Multi-IMU chip, method for operating multi-IMU chip, multi-IMU, and program

Abstract

The present disclosure relates to a multi-IMU chip, a method of operating a multi-IMU chip, a multi-IMU, and a program capable of measuring acceleration and angular velocity at low cost and high precision by using a plurality of identical multi-IMU chips (IMU units). One IMU unit among a plurality of IMU units including N IMUs mounted on a multi-IMU chip is provided as a master device, and the other IMU units are provided as slave devices. Each IMU unit set as the slave device synthesizes the measurement results of the N IMUs to generate a self-synthesized value, and transmits the self-synthesized value to the IMU unit set as the master device. The IMU set as the main device synthesizes the self-synthesized value with other unit synthesized values, and the other unit synthesized values are synthesized values of measurement results of N IMUs of other IMU of other multi-IMU chips; a self-synthesized value is generated and transmitted as a measurement to a host controller. The method can be applied to multiple IMUs.

Description

Technical Field

[0001] This disclosure relates to a multi-IMU chip, a method for operating a multi-IMU chip, a multi-IMU, and a program, and more specifically to a multi-IMU chip capable of measuring acceleration and angular velocity with low cost and high accuracy, a method for operating a multi-IMU chip, a multi-IMU, and a program. Background Technology

[0002] A technique has been proposed to improve measurement accuracy by integrating measurement results from multiple sensors.

[0003] For example, a technique has been proposed in which multiple inertial force sensors with different axes are arranged to improve measurement accuracy, and even if one sensor fails, the measurement results of the failed sensor can be supplemented by the output results of other sensors to suppress the decrease in measurement accuracy (see Patent Document 1).

[0004] Reference List

[0005] Patent documents

[0006] PTL 1: JP 2022-075075 A Summary of the Invention

[0007] Technical issues

[0008] However, when using PTL 1 technology, in order to improve measurement accuracy, it is necessary to arrange inertial force sensors with different axes. Since inertial force sensors with different axes need to be arranged separately, this may increase costs.

[0009] This disclosure has been made in view of this situation, and specifically relates to the measurement of acceleration and angular velocity at low cost and high accuracy by using multiple identical inertial measurement units (IMUs).

[0010] Solution to the problem

[0011] According to one aspect of this disclosure, a multi-IMU chip and program include: an inertial measurement unit (IMU) unit having N IMUs configured to detect acceleration and angular velocity; a self-combined unit configured to combine the measurement results of the N IMUs and generate a self-combined value; a self-and other combining unit configured to combine the self-combined value with the combined value of other units and generate a self-and other combined value, wherein the combined value of other units is a combined value of the measurement results of the N IMUs of other IMU units different from the IMU unit; and a transmission unit for transmitting the self-combined value or the self-and other combined value as a measurement result to a designated transmission destination.

[0012] According to one aspect of this disclosure, a method for operating a multi-IMU chip is provided, the multi-IMU chip being provided with an inertial measurement unit (IMU) unit, the IMU unit being provided with N IMUs configured to detect acceleration and angular velocity, the method comprising: synthesizing the measurement results of the N IMUs and generating a self-synthesized value; synthesizing the self-synthesized value with other unit synthesized values ​​and generating a self-other synthesized value, wherein the other unit synthesized value is a synthesized value of the measurement results of the N IMUs of other IMU units different from the IMU unit; and transmitting the self-synthesized value or the self-other synthesized value as a measurement result to a designated transmission destination.

[0013] In one aspect of this disclosure, the measurement results of N inertial measurement units (IMUs) configured to detect acceleration and angular velocity are synthesized to generate a self-synthesized value; the self-synthesized value is synthesized with other unit synthesized values ​​to generate a self-other synthesized value, wherein the other unit synthesized value is a synthesized value of the measurement results of N IMUs that are different from the IMU units; and the self-synthesized value or the self-other synthesized value is transmitted as a measurement result to a designated transmission destination.

[0014] The multi-IMU according to the second aspect of this disclosure includes: a plurality of multi-IMU chips, each multi-IMU chip including: an inertial measurement unit (IMU) unit having N IMUs configured to detect acceleration and angular velocity; a self-synthesis unit configured to synthesize the measurement results of the N IMUs and generate a self-synthesized value; a self-other synthesis unit configured to synthesize the self-synthesized value with other unit synthesis values ​​and generate a self-other synthesis value, wherein the other unit synthesis value is a synthesis value of the measurement results of the N IMUs of other IMU units different from the IMU unit; a transmission unit for transmitting the self-synthesized value or the self-other synthesis value as a measurement result to a designated transmission destination; and a host controller configured to set the IMU unit as a master device or a slave device and acquire the measurement results, wherein the transmission unit of the IMU unit set as a master device transmits the self-other synthesis value as a measurement result to the host controller.

