Device and method for combining samples from an inertial measurement sensor cluster
First Claim
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1. An inertial measurement device comprising:
- at least one sensor cluster, each of said at least one sensor cluster comprising a plurality of micro inertial sensors being oriented substantially along same respective axis, for sampling movement of said inertial measurement device with respect to each of said respective axis of a plurality of axes of a reference frame, each of said plurality of micro inertial sensors exhibits a respective random error; and
a summing unit to receive individual respective samples from at least some of said plurality of micro inertial sensors indicative of said movement with respect to said respective axis and to reduce a total random error in an equivalent vector that is calculated by summing said individual respective samples by said summing unit, wherein said equivalent vector is indicative of sampled said movement.
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Abstract
Device and method for providing inertial indications with high accuracy using micro inertial sensors with inherent very small size and low accuracy. The device and method of the invention disclose use of the cluster of multiple micro inertial sensors to receive from the multiple sensors an equivalent single inertial indication with high accuracy based on the multiple independent indications and mathematical manipulations for averaging the plurality of single readings and for eliminating common deviations based, for example, on measurements of the deviation of the single readings.
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Citations
17 Claims
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1. An inertial measurement device comprising:
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at least one sensor cluster, each of said at least one sensor cluster comprising a plurality of micro inertial sensors being oriented substantially along same respective axis, for sampling movement of said inertial measurement device with respect to each of said respective axis of a plurality of axes of a reference frame, each of said plurality of micro inertial sensors exhibits a respective random error; and a summing unit to receive individual respective samples from at least some of said plurality of micro inertial sensors indicative of said movement with respect to said respective axis and to reduce a total random error in an equivalent vector that is calculated by summing said individual respective samples by said summing unit, wherein said equivalent vector is indicative of sampled said movement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An inertial measurement method comprising:
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reading separate respective outputs of at least some in a plurality of micro inertial sensors of a sensor cluster, said plurality of micro inertial sensors being oriented substantially along same respective axis in a plurality of axes of a reference frame, each of said plurality of micro inertial sensors exhibits a respective random error; and combining said separate respective outputs to yield a single combined output of said sensor cluster, so to reduce a total random error in said single combined output, said combined output indicative of movement of said sensor cluster in said reference frame. - View Dependent Claims (14, 15, 16, 17)
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Specification