US 6,925,413 B2Granted

Method and system for detecting a spatial movement state of moving objects

AssigneeRobert Bosch GmbH

InventorsDietmar Krieg, Reinhard Neul, Dorothea Papathanassiou, Roland Mueller-Fiedler, Michael Knauss

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Abstract

A method and a system for detecting the spatial movement state of moving objects, e.g., vehicles. Due to a, for example, non-cartesian arrangement of four rotational rate sensors and/or acceleration sensors, it is also possible to obtain a redundant signal in addition to the desired useful signal indicating the spatial movement state, e.g., the rotational movement and/or acceleration in space; if this redundant signal is large enough in comparison with the rotational rate actually applied, it may be used for detection of the size of the error and the defective sensor. The four sensors are mounted, for example, on a sensor platform forming a three-sided truncated pyramid so that all possible three-way combinations of sensors are mutually linearly independent. The accuracy about the vertical axis is defined by the angle of inclination of the side faces of the truncated pyramid.

Claims27

Dependent claims

A method of detecting a spatial movement state of a moving object, comprising:

detecting at least three components of the spatial movement state by manner of a plurality of sensors in at least three different spatial detection directions;
and
combining the at least three components together to calculate a plurality of resultants;
wherein at least one of the at least three different spatial detection directions is not a cartesian coordinate in order to form a plurality of redundant sensor signals;
wherein two movement components of the at least three components are detected in two mutually perpendicular cartesian detection directions, and a third movement component of the at least three components is detected in a third detection direction that is neither parallel nor perpendicular to a first detection direction and a second detection direction of the at least three different spatial detection directions, all of the at least three different spatial detection directions lying in a plane;
and
wherein the moving object is a vehicle and the two mutually perpendicular cartesian detection directions are each directed for detecting at least one of a rotational movement and a translational movement at least one of (a) about and (b) in a direction of a longitudinal axis of the vehicle, the two mutually perpendicular cartesian detection directions are each directed for detecting at least one of the rotational movement and the translational movement at least one of (a) about and (b) in a direction of a vertical axis of the vehicle, and one of a plausibility signal and an error signal in an event of an error is derived from one calculated projection of a resultant onto an indicated plane for all possible combinations of the at least three components detected.

4 more elements

A system for detecting a spatial movement state of a moving object, comprising:

a sensor platform that is rigidly connected to the moving object and that includes at least one of at least three rotational rate sensors and a plurality of acceleration sensors in a rigid alignment relative to one another, the at least three rotational rate sensors and the plurality of acceleration sensors having different detection directions that are not a cartesian coordinate, a plurality of signals being derivable from the at least three rotational rate sensors and the plurality of acceleration sensors, each signal of the plurality of signals indicating a component of the spatial movement state in a particular detection direction;
and
a computing unit for combining the plurality of signals received thereby to calculate a plurality of resultants of the component of the spatial movement state indicated by one of the plurality of signals.

Dependencies are inferred from the claim text.

Facts

Application: 10/320,278Filed 16 Dec 2002
Priority: DE 101 61 63114 Dec 2001
Published: US 2003/0163282 A128 Aug 2003
Granted: 2 Aug 2005
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

G01C 17/00
Compasses
B60R 21/0132
Including means for detecting collisions, impending collisions or roll-over: responsive to vehicle motion parameters , e.g. to vehicle…
G01C 21/166
By integrating acceleration or speed, i.e. inertial navigation: mechanical, construction or arrangement details of inertial navigation systems
G01C 21/183
By integrating acceleration or speed, i.e. inertial navigation: compensation of inertial measurements, e.g. for temperature effects