[0015] In a second aspect of this disclosure, multiple IMU chips are used to synthesize the measurement results of N inertial measurement units (IMUs) located in an IMU unit configured to detect acceleration and angular velocity to generate a self-synthesized value. The self-synthesized value is then synthesized with other unit synthesized values ​​to generate a self-other synthesized value. The other unit synthesized value is a synthesized value of the measurement results of N IMUs in other IMU units that are different from the IMU unit. The self-synthesized value or the self-other synthesized value is transmitted as a measurement result to a designated transmission destination through a host controller. The IMU unit is set as a master device or a slave device and acquires the measurement results. The self-other synthesized value is transmitted as a measurement result to the host controller through the IMU unit set as the master device. Attached Figure Description

[0016] Figure 1 This is a diagram used to describe multiple IMUs.

[0017] Figure 2 This is a diagram used to describe the structure of an IMU.

[0018] Figure 3 It is used to describe Figure 2 A diagram showing the circuit configuration of the IMU's readout circuit.

[0019] Figure 4 It is used to describe Figure 2 A diagram illustrating the operation of the IMU.

[0020] Figure 5 This is a diagram used to describe the operation of multiple IMUs.

[0021] Figure 6 This is a diagram illustrating a configuration example for describing a first implementation of the multiple IMUs of this disclosure.

[0022] Figure 7 It is used to describe Figure 6 A diagram illustrating an example configuration of the IMU unit.

[0023] Figure 8 It is used to describe by Figure 6 A diagram illustrating the functions implemented by multiple IMUs.

[0024] Figure 9 It is used to describe by Figure 8 A diagram illustrating the functions implemented by the IMU unit.

[0025] Figure 10 This is a diagram illustrating example setups for the master and slave devices of an IMU unit.

[0026] Figure 11 It is used to describe by Figure 8 The flowchart shows the measurement processing performed by multiple IMUs.

[0027] Figure 12 This is a diagram illustrating a first variation of a first embodiment of the multiple IMUs of this disclosure.

[0028] Figure 13 This is a diagram illustrating a second variation of a first embodiment of the multiple IMUs of this disclosure.

[0029] Figure 14 This is a diagram illustrating a first application example of a first implementation of the multi-IMU of this disclosure.

[0030] Figure 15 It is used to describe by Figure 14 The flowchart shows the measurement processing performed by multiple IMUs.

[0031] Figure 16 This is a diagram illustrating a second application example of a first implementation of the multiple IMUs of this disclosure.

[0032] Figure 17 It is used to describe by Figure 16 The flowchart shows the measurement processing performed by multiple IMUs.

[0033] Figure 18 This is a diagram illustrating a configuration example for describing a second implementation of the multiple IMUs of this disclosure.

[0034] Figure 19 This is a diagram illustrating a configuration example for describing a second implementation of the multiple IMUs of this disclosure.

[0035] Figure 20 This is a diagram illustrating a configuration example for describing a third implementation of the multiple IMUs of this disclosure.

[0036] Figure 21 This is a diagram illustrating a configuration example for describing a fourth implementation of the multiple IMUs of this disclosure.

[0037] Figure 22 This is a diagram illustrating a configuration example for describing a fourth implementation of the multiple IMUs of this disclosure.

[0038] Figure 23 This is a diagram used to describe a configuration example of a general-purpose personal computer. Detailed Implementation

[0039] Preferred embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that in this specification and the drawings, components having substantially the same functional configuration are indicated by the same reference numerals, and redundant descriptions thereof will be omitted.

[0040] The following describes implementation methods for this technology. The descriptions will proceed in the following order.

