Inertia measurement module and measurement method thereof

Abstract

The invention provides an inertia measurement module and a measurement method thereof, which are suitable for being configured on a target object and comprise a corner cylinder space and a plurality of inertia measurement units. The corner cylinder space comprises two opposite bottom faces and a plurality of side faces. The plurality of inertial measurement units are respectively arranged on a plurality of side surfaces of the corner cylinder space. Each inertia measuring unit is provided with a positioning reference axis perpendicular to the corresponding side face. Wherein the number of the inertia measurement units is the same as that of the side surfaces, and the number of the inertia measurement units is at least five.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial measurement, and in particular to an inertial measurement module and a measurement method thereof. Background Art

[0002] Inertial measurement units (IMUs) are currently widely used in devices such as cars, airplanes, drones, and gimbals. After reading the values ​​of the IMU, they are usually converted into quaternions or Euler angles. Among them, the numerical understanding of Euler angles is more intuitive, but it will produce singularity or gimbal lock problems, causing measurement distortion in some cases. If the quaternion reading method is used, the above problems can be solved. However, the quaternion reading method is more complicated and difficult to understand and calculate, and it takes up too much memory, which is more difficult and time-consuming to design. Summary of the invention

[0003] The present invention provides an inertial measurement module and a measurement method thereof, which can solve the problem of singularity generated by reading Euler angles and improve the angle range of attitude measurement.

[0004] The present invention provides an inertial measurement module suitable for being configured on a target object, comprising: a prism space, comprising two opposite bottom surfaces and a plurality of side surfaces; and a plurality of inertial measurement units, respectively configured on the plurality of side surfaces of the prism space in a one-to-one correspondence, each of the plurality of inertial measurement units having a positioning reference axis perpendicular to the corresponding plurality of side surfaces, wherein the number of the plurality of inertial measurement units is at least five.

[0005] In one embodiment of the present invention, the included angle between two adjacent positioning reference axes is less than 90 degrees.

[0006] In one embodiment of the present invention, the two bottom surfaces are in the shape of regular polygons, and the included angles of two adjacent positioning reference axes are the same.

[0007] In one embodiment of the present invention, the plurality of inertial measurement units are disposed on a reference plane parallel to the two bottom surfaces.

[0008] In one embodiment of the present invention, the plurality of inertial measurement units are gyroscopes or accelerometers.

[0009] In one embodiment of the present invention, it further includes: a bearing platform, which is configured in the angular column space, and the bearing platform includes a plurality of bearing surfaces, and the plurality of bearing surfaces overlap one by one on the plurality of side surfaces, and the number of the plurality of bearing surfaces is the same as the number of the plurality of inertial measurement units.

[0010] The present invention also provides a measurement method, comprising: providing an inertial measurement module, the inertial measurement module comprising a prism space and a plurality of inertial measurement units, the plurality of inertial measurement units being respectively arranged on a plurality of side surfaces of the prism space in a one-to-one correspondence; obtaining initial angle information respectively according to the motion state of a target object measured by each of the inertial measurement units; determining one of the plurality of inertial measurement units as a main inertial measurement unit according to the plurality of initial angle information; modifying the corresponding initial angle information as compensated angle information according to the position of the main inertial measurement unit; reading the main inertial measurement unit and the plurality of inertial measurement units on the left and right adjacent sides to obtain respectively the post-motion angle information of the target object; determining whether to continue to use the one of the plurality of inertial measurement units or to replace another one of the plurality of inertial measurement units as a new main inertial measurement unit according to the plurality of post-motion angle information; and modifying the corresponding post-motion angle information as compensated angle information according to the position of the new main inertial measurement unit.

[0011] In one embodiment of the present invention, the method of determining one of the plurality of inertial measurement units as the main inertial measurement unit according to the plurality of initial angle information further includes: selecting the one having the minimum value of the plurality of initial angle information as the main inertial measurement unit.

[0012] In one embodiment of the present invention, the method of modifying the corresponding initial angle information to compensated angle information according to the position of the main inertial measurement unit also includes: adding compensated angle information to the initial angle information as compensated angle information according to the position of the main inertial measurement unit.

[0013] In one embodiment of the present invention, the method for determining whether to continue using one of the multiple inertial measurement units or replace another one of the multiple inertial measurement units as the new primary inertial measurement unit based on the multiple post-motion angle information also includes: selecting the one of the multiple inertial measurement units having the smallest value among the multiple post-motion angle information as the new primary inertial measurement unit.

