Vestibular dynamic inclinometer

Abstract

A method of determining orientation parameters of a rigid body (72, 184), including: associating at least two multi-axis accelerometers (40, 42, 202, 204, 206, 208) with the rigid body, wherein the body has a base end 76, 188), a distal end (77, 190), and a line of symmetry between the base end and the distal end. The two first multi-axis accelerometers (40, 42) (202, 204) are disposed at a first point (80, 212) along the line of symmetry between the base end and the distal end. Each first multi-axis accelerometer is disposed at equal distances from the line of symmetry. The line of symmetry and both first multi-axis accelerometers lie in a first plane. The method further includes: associating a gyroscope (46, 210) with the body at the first point, equally between both first multi-axis accelerometers; gathering measured data from the two first multi-axis accelerometers and the gyroscope; and applying analysis free of calculus to determine a first inclination angle (88) (192), of the body from a stable orientation.

Dependencies are inferred from the claim text.