[0041] 1. Overview of this disclosure

[0042] 2. First Implementation Method

[0043] 3. A first variation of the first embodiment

[0044] 4. A second variation of the first embodiment

[0045] 5. First application example of the first implementation method

[0046] 6. Second application example of the first implementation method

[0047] 7. Second Implementation Method

[0048] 8. Third Implementation Method

[0049] 9. Fourth Implementation Method

[0050] 10. Example of software execution

[0051] 1. Overview of this disclosure

[0052] Multiple IMUs

[0053] This disclosure is particularly intended to measure acceleration and angular velocity at low cost and high accuracy by using multiple identical multi-inertial measurement units (IMUs).

[0054] First, multiple IMUs will be described in the overview of this disclosure.

[0055] like Figure 1As shown on the left, a single IMU 1 is configured to include, for example, an accelerometer that detects the acceleration of translational motion in each of the three axes including the XYZ axes; and a gyroscope sensor that detects the angular velocity of rotational motion, and detects both acceleration and angular velocity in each of the three axes.

[0056] For a single IMU 1, although there are IMUs with high accuracy, the higher the accuracy, the larger and more expensive they are, and the size and cost increase as accuracy increases.

[0057] Therefore, as Figure 1 As shown on the right, the high-precision multiple IMU 10 is configured to set up multiple (e.g., N) low-precision, low-cost IMUs 1, such as IMU 1-1 to IMU 1-n, and the synthesis unit 2 synthesizes the acceleration and angular velocity of the measurement results of each IMU 1-1 to IMU 1-n to reduce the noise density and deviation variation to 1 / √n and improve the measurement accuracy.

[0058] Compared to, as in Figure 1 The left side shows the device size and cost when preparing a single high-precision IMU 1. Figure 1 The device size and cost of each of the low-precision IMUs 1-1 to IMU 1-n of the multi-IMU 10 shown on the right can be significantly reduced, and the cost can be reduced.

[0059] In the following text, when there is no need to distinguish between IMU 1-1 to IMU 1-n, IMU 1 will be simply used, and this also applies to other configurations. In this specification described herein, IMU 1 is a small and low-cost IMU with relatively low accuracy, but IMU 1 can be a large and high-cost IMU with high accuracy.

[0060] IMU structure

[0061] Next, we will refer to Figure 2 Describe the configuration of IMU 1.

[0062] like Figure 2 As shown in the right part, each IMU 1 constituting the multiple IMUs 10 includes, starting from the top of the figure, a silicon-made oscillator 11, a substrate 12 that fixes the oscillator 11, and a readout circuit 13 that reads the vibration of the oscillator 11 and outputs the angular velocity. These components are arranged in a manner that... Figure 2 The right side shows the sequential bonding, and as... Figure 2 The part shown on the left is integrally molded using resin molding.

[0063] Circuit configuration of the readout circuit

[0064] Next, we will refer to Figure 3 Describe the circuit configuration of the readout circuit 13 in IMU 1.

[0065] exist Figure 3 The following section describes the configuration for detecting angular velocity in the readout circuitry constituting IMU 1. Since the configuration for detecting acceleration in IMU 1 is the same as the configuration for detecting angular velocity with the wave detection circuit removed, a configuration specifically for detecting the more complex angular velocity will be described.

[0066] The readout circuit 13 includes a drive circuit block 31, a sensing circuit block 32, and a digital output circuit block 33.

[0067] The drive circuit block 31 provides an oscillation signal with a predetermined drive frequency to the vibrator 11 and the sensing circuit block 32 configured by the microelectromechanical system (MEMS), and causes the vibrator 11 to vibrate based on the oscillation signal.

[0068] The sensing circuit block 32 detects the vibration generated by the Coriolis force acting on the vibrator 11 based on the oscillation signal as an analog signal, and outputs the analog signal to the digital output circuit block 33.

[0069] The digital output circuit block 33 converts the vibration provided by the sensing circuit block 32, which is generated by the Coriolis force acting on the vibrator 11, from an analog signal into a digital signal and outputs a digital signal as angular velocity.

[0070] More specifically, the drive circuit block 31 includes an oscillation circuit 51 and an automatic gain adjustment circuit 52.

[0071] The oscillation circuit 51 is composed of RC circuits. It uses the vibration provided by the vibrator 11 as a reference signal to generate an oscillation signal and outputs the oscillation signal to the automatic gain adjustment circuit 52 and the phase shift circuit 72 of the sensing circuit block 32.

[0072] Automatic gain adjustment circuit 52 adjusts the gain of the oscillation signal with drive frequency provided from oscillation circuit 51 and provides it to vibrator 11 to make vibrator 11 vibrate.

