Motion capture pointer with data fusion
US-9261980-B2 · Feb 16, 2016 · US
Method and apparatus for estimation of center of gravity using accelerometers
US9568320B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9568320-B2 |
| Application number | US-201514704650-A |
| Country | US |
| Kind code | B2 |
| Filing date | May 5, 2015 |
| Priority date | May 5, 2015 |
| Publication date | Feb 14, 2017 |
| Grant date | Feb 14, 2017 |
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Abstract
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A system and associated methodology determine navigation parameters of a vehicle under varying center of gravity position and varying unknown gravitational forces. The system uses high precision accelerometers arranged in a plurality of configurations.
First claim
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The invention claimed is: 1. A method for determining navigation parameters of a vehicle, the method comprising: receiving measurements from accelerometers; calculating, using processing circuitry, differential accelerometers measurements as a function of the measurements from the accelerometers; calculating, using the processing circuitry, an angular acceleration as a function of the differential accelerometers measurements under varying center of gravity position and unknown varying gravitational force with anomaly; calculating, using the processing circuitry, the square of the magnitude of an angular velocity as a function of the differential accelerometers measurements; and calculating, using the processing circuitry, the navigation parameters by determining the angular velocity using a Kalman filter as a function of the angular acceleration and the square of the magnitude of the angular velocity, wherein the calculation of the navigation parameters is fully operated in a passive navigation system. 2. The method of claim 1 , wherein the navigation parameters includes an inertial position, a velocity, an acceleration, an angular velocity, an angular acceleration, attitude, a position of a center of gravity and its rate of change, gravity tensor, and a gravitational acceleration. 3. The method of claim 2 , wherein the angular velocity estimation is isolated from gravity tensor estimation via a constrained filtering technique. 4. The method of claim 2 , wherein calculating the gravity tensor includes applying: Γ xx = - ( A 1 x - A 2 x ) 2 µ - Ω z 2 - Ω y 2 Γ yy = - ( A 3 y - A 4 y ) 2 µ - Ω z 2 - Ω x 2 Γ zz = - ( A 5 z - A 6 z ) 2 µ - Ω x 2 - Ω y 2 Γ xy = - ( A 3 x - A 4 x ) + ( A 1 y - A 2 y ) 4 µ + Ω x Ω y Γ xz = - (
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- What does patent US9568320B2 cover?
- A system and associated methodology determine navigation parameters of a vehicle under varying center of gravity position and varying unknown gravitational forces. The system uses high precision accelerometers arranged in a plurality of configurations.
- Who is the assignee on this patent?
- Univ King Fahd Pet & Minerals
- What technology area does this patent fall under?
- Primary CPC classification G01M1/127. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Tue Feb 14 2017 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 3 related publications on this page (citations in our corpus or others sharing the same primary CPC).