[0014] Based on the above, in the inertial measurement module and the measurement method thereof of the present invention, the inertial measurement module includes a prism space and a plurality of inertial measurement units, and the plurality of inertial measurement units are respectively arranged on a plurality of sides of the prism space. The number of the inertial measurement units is at least five. In this way, when performing inertial measurement, the information related to the motion state of the target object can be obtained by calculating the readings of different inertial measurement units, thereby avoiding the singular point problem caused by the target object rotating 90 degrees, thereby increasing the angular range of inertial measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 FIG. 4 is a schematic diagram of an inertial measurement module disposed on a target object according to an embodiment of the present invention.

[0016] Figure 2 FIG. 4 is a schematic diagram of an inertial measurement module according to an embodiment of the present invention.

[0017] Figure 3 FIG. 4 is a flowchart of an inertial measurement method according to an embodiment of the present invention.

[0018] FIG. 4A to FIG. 4G It is a schematic diagram of an inertial measurement method performed by an inertial measurement module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to provide a further understanding of the purpose, structure, features, and functions of the present invention, the following detailed description is given in conjunction with the embodiments.

[0020] Figure 1 FIG. 1 is a schematic diagram of an inertial measurement module configured on a target object according to an embodiment of the present invention. Figure 1 The present invention provides an inertial measurement module 100, which is suitable for being arranged on a target object 10, for inertial measurement of the angular velocity and acceleration of the target object 10 in three-dimensional space, and thereby calculating the posture and motion state of the target object 10. For example, the target object 10 is, for example, an airplane, a car, a drone, a mobile phone, or a camera head, but the present invention is not limited thereto. Figure 1 As shown, the inertial measurement module 100 of this embodiment can be designed to be disposed on one of the planar surfaces of the target object 10 for measurement; in other embodiments, the inertial measurement module 100 can also be disposed in the internal or external space of the target object 10 for measurement.

[0021] Figure 2 This is a schematic diagram of an inertial measurement module according to an embodiment of the present invention. Figure 2 . The inertial measurement module 100 includes a prism space 110 and a plurality of inertial measurement units 120. The prism space 110 includes two relative bottom surfaces A1 and a plurality of side surfaces A2, and the plurality of inertial measurement units 120 are respectively disposed on the plurality of side surfaces A2 of the prism space 110. In different embodiments, the prism space 110 may be, for example, a solid prism object, a hollow prism outer frame, or a virtual space, but the present invention is not limited thereto. For example, in this embodiment, the inertial measurement module 100 further includes a carrying platform 130, which is disposed in the prism space 110. The carrying platform 130 includes a plurality of carrying surfaces A3, which overlap the plurality of side surfaces A2 of the prism space 110. Therefore, the number of the plurality of carrying surfaces A3 is also the same as the number of the plurality of inertial measurement units 120.

[0022] Multiple inertial measurement units 120, such as gyroscopes or accelerometers, are respectively arranged on each side surface A2 of the prism space 110. That is, the number of the multiple inertial measurement units 120 is the same as the number of the multiple side surfaces A2 of the prism space 110. Specifically, each inertial measurement unit 120 has a positioning reference axis B perpendicular to the corresponding multiple side surfaces A2, and these positioning reference axes B are perpendicular to the side surfaces A2. In other words, when performing inertial measurement, the initial readings of the multiple inertial measurement units 120 are all different. In a preferred embodiment, the multiple inertial measurement units 120 are arranged on a reference plane (not shown) parallel to the two bottom surfaces A1, that is, they are located at the same height for measurement. The number of the multiple inertial measurement units 120 is at least five, so the angle C between two adjacent positioning reference axes B is less than 90 degrees. In other words, the shape of the two bottom surfaces A1 of the prism space 110 is a polygon, and the number of side lengths is at least greater than five.

[0023] In the embodiment where the two bottom surfaces A1 are regular polygons, the shapes of the two bottom surfaces A1 of the prism space 110 are regular polygons, and the included angles C of the two adjacent positioning reference axes B are the same. For example, in the present embodiment, the prism space 110 is a regular pentagonal prism, so the shapes of the two bottom surfaces A1 of the prism space 110 are regular pentagons, and the number of the inertial measurement units 120 is five, which are respectively arranged on each side surface A2 of the regular pentagonal prism, and the included angles C of the two adjacent positioning reference axes B are the same. However, in different embodiments, the shapes of the two bottom surfaces A1 of the prism space 110 may not be regular polygons, and the present invention is not limited thereto. In this way, when measuring, the motion state-related information of the target object 10 can be obtained by calculating the readings of different inertial measurement units 120, thereby avoiding the singular point problem caused by the target object 10 rotating 90 degrees in the pitch angle, thereby increasing the angle range of measurement.