[0073] The sensing circuit block 32 includes a charge amplifier circuit 71, a phase shift circuit 72, a synchronous wave detection circuit 73, and an LPF 74.

[0074] The charge amplifier circuit 71 detects the vibration of the vibrator 11 as a vibration signal, amplifies the vibration signal, and provides the amplified vibration signal to the phase shift circuit 72.

[0075] The phase shift circuit 72 adjusts the phase of the vibration signal of the vibrator 11 detected by the charge amplifier circuit 71 based on the oscillation signal provided by the oscillation circuit 51, and outputs the adjusted signal to the synchronous wave detection circuit 73.

[0076] Synchronous wave detection circuit 73 detects the waveform represented by the envelope, which represents the Coriolis force acting on the vibrator 11, from the vibration signal of the vibrator 11 with adjusted phase, and outputs the waveform to LPF 74.

[0077] LPF 74 smooths the waveform representing the Coriolis force acting on the vibrator 11 and outputs the smoothed waveform as information about the angular velocity containing the analog signal to the digital output circuit block 33.

[0078] The digital output circuit block 33 includes an AD conversion circuit 91, a decimation filter 92, and a digital output circuit 93.

[0079] The AD conversion circuit 91 converts information (including analog signals) containing the angular velocity of the Coriolis force acting on the vibrator 11 into a digital signal, and outputs the digital signal to the decimation filter 92.

[0080] The decimation filter 92 averages the angular velocity information containing the digital signal and outputs the averaged information to the digital output circuit 93.

[0081] The digital output circuit 93 outputs the digitized and averaged angular velocity information as a digital signal.

[0082] IMU operation

[0083] Next, we will refer to Figure 4 Describe the operation of IMU 1.

[0084] like Figure 4 As shown in the upper left, the vibrator 11 vibrates based on a reference signal, which includes an oscillation signal generated by the oscillation circuit 51 and having a drive frequency fb with a gain adjusted by the automatic gain adjustment circuit 52.

[0085] At this time, when the Coriolis force acts on the vibrator 11, the amplitude modulation of the Coriolis force is applied. Therefore, for example, in the waveform output by the charge amplifier circuit 71, amplitude modulation according to the Coriolis force occurs relative to the drive frequency fb, as indicated by the waveform fbc.

[0086] Synchronous wave detection circuit 73 detects the amplitude modulation caused by the Coriolis force as the Coriolis force based on the envelope of the waveform fbc (i.e., the waveform of the analog signal representing the angular velocity) and outputs it to LPF 74.

[0087] The waveform of the analog signal extracted in this way as the Coriolis force is converted into a digital signal by the digital output circuit block 33 and output as a digitized angular velocity value.

[0088] For example, such as Figure 5 As shown, the multiple IMUs collect and integrate the above N IMUs 1, and output the angular velocities detected by IMUs 1-1 to 1-n with high precision by synthesizing the angular velocities via the synthesis unit 2.

[0089] The more IMUs 1 you integrate, the higher the accuracy of the detected angular velocity.

[0090] Therefore, this disclosure achieves high-precision multiple IMUs by using multiple multiple IMUs 10 themselves.

[0091] At this point, for example, by setting any one of the multiple IMUs 10 as the master and setting the other multiple IMUs 10 as slaves, the multiple IMU 10 set as a slave transmits the measurement results to the multiple IMU 10 used as the master. Then, the multiple IMU 10 used as the master synthesizes the measurement results from the multiple IMUs 10 used as slaves (including the measurement results from the multiple IMUs 10 used as the master) and outputs the synthesized measurement results.

[0092] In this way, even when multiple IMU 10s are set up, the output angular velocity measurement results can be treated as if they were output from a single IMU 10.

[0093] Furthermore, since multiple IMU 10 units can use the same configuration, the cost of manufacturing multiple IMU 10 units can be reduced.

[0094] Therefore, it is possible to achieve high precision multiple IMUs 10 at low cost.

[0095] 2. First Implementation Method

[0096] This disclosure provides a configuration example of multiple IMUs.

[0097] Next, we will refer to Figure 6 This disclosure describes the external configuration of multiple IMUs.

[0098] The multiple IMUs disclosed herein are implemented by connecting multiple IMU units, each including the aforementioned multiple IMU 10 and IMU 1.

