Including Gravitational Effect In Inertial Sensing Signal Processing Patents (Class 701/504)
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Patent number: 10274509Abstract: 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.Type: GrantFiled: April 9, 2015Date of Patent: April 30, 2019Assignee: InertialwaveInventors: Anthony Dorian Challoner, Byron Campbell Challoner, Jeremy Daniel Popp
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Patent number: 9797727Abstract: The present disclosure relates to a method and apparatus for determining the misalignment between a device and a platform (such as for example a vessel or vehicle) using acceleration and/or deceleration of the platform, wherein the device can be strapped or non-strapped to the platform, wherein in case of non-strapped the mobility of the device may be constrained or unconstrained within the platform. In case of non-strapped, the device may be moved or tilted to any orientation within the platform and still provide a seamless navigation solution without degrading the performance of this navigation solution. When the device is in a holder in the platform, it is still considered non-strapped, as it may move with respect to the platform. The present method can utilize measurements (readings) from sensors (such as for example, accelerometers, odometer/wheel encoders, gyroscopes, etc.Type: GrantFiled: September 8, 2014Date of Patent: October 24, 2017Assignee: InvenSense, Inc.Inventors: Jacques Georgy, Christopher Goodall
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Patent number: 9694902Abstract: A device for making available navigation parameter values of a vehicle is provided. The device includes components distributed in the following categories: several sensors collecting measurement data relating to at least one navigation parameter of the vehicle; several computers processing the measurement data collected by the sensors and calculating said navigation parameters; several networks linking the sensors to the computers and linking the computers to systems using said parameters. The networks transmit all the collected measurement data to the computers, which calculate a value for each navigation parameter as well as an estimated value of the associated fault, using a single common fusion algorithm.Type: GrantFiled: December 19, 2013Date of Patent: July 4, 2017Assignee: Airbus Operations S.A.S.Inventors: Alain Guillet, Gilles Tatham, Patrice Brot, Marc Fervel, Philippe Goupil
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Patent number: 9027888Abstract: A method and system are presented for use in determination of the orientation of an aerospace platform with respect to a first rotation axis. A direction of a rotation rate vector of said aerospace platform within a lateral plane intersecting with said first rotation axis is measured and the measured data is analyzed to determine an orientation angle of said aerospace platform about said first rotation axis. While the aerospace platform is in a predetermined-dynamic state movement, a certain direction is determined by measuring a direction of the rotation rate of the aerospace platform within said lateral plane by a sensor assembly mounted on said platform and including at least one rotation rate sensor. An orientation of the platform with respect to said first axis is determined by determining a relation between said certain direction and said known direction within said external reference frame.Type: GrantFiled: August 4, 2011Date of Patent: May 12, 2015Assignee: Israel Aerospace Industries Ltd.Inventors: Rabin Shaltiel, Allan Kahane
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Patent number: 8990014Abstract: Methods, systems, and computer readable storage media are presented for directional scaling of inertial path data to satisfy ranging constraints. The presented techniques take into account scaling confidence information. In addition to bounding potential scale corrections based on the reliability of the inertial path and the magnetic heading confidence, the techniques bound potential scale parameters based on constraints and solve for directional scale parameters.Type: GrantFiled: March 14, 2014Date of Patent: March 24, 2015Assignee: TRX Systems, Inc.Inventors: Benjamin Funk, Dan Hakim, John Karvounis, Carole Teolis
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Publication number: 20150081213Abstract: Systems and methods for a limb strike detector are provided. In certain embodiments, a system for detecting limb strikes comprises an inertial measurement unit (IMU) that provides inertial measurements; and a processing unit that receives the inertial measurements from the IMU.Type: ApplicationFiled: September 19, 2013Publication date: March 19, 2015Applicant: Honeywell International Inc.Inventors: Wesley J. Hawkinson, Paul Samanant, Michael Ray Elgersma
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Patent number: 8958932Abstract: Systems and methods to mitigate instrument landing system (ILS) overflight interference are disclosed. An example method performing a first measurement of a position of an aircraft relative to a first location based on an instrument landing system, performing a second measurement of the position of the aircraft based on inertial measurements performed over a first time period occurring prior to the first measurement, performing a third measurement of the position of the aircraft based on inertial measurements performed over a second time period greater than the first time period and occurring prior to the first measurement, and generating guidance information based on a selected one of the first, second, or third measurements of the position of the aircraft.Type: GrantFiled: February 11, 2013Date of Patent: February 17, 2015Assignee: The Boeing CompanyInventor: Tim Murphy
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Patent number: 8751161Abstract: A method of determining a heading in the geographical North direction by means of an inertial sensor module having three rate gyro measurement axes and three accelerometer measurement axes, the method comprising the steps of: using data from the inertial sensor module in a North-seeking mode to obtain a first heading value; using data from the inertial sensor module in a gyro-compass mode to obtain a second heading value; and determining the heading in the North direction by using the first heading value and the second heading value.Type: GrantFiled: March 2, 2009Date of Patent: June 10, 2014Assignee: Sagem Defense SecuriteInventor: Yves Becheret
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Patent number: 8655511Abstract: An inertial system measures the attitude of an aircraft consisting at least in determining the angle of pitch and/or the angle of heading and/or the angle of roll of the aircraft, each of the said angles of attitude being determined by successive double integration of their second derivative. A pair of accelerometers to determine the angle of pitch being are disposed on either side of the centre of gravity along an axis substantially merged with the longitudinal axis of the aircraft. A pair of accelerometers to determine the angle of heading are disposed on either side of the centre of gravity along an axis substantially merged with the transverse axis of the aircraft. A pair of accelerometers to determine the angle of roll are disposed on either side of the centre of gravity along a vertical axis perpendicular to the plane formed by the other axes.Type: GrantFiled: February 29, 2012Date of Patent: February 18, 2014Assignee: ThalesInventors: Marc Revol, Jacques Mandle, Alain Bibaut, Jacques Coatantiec
