High frequency disturbance detection and compensation
First Claim
1. A disturbance correction device comprising:
- a disturbance detector configured to detect and output a high frequency component of a measurement signal from an inertial sensor;
a level converter coupled to the output of the disturbance detector, the level converter configured to convert the high frequency component to a direct current (DC) signal;
a compensator coupled to an output of the level converter and configured to compare the DC signal with a plurality of thresholds;
wherein, when the DC signal passes one of the plurality of thresholds, the compensator is further configured to output a respective process noise increment to a Kalman filter, the respective process noise increment corresponding to the passed threshold.
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Abstract
A disturbance correction device comprises a disturbance detector configured to detect and output a high frequency component of a measurement signal from an inertial sensor and a level converter coupled to the output of the disturbance detector. The level converter is configured to convert the high frequency component to a direct current (DC) signal. The disturbance correction device also comprises a compensator coupled to an output of the level converter and configured to compare the DC signal with a plurality of thresholds. When the DC signal passes one of the plurality of thresholds, the compensator is further configured to output a respective process noise increment to a Kalman filter. The respective process noise increment corresponds to the passed threshold.
18 Citations
14 Claims
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1. A disturbance correction device comprising:
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a disturbance detector configured to detect and output a high frequency component of a measurement signal from an inertial sensor; a level converter coupled to the output of the disturbance detector, the level converter configured to convert the high frequency component to a direct current (DC) signal; a compensator coupled to an output of the level converter and configured to compare the DC signal with a plurality of thresholds; wherein, when the DC signal passes one of the plurality of thresholds, the compensator is further configured to output a respective process noise increment to a Kalman filter, the respective process noise increment corresponding to the passed threshold. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of compensating for a disturbance, the method comprising:
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isolating a high frequency component of an inertial measurement signal; converting the high frequency component to a DC-output value; comparing the DC-output value with a plurality of thresholds; and incrementing process noise associated with state variables in a Kalman filter that are related to the disturbance based on results of the comparison of the DC-output with the plurality of thresholds. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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Specification