[0099] Therefore, in the following text, the configuration corresponding to the above-mentioned multiple IMU 10 and IMU 1 is referred to as an IMU unit, and is distinguished from the multiple IMUs of this disclosure in terms of terminology.

[0100] In the following description, only the configuration corresponding to the above-described multiple IMU 10 is used as an IMU unit. However, this is for simplicity, and it goes without saying that an IMU unit can be IMU 1. Furthermore, the multiple IMUs of this disclosure are configured with multiple multiple IMU 10s, and therefore can be considered as a multiple IMU system.

[0101] Figure 6 This is a top view of the multiple IMU 101 disclosed herein. The multiple IMU 101 disclosed herein includes a substrate 111, IMU units 121-0 to 121-3, cables 122-0 to 122-4, an integrated substrate 123, and a host controller 124.

[0102] IMU units 121-0 to 121-3 have a configuration corresponding to the aforementioned multiple IMU 10, each IMU unit including eight IMUs 131-1 to 131-8 ( Figure 7 ), and bonded to the four corners of the substrate 111.

[0103] IMU units 121-0 to 121-3 are respectively connected to integrated board 123, and cables 122-0 to 122-3 are connected to terminals 121a-0 to 121a-3.

[0104] The integrated substrate 123 is bonded to the center portion of the substrate 111 and is electrically connected to the cables 122-0 to 122-3 connected to the terminals 123a-0 to 123a-3.

[0105] The integrated substrate 123 is electrically connected to the host controller 124 via a cable 122-4 connected to the terminal 123a-4.

[0106] The integrated substrate 123 integrates and electrically connects the IMU units 121-0 to 121-3 and the host controller 124 via cables 122-0 to 122-4.

[0107] IMU unit configuration example

[0108] Next, we will refer to Figure 7 This describes a configuration example for IMU unit 121. Note that in Figure 7 The IMU unit 121A in the left part shows Figure 6 The configuration of the IMU unit 121 on the rear side, and Figure 7 The IMU unit 121B on the right side is shown Figure 6 The configuration of the IMU unit 121 on the front side.

[0109] The IMU unit 121 has terminals 121a and IMUs 131-1 to 131-4 on the front side of the substrate 130, and IMUs 131-5 to 131-8 and control unit 132 on the back side.

[0110] IMUs 131-1 to 131-8 are components corresponding to IMU 1 mentioned above. That is, Figure 6 and Figure 7 The IMU unit 121 contains a total of eight IMUs 131-1 to 131-8.

[0111] In the example shown, eight IMUs 131 are configured for one IMU unit 121, but the number of IMUs 131 is not limited to this. Other numbers can be used, and the number can be any number, as long as it is one or more.

[0112] The control unit 132 is controlled by the host controller 124, and Figure 6 Any one of the four IMU units 121-0 to 121-3 is set as the master device, and the remaining units are set as slave devices.

[0113] When the control unit 132 is set as a slave device, the control unit 132 synthesizes information about angular velocity and acceleration from the measurement results from IMU 131-1 to IMU 131-8, and outputs the information to the IMU unit 121 set as a master device.

[0114] When the control unit 132 is set as the master device, the control unit 132 synthesizes the information on angular velocity and acceleration from the measurement results from IMUs 131-1 to 131-8, synthesizes the results from IMU unit 121 set as the slave device, and outputs the synthesized results to the host controller 124.

[0115] As used herein, the term "synthesized information" refers to the processing performed by the synthesis unit 2. Therefore, when the IMU unit 121 is configured as a slave device, the IMU unit 121 synthesizes the angular velocity and acceleration information of IMUs 131-1 to IMUs 131-8 and outputs the information to the IMU unit 121 configured as a master device.

[0116] Furthermore, when IMU unit 121 is configured as a master device, IMU unit 121 synthesizes information about angular velocity and acceleration from the measurement results from IMUs 131-1 to 131-8, synthesizes the results from IMU units 121 configured as slave devices, and outputs the synthesized results as measurement results to host controller 124.

[0117] Please refer to later Figure 8 The functions implemented by IMU unit 121 are described in detail.

[0118] In addition, although Figure 6The example shown has four IMU units 121, but the number is not limited in implementing multiple IMUs 101 and can be more than four. As mentioned above, since the measurement accuracy increases with the increase in the number of IMUs 131 corresponding to IMU 1, it is desirable to connect more IMU units 121 when higher accuracy is required.

