Dynamic attitude measurement method and apparatus
US6853947B1 · kind B1 · utility
27Cited by
27References
29Claims
0Family size
Assignee
Inventor
Key dates
| Filing date | Oct 13, 2003 |
| Grant date | Feb 8, 2005 |
| Priority date | — |
| Expiry date | Oct 13, 2023 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/188
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method and system senses the attitude of an accelerating object by measuring acceleration with accelerometers in three orthogonal axes and measuring angular rate with angular rate sensors disposed about each such axis to compute attitude of the object accurately relative to a vertical axis. A processor updates a quaternion representation of attitude based upon the angular rate of the object, and a corrective rate signal is determined from level frame acceleration as a reference for a Kalman filter in calculating the attitude of the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.