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Initialize inertial sensors with soft constraints and penalty functions

An inertial sensor, initialization technology, used in the use of inertial forces for acceleration measurements, instruments, the use of optical devices, etc.

Active Publication Date: 2019-06-11
BLAST MOTION
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] A second existing method of inertial sensor initialization is to supplement inertial sensor data with other sensor data feeds
Either method has limitations and disadvantages for specific applications

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  • Initialize inertial sensors with soft constraints and penalty functions
  • Initialize inertial sensors with soft constraints and penalty functions
  • Initialize inertial sensors with soft constraints and penalty functions

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Embodiment Construction

[0036] Now, a method for determining an initial orientation and an estimate of an initial velocity of an inertial sensor will be described. In the following exemplary descriptions, numerous specific details are set forth in order to provide a more thorough understanding of the concepts described throughout this specification. It will be apparent, however, to one of ordinary skill that embodiments of the concepts described herein may be practiced without incorporating all aspects of the specific details described herein. In other instances, specific aspects that are known to those of ordinary skill in the art have not been described in detail so as not to obscure the present disclosure. The reader should note that while examples of innovative concepts are set forth throughout this disclosure, the invention is defined by the claims, along with their full scope of any equivalents.

[0037] figure 1 A flow diagram of one embodiment of a method of determining an initial orientati...

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Abstract

A method for inertial sensors that estimates starting orientation and velocity without requiring the sensor to start at rest or at a known location or orientation. Initialization uses motion patterns encoded as a set of soft constraints that are expected to hold approximately during the initialization period. A penalty metric is defined to measure the deviation of the computed motion trajectory from the soft constraints. The differential equations of motion for the inertial sensors are solved with initial conditions as variables; the initial conditions that minimize the penalty metric are used as estimates for the actual initial conditions of the sensors. Soft constraints and penalty metrics for a particular application are selected based on the type of motion pattern expected for that application. Illustrative cases include applications with relatively small motion during initialization and applications with approximately periodic motion during initialization.

Description

technical field [0001] One or more embodiments relate to the field of motion capture and its associated initialization of sensors that may be coupled to a user or a piece of equipment. More specifically but without limitation, one or more embodiments allow initialization of inertial sensors using soft constraints and penalty functions in order to estimate initial conditions of the inertial sensor device. This initialization typically occurs at some point in time based on data captured from the device during an initialization interval and based on a set of soft constraints on the motion of the device during the interval. Background technique [0002] Inertial sensors are commonly used for motion tracking and navigation. They offer the advantage that they can be used to estimate the motion of objects without external input or reference. These systems typically include accelerometers to measure linear force and gyroscopes to measure rotational motion. [0003] Such systems h...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/14
CPCG01C21/16G01P15/02G01P21/00G01C25/005
Inventor 约翰·戈里巴斯卡·博斯皮尤什·吉普塔
Owner BLAST MOTION