[0119] However, because the cost increases with the number of IMU units 121, there is a trade-off between the required accuracy and cost. However, because IMU units 121 can be formed using multiple identical batch-produced configurations, manufacturing-related costs can be reduced even if a larger number of IMU units 121 are required.

[0120] As described above, IMU unit 121 is the multiple IMU 10 itself, and as referenced Figure 7 The IMU unit 121 has a configuration in which eight IMUs 131 and a control unit 132 are disposed on a substrate 130. Therefore, it can be said that the IMU unit 121 constitutes a multi-IMU chip.

[0121] Functions implemented by the IMU unit

[0122] Next, we will refer to Figure 8 Functional block diagram, describing the... Figure 6 The functions implemented by the IMU unit 101.

[0123] The multiple IMU 101 functions are implemented through IMU units 121-0 to 121-3 and host controller 124.

[0124] The host controller 124 and IMU units 121-0 to 121-3 are connected to each other via SPI bus 142, which enables Serial Peripheral Interface (SPI) communication.

[0125] IMU units 121-0 to 121-3 are interconnected via three I2C buses 143-0 to 143-2 for communication of internal integrated circuits (I2C) (registered trademark).

[0126] exist Figure 8 In this diagram, I2C buses 143-0 to 143-2 are also shown as I2C0 to I2C2, respectively. I2C buses 143-0 to 143-2 can be other buses with the same function, and can be, for example, an I3C (Improved Inter Integrated Circuits) (registered trademark) bus implemented by extending the I2C bus. Because the I3C bus can perform communication at a higher speed than I2C, using I3C instead of I2C enables processing at a higher speed.

[0127] exist Figure 8 In this configuration, the host controller 124 and IMU units 121-0 to 121-3 are not connected to each other via I2C bus 143, but can be connected to each other via I2C bus 143 in addition to SPI bus 142.

[0128] Furthermore, the communication path implemented by the SPI bus 142 and I2C buses 143-0 to 143-2 can be implemented by other configurations, as long as similar communication can be achieved, and can be connected, for example, by wired communication or other communication methods or by wireless communication.

[0129] The host controller 124 is provided with a master-slave control unit 141. The master-slave control unit 141 communicates with IMU units 121-0 to 121-3 via SPI bus 142, sets any one of IMU units 121-0 to 121-3 as the master device, and sets the other IMU units as slave devices.

[0130] The master-slave control unit 141 obtains the respective IDs of IMU units 121-0 to 121-3 by communicating with them via the SPI bus 142. For example, the IMU unit 121 with the smallest ID value is set as the master device, and the other IMU units are set as slave devices.

[0131] The master-slave control unit 141 sets the IMU unit 121, which is set as the master device, as the destination for the transmission of the measurement results of the IMU unit 121, which is set as the slave device, and sets the host controller 124 as the destination for the transmission of the IMU unit 121, which is set as the master device.

[0132] The IMU unit 121 configured as a slave device transmits its own measurement results to the IMU unit 121 configured as a master device (which is the destination of the transmission) via I2C bus 143-0 to 143-2.

[0133] The IMU unit 121 configured as the master device obtains measurement results from the IMU unit 121 configured as the slave device via I2C bus 143-0 to 143-2, synthesizes all measurement results including the master device's own measurement results, and transmits the synthesized measurement results to the host controller 124, which is the transmission destination, via SPI bus 142.

[0134] Functions implemented by the IMU unit

[0135] Next, we will refer to Figure 9 Describe the functions implemented by IMU unit 121.

[0136] The functions of IMU unit 121 are implemented by IMU 131 and control unit 132. Figure 9 In the diagram, IMU 131 is represented as 1 to N, but in the corresponding... Figure 7 In the case of the configuration of IMU unit 121, N=8. Here, an example is described where the number of IMU 131 is eight, but the number of IMU 131 is not limited, and therefore IMU 131 is represented as "1 to N".

[0137] The control unit 132 includes a master-slave management unit 151, a transmission destination control unit 152, a self-synthesis unit 153, an other unit synthesis unit 154, a transmission unit 155, and an ID storage unit 156.

[0138] The master-slave management unit 151 stores and manages the settings of the master or slave device set by the master-slave control unit 141 of the host controller 124.

[0139] The transmission destination control unit 152 controls the transmission destination of its own measurement results set by the master-slave control unit 141 of the host controller 124. When it is set as the master device, it sets the transmission destination to the host controller 124, and when it is set as the slave device, it sets the transmission destination to the IMU unit 121 that is set as the master device.

