Dynamic attitude measurement method and apparatus
US7216055B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 30, 2004 |
| Grant date | May 8, 2007 |
| Priority date | — |
| Expiry date | Dec 30, 2024 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/49
- 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. When velocity or airspeed is available from an external source, an aiding algorithm is employed to provide accurate attitude representations throughout all flight regimes.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.