System and Method for Calibrating Inertial Measurement Units
AssigneeVibrado Technologies, Inc.
InventorsQuinn A. Jacobson, Cynthia Kuo
Life of this patent
Estimating the term…
Abstract
Inertial measurement units attached to a non-rigid body may measure a common motion event when the body changes direction of travel. Acceleration measurements made by the inertial measurement units of the event are used to determine a common reference direction which in turn can be used to derive, individually for each inertial measurement unit, a new orientation intended to be a better representation of the actual orientation of the inertial measurement unit.
Claims23
A method for calibrating sensor modules, the method comprising:
- obtaining, from each of a plurality of sensor modules attached to a body, a direction measurement of an acceleration event occurring where the sensor module is located on the body, each direction measurement being derived from a present orientation of the sensor module and data on the acceleration event in the sensor module;
- determining a common reference direction, the common reference direction determined from at least one of the direction measurements;
- and
- determining, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction.
A system for calibrating sensor modules, the system comprising
- a plurality of sensor modules;
- and
- a processor communicatively coupled to each of the sensor modules,
- wherein the processor is configured to obtain, from each of the plurality of sensor modules, a direction measurement of an acceleration event occurring where the sensor module is located, each direction measurement having been derived from a present orientation of the sensor module and data on the acceleration event in the sensor module, and
- wherein the processor is configured to determine a common reference direction from at least one of the direction measurements, and
- wherein the processor is configured to determine, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction.
21-38. (canceled)
A non-transitory computer readable medium having a stored computer program embodying instructions, which when executed by a computer, causes the computer to perform one or more steps for calibrating sensor modules, the computer readable medium comprising:
- instructions for obtaining, from each of a plurality of sensor modules, a direction measurement of an acceleration event occurring where the sensor module is located, each direction measurement having been derived from a present orientation of the sensor module and data on the acceleration event in the sensor module;
- instructions for determining a common reference direction from at least one of the direction measurements to determine;
- and
- instructions for determining, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction.
40-41. (canceled)
Dependencies are inferred from the claim text.