[0024] Figure 3 FIG. 4 is a flowchart of an inertial measurement method according to an embodiment of the present invention. FIG. 4A to FIG. 4G This is a schematic diagram of a measurement method performed by an inertial measurement module according to an embodiment of the present invention. Figures 3 to 4G This embodiment provides a measurement method that can be applied to at least Figure 2 The inertial measurement module 100 is shown, so the following description is taken as an example. First, execute step S200 to provide Figure 2 The inertial measurement module 100 includes a prism space 110 and a plurality of inertial measurement units 120 respectively disposed on a plurality of side surfaces A2 of the prism space 110 in a one-to-one correspondence.

[0025] Next, step S201 is executed to measure the target object 10 (such as Figure 1) motion state to obtain initial angle information respectively. For example, in this embodiment, the plurality of inertial measurement units 120 can be defined as a first inertial measurement unit 120_1, a second inertial measurement unit 120_2, a third inertial measurement unit 120_3, a fourth inertial measurement unit 120_4 and a fifth inertial measurement unit 120_5 according to different positions, such as Figure 4A Since the prism space 110 of the present embodiment is a regular pentagon, the rotation angles D of the adjacent inertial measurement units 120 are all 72 degrees. Therefore, when the multiple inertial measurement units 120 perform measurement, the initial readings of the first inertial measurement unit 120_1 to the fifth inertial measurement unit 120_5 are all different, and the angle difference between the readings of the adjacent inertial measurement units 120 is all 72 degrees.

[0026] Next, step S202 is executed to determine one of the multiple inertial measurement units as the main inertial measurement unit 120 according to the multiple initial angle information. Specifically, in this step, the one with the minimum value among the multiple initial angle information is selected as the main inertial measurement unit 120. For example, in this embodiment, when the initial readings of the first inertial measurement unit 120_1 to the fifth inertial measurement unit 120_5 are, for example, 144 degrees, 72 degrees, 0 degrees, -72 degrees, and -144 degrees, the third inertial measurement unit 120_3 with the minimum initial reading is selected as the main inertial measurement unit 120, such as Figure 4B as displayed.

[0027] Next, step S203 is executed to modify the corresponding initial angle information to compensated angle information according to the position of the main inertial measurement unit 120. Specifically, in this step, the compensation angle information is added to the initial angle information according to the position of the main inertial measurement unit 120. For example, in this embodiment, the compensation angle information of the position of the third inertial measurement unit 120_3 is 144 degrees. Figure 4C Therefore, after adding the compensation angle information to the initial angle information, the corrected reading of the third inertial measurement unit 120_3 can be read as 144 degrees. Figure 4D as displayed.

[0028] Next, step S204 is executed. After the target object 10 moves, the main inertial measurement unit 120 and the multiple inertial measurement units 120 on the left and right sides are read to obtain the angle information after the movement, such as Figure 4E For example, in this embodiment, the inertial measurement units 120 adjacent to the third inertial measurement unit 120_3 on the left and right sides are the second inertial measurement unit 120_2 and the fourth inertial measurement unit 120_4, so the readings of the second inertial measurement unit 120_2 to the fourth inertial measurement unit 120_4 are read, as shown in FIG. Figure 4EWhen the target object 10 rotates 90 degrees, for example, the second inertial measurement unit 120_2 to the fourth inertial measurement unit 120_4 will obtain the post-movement readings of 162 degrees, 90 degrees, and 18 degrees, respectively. Figure 4F as displayed.

[0029] Next, step S205 is executed to determine whether to continue using or replace another one of the multiple inertial measurement units 120 as a new main inertial measurement unit 120 according to the multiple post-motion angle information. Specifically, in this step, the one with the smallest value among the multiple post-motion angle information is selected as the new main inertial measurement unit 120. For example, in this embodiment, since the post-motion readings of the second inertial measurement unit 120_2 to the fourth inertial measurement unit 120_4 are 162 degrees, 90 degrees, and 18 degrees, the fourth inertial measurement unit 120_4 with the smallest initial measurement reading is selected as the new main inertial measurement unit 120, such as Figure 4G as displayed.

