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US 12,625,201 B2Granted
Controlling motion with magnetometers
AssigneeAstra Navigation, Inc.
InventorsAlexandre Toutov, Pavlo Borsuk
Life of this patent
Estimating the term…
Abstract
In one embodiment, an apparatus includes a first magnetometer that measures a magnetic induction and direction of a magnetic field. The first magnetometer has a first coordinate frame that includes a first x axis, a first y axis, and a first z axis. The apparatus includes a second magnetometer that measures the magnetic induction and direction of the magnetic field. The second magnetometer has a second coordinate frame that includes a second x axis, a second y axis, and a second z axis. Each of one or more of the second x axis, the second y axis, or the second z axis is has a predetermined orientation relative to the first x axis, the first y axis, or the first z axis.
Claims29
An apparatus comprising:
- a first magnetometer operable to measure a magnetic field, wherein the first magnetometer comprises a first coordinate frame that comprises a first x axis, a first y axis, and a first z axis;
- a second magnetometer operable to measure the magnetic field, wherein:
- the second magnetometer comprises a second coordinate frame that comprises a second x axis, a second y axis, and a second z axis;
- and
- each of one or more of the second x axis, the second y axis, or the second z axis has a predetermined orientation relative to the first x axis, the first y axis, or the first z axis;
- a third magnetometer operable to measure the magnetic field, wherein the third magnetometer comprises a third coordinate frame that comprises a third x axis, a third y axis, and a third z axis;
- and
- a fourth magnetometer operable to measure the magnetic field, wherein:
- the fourth magnetometer comprises a fourth coordinate frame that comprises a fourth x axis, a fourth y axis, and a fourth z axis;
- and
- each of one or more of the fourth x axis, the fourth y axis, or the fourth z axis has a predetermined orientation relative to the third x axis, the third y axis, or the third z axis.
8 more elements
A method comprising:
- receiving output from a sensor set comprising:
- a first magnetometer operable to measure a magnetic field, wherein the first magnetometer comprises a first coordinate frame that comprises a first x axis, a first y axis, and a first z axis;
- a second magnetometer operable to measure the magnetic field, wherein:
- the second magnetometer comprises a second coordinate frame that comprises a second x axis, a second y axis, and a second z axis;
- and
- each of one or more of the second x axis, the second y axis, or the second z axis has a predetermined orientation relative to the first x axis, the first y axis, or the first z axis;
- a third magnetometer operable to measure the magnetic field, wherein the third magnetometer comprises a third coordinate frame that comprises a third x axis, a third y axis, and a third z axis;
- and
- a fourth magnetometer operable to measure the magnetic field, wherein:
- the fourth magnetometer comprises a fourth coordinate frame that comprises a fourth x axis, a fourth y axis, and a fourth z axis;
- and
- each of one or more of the fourth x axis, the fourth y axis, or the fourth z axis has a predetermined orientation relative to the third x axis, the third y axis, or the third z axis;
- and
- navigating or determining a position of a device based at least in part on the output of the sensor set.
11 more elements
A method comprising:
- receiving output from a sensor set comprising:
- a first magnetometer operable to measure a magnetic field, wherein the first magnetometer comprises a first coordinate frame that comprises a first x axis, a first y axis, and a first z axis;
- a second magnetometer operable to measure the magnetic field, wherein:
- the second magnetometer comprises a second coordinate frame that comprises a second x axis, a second y axis, and a second z axis;
- and
- each of one or more of the second x axis, the second y axis, or the second z axis has a predetermined orientation relative to the first x axis, the first y axis, or the first z axis;
- a third magnetometer operable to measure the magnetic field, wherein the third magnetometer comprises a third coordinate frame that comprises a third x axis, a third y axis, and a third z axis;
- and
- a fourth magnetometer operable to measure the magnetic field, wherein:
- the fourth magnetometer comprises a fourth coordinate frame that comprises a fourth x axis, a fourth y axis, and a fourth z axis;
- and
- each of one or more of the fourth x axis, the fourth y axis, or the fourth z axis has a predetermined orientation relative to the third x axis, the third y axis, or the third z axis, respectively;
- and
- generating one or more portions of a magnetic map based at least in part on the output of the sensor set.
11 more elements
Dependencies are inferred from the claim text.