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Patent number: 8571741Abstract: A device for measuring the movement of a self-guiding vehicle, that has an enhanced measuring reliability, in particular during an adhesion loss and independently from the travel profile of the vehicle in terms of slope, turn and slant. To this end, the device for measuring the movement of a self-guiding vehicle includes on board thereof two accelerometers coupled to a movement calculator, wherein each accelerometer includes two measurement axes on which are measured projections of a vehicle acceleration resultant. The four measurement axes of the accelerometers are adjusted so that the calculator provides, from the four projection measures, at least one very accurate longitudinal acceleration value of the vehicle at each point of a route including both slopes and turns.Type: GrantFiled: December 10, 2007Date of Patent: October 29, 2013Assignee: Siemens SASInventors: Said El Fassi, Alain Maire
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Patent number: 8571795Abstract: A navigation apparatus includes: a section that calculates a mobile object's acceleration in the direction of the motion, based on the mobile object's speed calculated from information received from a satellite; a section that calculates lateral acceleration whose direction is perpendicular to the mobile object's motion, based on the mobile object's speed and direction calculated from information received from the satellite; an acceleration sensor that observes motion acceleration of the mobile object and gravity acceleration; a section that calculates an altitude difference of road based on an atmospheric pressure value supplied from a barometric sensor; a section that calculates an inclination angle of the road in the direction of the motion, based on the altitude difference and a travel distance corresponding to the mobile object's speed; and a section that calculates an attachment angle of the acceleration sensor with respect to the mobile object by using a multidimensional function formula.Type: GrantFiled: August 29, 2007Date of Patent: October 29, 2013Assignee: Sony CorporationInventors: Tomohisa Takaoka, Masashi Ohkubo
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Patent number: 8467967Abstract: Inertial navigation systems for wheeled vehicles with constrained motion degrees of freedom are described. Various parts of the navigation systems may be implemented in a smart-phone.Type: GrantFiled: May 31, 2011Date of Patent: June 18, 2013Assignee: Trimble Navigation LimitedInventor: Peter Van Wyck Loomis
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Patent number: 8406996Abstract: Inertial navigation systems for wheeled vehicles with constrained motion degrees of freedom are described.Type: GrantFiled: August 25, 2010Date of Patent: March 26, 2013Assignee: Trimble Navigation LimitedInventor: Peter Van Wyck Loomis
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Patent number: 8396659Abstract: Devices, methods, and programs provide vehicle navigation. A speculative heading error is acquired that corresponds to the reliability of the vehicle heading, which corresponds to an estimated vehicle position that was calculated using a previous vehicle position as a reference. A best candidate position or the estimated vehicle position is set as the vehicle position depending on whether a heading difference between the vehicle heading and a heading when the estimated point is corrected to the best candidate position falls within the speculative heading error. Therefore, false matching can be further reduced and prompt recovery is possible even if a false match occurs.Type: GrantFiled: February 19, 2010Date of Patent: March 12, 2013Assignee: Aisin AW Co., Ltd.Inventors: Yohei Ando, Daisuke Sakaki, Yusuke Oohashi
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Patent number: 8374783Abstract: Systems and methods for determining a position of a vehicle are described. The system includes at least one GNSS sensor mounted to the vehicle for receiving GNSS signals of a global positioning system and at least one physical sensor mounted to the vehicle for generating physical data indicative of a physical parameter of at least a part of the vehicle. The system also includes a recursive statistical estimator, such as a Kalman Filter, in communication with the GNSS sensor(s) for seeding the recursive statistical estimator with an output of the GNSS sensor(s) to determine an estimated position of the vehicle. A data fusion module combines the estimated position and velocity of the vehicle with the physical data thus generating combined data, which is used to seed the recursive statistical estimator to determine an updated estimated position of the vehicle.Type: GrantFiled: February 28, 2008Date of Patent: February 12, 2013Assignee: Leica Geosystems AGInventors: Frank Takac, Oliver Zelzer, William James Kellar
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Publication number: 20120166082Abstract: Techniques are provided to determine an initial quaternion transform that is used to transform measurements received from accelerometer, rate sensor and inertial reference subsystems from a vehicle coordinate frame to an inertial navigation frame. Methods disclosed determine corrective angular rates to use as a feedback signal to rotate the quaternion transform to counter errors that result when transforming a gravity vector and an inertial reference vector (e.g., a magnetic North reference vector) that are being measured by the accelerometer and an inertial reference subsystems, respectively. The initial quaternion determination is performed during a time period when the only substantial acceleration on the vehicle is due to gravity. The initial quaternion can be used for processing various guidance, navigation and control functions.Type: ApplicationFiled: December 22, 2010Publication date: June 28, 2012Applicant: Custom Sensors & Technologies, Inc.Inventor: Matthew D. Fortier
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Patent number: 8160816Abstract: According to a vehicular behavior determination device (100) of the present invention, an angular velocity vector ?(k) which represents an angular velocity around each of 3 axes of a vehicle (1) can be determined in high accuracy on the basis of a temporal variation mode of a posture vector psti(k) (i=x, y, z) which represents a posture of the vehicle (1) in a global coordinate system in an attempt to curtail a manufacture cost and size of the vehicle (1) by avoiding the usage of a 3-axis gyro sensor which is relatively expensive in price and large in size.Type: GrantFiled: August 21, 2008Date of Patent: April 17, 2012Assignee: Honda Motor Co., Ltd.Inventors: Kazunori Kanai, Ken Oiwa