Data processing: measuring – calibrating – or testing – Measurement system – Orientation or position
Reexamination Certificate
2007-05-08
2007-05-08
Nghiem, Michael (Department: 2863)
Data processing: measuring, calibrating, or testing
Measurement system
Orientation or position
C702S150000
Reexamination Certificate
active
11026256
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.
REFERENCES:
patent: 4038876 (1977-08-01), Horton
patent: 4134681 (1979-01-01), Elmer
patent: 4318300 (1982-03-01), Maughmer
patent: 4399692 (1983-08-01), Hulsing, II et al.
patent: 4454756 (1984-06-01), Sharp et al.
patent: 4827624 (1989-05-01), Franklin et al.
patent: 4914598 (1990-04-01), Krogmann et al.
patent: 5031330 (1991-07-01), Stuart
patent: 5148604 (1992-09-01), Bantien
patent: 5172323 (1992-12-01), Schmidt
patent: 5210954 (1993-05-01), Schafler
patent: 5237753 (1993-08-01), Carlson et al.
patent: 5241850 (1993-09-01), Kawate
patent: 5287628 (1994-02-01), Yamaguchi et al.
patent: 5335190 (1994-08-01), Nagle et al.
patent: 5351539 (1994-10-01), Ziegenbein et al.
patent: 5381604 (1995-01-01), Heidel et al.
patent: 5392112 (1995-02-01), Nakamura
patent: 5400033 (1995-03-01), Hablani
patent: 5615132 (1997-03-01), Horton et al.
patent: 5819206 (1998-10-01), Horton et al.
patent: 6061611 (2000-05-01), Whitmore
patent: 6088653 (2000-07-01), Sheikh et al.
patent: 6176837 (2001-01-01), Foxlin
patent: 6205401 (2001-03-01), Pickhard et al.
patent: 6246960 (2001-06-01), Lin
patent: 6292759 (2001-09-01), Schiffmann
patent: 6389333 (2002-05-01), Hansman et al.
patent: 6421622 (2002-07-01), Horton et al.
patent: 6480152 (2002-11-01), Lin et al.
patent: 6647352 (2003-11-01), Horton
Chung, D. et al., “Strapdown INS Error Model for Multiposition Alignment,” IEEE Transactions on Aerospace and Electronic Systems; vol. 32, No. 4; Oct. 1996; pp. 1362-1366.
Randle, J. et al.; “Low Cost Navigation Using Micro-Machined Technology,” IEEE Conference on Intelligent Transportation System; 1997, p. 1064-1067.
Creamer, G. et al.; “Attitude Determination and Control of Clementine During Lunar Mapping,” Journal of Guidance Control and Dynamics, vol. 19, No. 3; May-Jun. 1996; pp. 505-511.
Mehra, R. et al.; “Adapting Kalman Filtering, Failure Detection and Identification for Spacecraft Attitude Estimation,” Proceedings of 4thIEEE Conference on Control Applications; 1995, pp. 176-181.
ADXL50/ADXL05 Evaluation Modules, Analog Devices, Inc., 1996, 2 pages.
Aramanovitch, L. et al; “Quaternion Non-Linear Filter for Estimation of Rotating Body Attitude,” Mathematical Methods in the Applied Sciences, vol. 18, No. 15; Dec. 1995, pp. 1239-1255.
Bar-Itzhack, et al.; “Recursive Attitude Determination From Vector Observations: Direction Cosine Matrix Identification,” Journal of Guidance Control and Dynamics, vol. 7, No. 1; Jan.-Feb. 1984, p. 51-56.
Berman, Z., “On Range and Attitude Estimation,” IEEE Position Location and Navigation Symposium; Apr. 11-15, 1994, pp. 344-347.
Guo-Shing-Huang, et al.; “Application of Nonlinear Kalman Filter Approach in Dynamic GPS-Based Attitude Determination,” Proceedings of 40thMidwest Symposium on Circuits and Systems, vol. 2; Aug. 3-6, 1997, pp. 1440-1444.
Gusinsky, V. et al; “New Procedure for Deriving Optimized Strapdown Attitude Algorithms,” Journal of Guidance Control And Dynamics, vol. 20, No. 4; Jul.-Aug. 1997, pp. 673-680.
Jiang, Y. et al.; “Error Analysis of Quaternion Transformations,” IEEE Transactions on Aerospace and Electronic Systems; vol. 27, No. 4; Jul. 1991, pp. 634-639.
Markley, F., et al. “Deterministic EKFLike Estimator for Spacecraft Attitude Estimation,” Proceedings of 1994 American Control Conference, vol. 1; pp. 247-251.
McKern, R. et al.; “Strapdown Attitude Algorithms From a Geometric Viewpoint,” Journal of Guidance Control and Dynamics, vol. 4, No. 6; Nov.-Dec. 1981, pp. 657-661.
Moskowitz, L.; “Part I: Measurement of Applied Acceleration-Accelerometer Calibration,” Instruments & Control Systems; Feb. 1961, pp. 257-260.
Reynolds, R.; “Quaternion Parameterization and a Simple Algorithm for Global Attitude Estimation,” Journal of Guidance Control and Dynamics, vol. 21, No. 4; Jul.-Aug. 1998, pp. 669-671.
Savage, P., “Strapdown Inertial Navigation Integration Algorithm Design Part 1: Attitude Algorithms,” Journal of Guidance Control and Dynamics, vol. 21, No. 1; Jan.-Feb. 1998; pp. 19-28.
Schultz, R. et al.; “Airborne IRP Alignment Using Acceleration and Angular Rate Matching,” 14thJoint Automatic Control Conference of the American Control Council; Jun. 1972, pp. 427-436 (1-7).
Vathsal, S. et al.; “Spacecraft Attitude Determination Using a Second-Order Nonlinear Filter,” Journal of Guidance Control and Dynamics, vol. 10, No. 6; Nov.-Dec. 1987, pp. 559-566.
Weiss, H.; “Quaternion Based Rate/Attitude Tracking System With Application to Gimbal Attitude Control,” Proceedings IEEE Conference on Control and Applications; 1989, pp. 488-494.
Wu, A. et al.; “Stellar Inertial Attitude Determination for LEO Spacecraft,” Proceedings of 35thIEEE Conference on Decision and Control; vol. 3, No. 11-13; Dec. 1996, pp. 3236-3244.
Horton Michael A.
Rios Jose
Crossbow Technology, Inc.
Fenwick & West LLP
Nghiem Michael
Washburn Douglas N
LandOfFree
Dynamic attitude measurement method and apparatus does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Dynamic attitude measurement method and apparatus, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Dynamic attitude measurement method and apparatus will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-3747482