METHOD AND APPARATUS FOR DETERMINING A RELATIVE ORIENTATION OF POINTS ON A RIGID BODY
First Claim
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1. An apparatus comprising:
- a first sensor that measures a first angular velocity;
a communications unit that receives a measurement signal, the measurement signal including a second angular velocity transmitted from another apparatus including a second sensor; and
a controller that calculates a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame.
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Abstract
An inertial measurement unit is affixed to a rigid body. The inertial measurement includes a gyroscope that measures a first angular velocity and an angular acceleration; a first accelerometer that measures a first acceleration; a communications unit that receives a measurement signal, the measurement signal including a second acceleration transmitted from a second accelerometer, the second accelerometer being affixed to the rigid body; and a controller that calculates a relative orientation of the inertial measurement unit and the second accelerometer, and a distance separating the inertial measurement unit and the second accelerometer.
39 Citations
34 Claims
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1. An apparatus comprising:
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a first sensor that measures a first angular velocity; a communications unit that receives a measurement signal, the measurement signal including a second angular velocity transmitted from another apparatus including a second sensor; and a controller that calculates a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An apparatus comprising:
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a first sensor that measures an angular velocity and an angular acceleration; a second sensor that measures a first acceleration; a communications unit that receives a measurement signal, the measurement signal including a second acceleration transmitted from another apparatus including a third sensor; and a controller that calculates a rotation vector that aligns the first acceleration with the second acceleration on an inertial frame. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A method comprising:
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measuring, by a first sensor, a first angular velocity; receiving, by a communications unit, a measurement signal, the measurement signal including a second angular velocity transmitted from a device including a second sensor; and calculating, by a controller, a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame.
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33. A method comprising:
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measuring, by a first sensor, an angular velocity and an angular acceleration; measuring, by a second accelerometer, a first acceleration; receiving, by a communications unit, a measurement signal, the measurement signal including a second acceleration transmitted from a device including a third sensor; and calculating, by a controller, a rotation vector that aligns the first acceleration with the second acceleration on an inertial frame.
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34. An inertial measurement unit affixed at a first point of a rigid body, the inertial measurement comprising:
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a gyroscope that measures an angular velocity and an angular acceleration; a first accelerometer that measures a first acceleration; a communications unit that receives a measurement signal, the measurement signal including a second acceleration transmitted from a second accelerometer, the second accelerometer being affixed at a second point of the rigid body; and a controller that calculates, based on the angular velocity, the angular acceleration, the first acceleration, and the second acceleration, a relative orientation of the inertial measurement unit and the second accelerometer, and a distance separating the inertial measurement unit and the second accelerometer.
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Specification