Measurement of three-dimensional welding torch orientation for manual arc welding process
First Claim
Patent Images
1. A method comprising:
- receiving signals from an inertial measurement unit affixed to an apparatus;
analyzing said signals to detect whether said apparatus is in quasi-static equilibrium;
generating a gravitational acceleration vector based on a portion of said signals received while said apparatus is in said quasi-static equilibrium; and
performing a real-time calibration of said inertial measurement unit based on said gravitational acceleration vector.
1 Assignment
0 Petitions
Accused Products
Abstract
Methods and systems are provided herein for measuring 3D apparatus (e.g., manual tool or tool accessory) orientation. Example implementations use an auto-nulling algorithm that incorporates a quaternion-based unscented Kalman filter. Example implementations use a miniature inertial measurement unit endowed with a tri-axis gyro and a tri-axis accelerometer. The auto-nulling algorithm serves as an in-line calibration procedure to compensate for the gyro drift, which has been verified to significantly improve the estimation accuracy in three-dimensions, especially in the heading estimation.
75 Citations
22 Claims
-
1. A method comprising:
-
receiving signals from an inertial measurement unit affixed to an apparatus; analyzing said signals to detect whether said apparatus is in quasi-static equilibrium; generating a gravitational acceleration vector based on a portion of said signals received while said apparatus is in said quasi-static equilibrium; and performing a real-time calibration of said inertial measurement unit based on said gravitational acceleration vector. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A method comprising:
-
during a time interval in which an apparatus is known to be in quasi-static equilibrium; receiving, via a transceiver, a first set of gyroscope output samples from an inertial measurement unit affixed to said apparatus; calculating, by a processor, one or more metrics for said first set of gyroscope output samples; during manipulation of said apparatus; receiving, via said transceiver, a second set of gyroscope output samples from said inertial measurement unit affixed to said apparatus; calculating, by said processor, said one or more metrics for said second set of gyroscope output samples; generating, by said processor, a decision as to whether said apparatus is in said quasi-static equilibrium based on said one or more metrics for said first set of gyroscope output samples and said one or more metrics for said second set second gyroscope output samples; and determining, by said processor, an angular velocity of said apparatus based on said second set of gyroscope samples and based on said decision as to whether said apparatus is in said quasi-static equilibrium. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
-
-
15. A system comprising:
a computing device comprising a receiver and a processor, wherein; said receiver is configured to receive, during a time interval in which an apparatus is known to be in quasi-static equilibrium, a first set of gyroscope output samples from an inertial measurement unit affixed to said apparatus; and receiver, during manipulation of said apparatus, a second set of gyroscope output samples from said inertial measurement unit affixed to said apparatus; and said processor is configured to; calculate one or more metrics for said first set of gyroscope output samples; calculate said one or more metrics for said second set of gyroscope output samples; generate a decision as to whether said apparatus is in said quasi-static equilibrium based on said one or more metrics for said first set of gyroscope output samples and said one or more metrics for said second set second gyroscope output samples; and determine an angular velocity of said apparatus based on said second set of gyroscope samples and based on said decision as to whether said apparatus is said quasi-static equilibrium. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
Specification