Inertial motion tracking device

• US 10,274,509 B1
• Filed: 04/09/2015
• Issued: 04/30/2019
• Est. Priority Date: 04/09/2014
• Status: Active Grant

• Current Assignee: InertialWave, Co.
• Original Assignee: InertialWave, Co.
• Inventors: Challoner, Anthony Dorian, Challoner, Byron Campbell, Popp, Jeremy Daniel
• Primary Examiner(s): Armand, Marc Anthony
• Application Number:
  US14/683,137
• Time in Patent Office: 1,482 Days
• Field of Search: 340 581, 702150
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01P 21/02 of speedometers

Abstract

A compact autonomous device undergoing motion tracks and analyzes its definite movement relative to local Earth coordinates with optimal accuracy and repeatability of 1 mm over distances of greater than two meters. The Inertial Motion Tracking Device (IMTD) comprises a gyroscope, accelerometer, magnetometer, and digital processor programmed with a general purpose Inertial Measurement Engine (IME), an application specific Motion Analysis and Adaptation (MAA) program and a low power radio. The IMTD tracks its motion with optimum accuracy using compact practical sensors that may have noise and drift by periodically and autonomously checking its velocity changes at an optimum interval, computing a linear acceleration therefrom and determining a no-motion or motion condition relative to a threshold and correcting its velocity, position and acceleration errors when there is no motion.

Claims

1. An inertial motion tracking device (IMTD) comprising:

a microcontroller programmed with Inertial Measurement Engine (IME) that performs the operations of;

receiving accelerometer and gyroscope input;

computing linear acceleration, velocity and position of the IMTD from the accelerometer and gyroscope input where a linear acceleration value is determined from said accelerometer and gyroscope input, a velocity value is computed using a velocity integrator operating on the linear acceleration value and a position value is computed using a position integrator operating on the computed velocity value;

determining whether a no motion condition has occurred with an Acceleration, Velocity and Position Correction (AVPC) logic block over repeating time periods, where the no motion condition exists when either the AVCP logic block receives the linear acceleration value and determines it is below a selected linear acceleration change threshold or the AVCP logic block receives and compares a current velocity value and a previous velocity value and determines a change in the velocity integrator value is below a selected velocity change threshold; and

after said no motion condition the velocity integrator value and the position integrator value are reset and a linear acceleration bias value is adjusted to zero the computed linear acceleration by the AVCP logic block;

wherein an initial period of the repeating time periods the velocity integrator value and the position integrator value are reset and the linear acceleration bias value is adjusted to zero the linear acceleration by the AVCP logic block.

2. The IMTD of claim 1, wherein the computed linear acceleration comprises an average linear acceleration determined from a velocity change over each of the repeating time periods.

3. The IMTD of claim 1, wherein a gyro bias is determined and corrected during said no motion condition and the correction of said gyro bias is applied with a predetermined gain.

4. The IMTD of claim 1, further comprising a Motion Analysis and Adaptation (MAA) processor that receives said IME computed linear acceleration, velocity and position and computes an output velocity, position, or time parameter of motion from a motion condition.

5. The IMTD of claim 1, wherein said MAA applies the IME computed, linear acceleration, velocity and position said to the no motion condition determination, the selected acceleration threshold, the selected velocity threshold, a duration of the repeating time period, or a predetermined gain to correct gyro bias.

6. The IMTD of claim 1, wherein said IME computation is performed by a 16-bit microcontroller unit.

7. The IMTD of claim 1, wherein said IME computation is performed by a MEMS chip.

8. The IMTD of claim 1, wherein said IME computation is performed by a smartphone processor.

9. The IMTD of claim 1, wherein said IME computation is performed by a Universal Navigation Chip.

10. The IMTD of claim 1, wherein the IME further computes an attitude of the IMTD and the attitude is referenced to local Earth coordinates with magnetic North and said position is relative to a local reference position.

11. The IMTD of claim 10, comprising a radio navigation receiver wherein said local reference position and said attitude are reset at each no-motion condition to the most recent position and attitude determined by said received radio navigation signal relative to global Earth coordinates.

12. The IMTD of claim 10, wherein the IMTD is started from a reference position, moved a distance without stopping, and then returned to rest at said reference position and a peak position value relative to said first reference position is determined and reported by an Motion Analysis and Adaptation (MAA) processor as a distance measurement.

13. The IMTD of claim 10, further comprising a Motion Analysis and Adaptation (MAA) processor, wherein the MAA processor receives said IME computed attitude, linear acceleration, velocity and position and computes an output attitude, velocity, position, or time parameter of motion from a motion condition.

14. The IMTD of claim 1, wherein the computed velocity comprises an average velocity determined from a position change over each of the repeating time periods.

15. The IMTD of claim 1, wherein a linear acceleration error is determined and corrected during said condition of no motion and the correction of said linear acceleration error is applied with a predetermined gain.

16. An inertial motion tracking device (IMTD) comprising:

an Inertial Measurement Engine (IME) receives digital accelerometer and gyroscope samples each sample time period and includes a linear acceleration value is determined from said accelerometer and gyroscope samples, a velocity integrator, a position integrator, and an Acceleration, Velocity and Position Correction (AVPC) logic block, where the velocity integrator computes a velocity value as the linear acceleration value scaled by the sample time period and the position integrator computes a position value as the velocity value scaled by the sample time period and the AVCP logic block receives and compares a current velocity value and a previous velocity value and determines whether a change in the velocity integrator value is below a selected velocity change threshold;

wherein the AVPC logic block periodically determines whether the change in the velocity integrator value remains below the selected velocity change threshold and if so the velocity integrator value and the position integrator value are reset and a linear acceleration bias register value is adjusted to zero the linear acceleration register value; and

wherein after an initial AVPC time period the velocity integrator value and the position integrator value are reset and the linear acceleration bias register value is adjusted by the AVPC logic block to zero the linear acceleration register value.

17. An inertial motion tracking device (IMTD) comprising:

an Inertial Measurement Engine (IME) receives digital accelerometer and gyroscope samples each sample time period and includes a linear acceleration value is determined from said accelerometer and gyroscope samples, a velocity integrator, a position integrator, and an Acceleration, Velocity and Position Correction (AVPC) logic block, where the velocity integrator computes a velocity value as the linear acceleration value scaled by the sample time period and the position integrator computes a position value as the velocity value scaled by the sample time period and the AVCP logic block receives the linear acceleration value and determines whether it is below a selected linear acceleration threshold;

wherein the AVPC logic block periodically determines whether the linear acceleration value remains below a selected linear acceleration threshold and if so the velocity integrator value and the position integrator value are reset and a linear acceleration bias register value is adjusted to zero the linear acceleration register value; and

wherein after an initial AVPC time period the velocity integrator value and the position integrator value are reset and the linear acceleration bias register value is adjusted by the AVPC logic block to zero the linear acceleration register value.