[0030] Next, step S206 is executed to modify the corresponding post-motion angle information to the new post-compensation angle information according to the position of the new main inertial measurement unit 120. For example, in this embodiment, similar to step S203, the compensation angle information of the position of the fourth inertial measurement unit 120_4 is 216 degrees, so after adding the compensation angle information to the post-motion angle information, the corrected reading value of the fourth inertial measurement unit 120_4 can be read as 234 degrees. In other words, whenever the target object 10 moves, the inertial measurement module 100 can read the value to determine whether to replace the main inertial measurement unit 120, and perform angle compensation correction according to the different positions of the measurement unit 120. In this way, when measuring, the relevant information of the motion state of the target object 10 can be obtained by calculating the readings of different inertial measurement units 120, thereby avoiding the singular point problem caused by the target object 10 rotating 90 degrees in the pitch angle (Pitch), thereby increasing the angle range of measurement.

[0031] In summary, in the inertial measurement module and the measurement method thereof of the present invention, the inertial measurement module includes a prism space and a plurality of inertial measurement units, and the plurality of inertial measurement units are respectively arranged on a plurality of sides of the prism space. The number of the inertial measurement units is at least five. In this way, when measuring, the information related to the motion state of the target object can be obtained by calculating the readings of different inertial measurement units, thereby avoiding the singular point problem caused by the target object rotating 90 degrees, thereby increasing the angle range of measurement.

[0032] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention are all within the scope of patent protection of the present invention.

Claims

1. An inertial measurement module, suitable for being configured on a target object, characterized in that: include: A prism space including two opposite bottom surfaces and a plurality of side surfaces; as well as A plurality of inertial measurement units are respectively arranged on the plurality of side surfaces of the prism space in a one-to-one correspondence, each of the plurality of inertial measurement units having a positioning reference axis perpendicular to the corresponding plurality of side surfaces, wherein the number of the plurality of inertial measurement units is at least five.

2. The inertial measurement module as described in claim 1, wherein the angle between two adjacent positioning reference axes is less than 90 degrees. 3 . The inertial measurement module as claimed in claim 1 , wherein the two bottom surfaces are regular polygons, and the angles between two adjacent positioning reference axes are the same. 4 . The inertial measurement module as claimed in claim 1 , wherein the plurality of inertial measurement units are disposed on a reference plane parallel to the two bottom surfaces. 5 . The inertial measurement module as claimed in claim 1 , wherein the plurality of inertial measurement units are gyroscopes or accelerometers.

6. The inertial measurement module according to claim 1, further comprising: The bearing platform is arranged in the angular column space, and the bearing platform includes a plurality of bearing surfaces, and the plurality of bearing surfaces overlap the plurality of side surfaces one by one, and the number of the plurality of bearing surfaces is the same as the number of the plurality of inertial measurement units.

7. An inertial measurement method, comprising: An inertial measurement module is provided, wherein the inertial measurement module comprises a prism space and a plurality of inertial measurement units, wherein the plurality of inertial measurement units are respectively arranged on a plurality of side surfaces of the prism space in a one-to-one correspondence; Obtaining initial angle information respectively according to the motion state of the target object measured by each of the inertial measurement units; Determining one of the plurality of inertial measurement units as a main inertial measurement unit according to the plurality of initial angle information; Modifying the corresponding initial angle information according to the position of the main inertial measurement unit as compensated angle information; Reading the main inertial measurement unit and the plurality of inertial measurement units on the left and right adjacent sides to respectively obtain the post-motion angle information of the target object; Determining whether to continue using one of the plurality of inertial measurement units or to replace another one of the plurality of inertial measurement units as the new main inertial measurement unit according to the plurality of post-motion angle information; and The corresponding post-movement angle information is modified according to the new position of the main inertial measurement unit as the compensated angle information.

8. The inertial measurement method of claim 7, wherein the method of determining one of the plurality of inertial measurement units as the main inertial measurement unit according to the plurality of initial angle information further comprises: The inertial measurement unit having the smallest value among the plurality of initial angle information is selected as the primary inertial measurement unit.

9. The inertial measurement method of claim 7, wherein the method of modifying the initial angle information corresponding to the position of the main inertial measurement unit to compensated angle information further comprises: The compensated angle information is added to the initial angle information according to the position of the main inertial measurement unit to serve as the compensated angle information.

10. The inertial measurement method of claim 7, wherein the method of determining whether to continue using the one of the plurality of inertial measurement units or to replace another one of the plurality of inertial measurement units as the new main inertial measurement unit according to the plurality of post-motion angle information further comprises: The inertial measurement unit having the smallest value among the plurality of post-movement angle information is selected as the new primary inertial measurement unit.

Images