrator; subtracting the continuously filtered drift from the rate of turn data; adjusting the low-pass filter based on long term measurements from an inertial heading; and integrating an output of the subtractor providing a relative inertial heading of the device.
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Specification