Method and device for detecting a substantially invariant rotation axis

US7890291B2 · kind B2 · utility

Assignees

• COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES · FR
• UNIVERSITÉ JOSEPH FOURIER · FR
• Institut National Polytechnique de Grenoble · FR

Inventors

• Christelle Godin · Grenoble, FR
• Stéphane Bonnet · Seyssinet-Pariset, FR
• Alain Barraud · Meylan, FR
• Suzanne Lesecq · Meylan, FR

Key dates

• Filing date: Apr 24, 2008
• Grant date: Feb 15, 2011
• Expiry date: Apr 24, 2028

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2562/0219
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

A method for detecting a substantially invariant rotation axis of a motion of a mobile body equipped with at least one inertial or magnetic sensor with three sensitive axes that includes acquiring physical measurements with respect to the three sensitive axes of the sensor, the physical measurements including at least three samples at different times, estimating a substantially invariant rotation axis in the physical measurements space, and identifying the estimated axis as the substantially invariant rotation axis of the motion. In one aspect, the method is applicable for estimating the motion of a mobile body rotating about a substantially invariant axis.