Attitude estimation in tiltable body using modified quaternion data representation
US6377906B1 · kind B1 · utility
145Cited by
7References
11Claims
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Key dates
| Filing date | Feb 3, 2000 |
| Grant date | Apr 23, 2002 |
| Priority date | — |
| Expiry date | Feb 3, 2020 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/188
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The attitude of a tiltable body is tracked and controlled on the basis of signals outputted from gyros and tilt sensors. The signals outputted from the gyros are transformed and integrated to produce estimated position information in the form of a modified quaternion in which the yaw component is constrained to a zero value. Modified quaternion information in the same form is also generated from signals outputted from the tilt sensor and is used to detect and correct an error component in the estimated position information. Gyro drift is also corrected based on the output of the tilt sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.