[0140] The self-synthesis unit 153 and other unit synthesis units 154 operate according to the settings of the master or slave device. When the master-slave management unit 151 is set as a slave device, the self-synthesis unit 153 synthesizes the measurement results of IMUs 131-1 to IMUs 131-8 set in its IMU unit 121 and generates a self-synthesized value. The transmission unit 155 transmits the self-synthesized value, which is the measurement result, to the IMU unit 121 set as the master device via the I2C bus 143. In this case, the other unit synthesis units 154 do not function.

[0141] Furthermore, when the master-slave management unit 151 is configured as the master device, the self-combined unit 153 synthesizes the measurement results from IMUs 131-1 to IMUs 131-8 in its IMU unit 121 to generate a self-combined value. Additionally, the other-unit synthesis unit 154 obtains measurement results from the IMU unit 121 configured as a slave device via the I2C bus 143 and combines these results with the self-combined value synthesized by the self-combined unit 153 to generate a self-and-other combined value. The transmission unit 155 transmits the self-and-other combined value as a measurement result to the host controller 124, which is the transmission destination, via the SPI bus 142.

[0142] ID storage unit 156 stores IDs used to identify IMU unit 121, and provides the stored IDs when the master / slave control unit 141 of host controller 124 requests IDs from IMU unit 121, whichever IMU unit 121 is the master or slave IMU unit 121, based on the IDs obtained in this way.

[0143] Examples of master and slave devices

[0144] Next, we will refer to Figure 10 This is described as an example of setting up a master and slave device with multiple IMU 101s.

[0145] For example, when multiple IMUs 101 are activated, the master-slave control unit 141 of the host controller 124 communicates with IMU units 121-0 to 121-3 via the SPI bus 142 and obtains their respective IDs.

[0146] The master-slave control unit 141 sets the IMU unit with the smallest ID as the master device based on the acquired IDs of IMU units 121-0 to 121-3. Figure 10 In this case, assume that the IDs of IMU units 121-0 to 121-3 are 00, 01, 10 and 11 respectively.

[0147] In this case, the master-slave control unit 141 sets the IMU unit 121-0 with the smallest ID=00 as the master device and sets the other IMU units 121-1 to 121-3 as slave devices.

[0148] Then, the master-slave control unit 141 will set the transmission destination of the measurement results of the IMU units 121-1 to 121-3 of the slave device to the ID of the IMU unit 121-0 of the master device, and will set the transmission destination of the measurement results of the IMU unit 121-0 of the master device to the host controller 124.

[0149] More specifically, in Figure 10 In the lower left of IMU units 121-0 to 121-3, the setting information of the master or slave device managed by the master-slave management unit 151 is displayed (master device), and the information of the transmission destination set in the transmission destination control unit 152 (transmission to) is displayed in the lower right.

[0150] That is, in the IMU unit 121-0 which is set as the master device, the master or slave device setting information (master device) managed by the master-slave management unit 151 is set to True, indicating that the IMU unit is set as the master device. In addition, the information (transmission to) stored in the transmission destination control unit 152 is set to Host, indicating that the transmission destination is the host controller.

[0151] Furthermore, in IMU units 121-1 to 121-3 that are set as slave devices, the master or slave device setting information (master device) managed by the master-slave management unit 151 is set to false, indicating that the IMU unit is set as a slave device. Additionally, the information (transmission to) stored in the transmission destination control unit 152 is set to ID=00, indicating that the transmission destination is IMU unit 121-0 set as a master device.

[0152] With such settings, such as Figure 10 As shown by the thick solid arrow in the figure, the IMU unit 121-1, which is set as a slave device, outputs its self-synthesized value as its own measurement result to the IMU unit 121-0, which is set as a master device, via the I2C bus (I2C2) 143-2.

[0153] In addition, such as Figure 10 As indicated by the thick dashed arrow, the IMU unit 121-2, configured as a slave device, outputs its self-synthesized value as its own measurement result to the IMU unit 121-0, configured as a master device, via the I2C bus (I2C1) 143-1.

[0154] In addition, such as Figure 10 As indicated by the thick dashed arrow, the IMU unit 121-3 configured as a slave device outputs its self-synthesized value as its own measurement result to the IMU unit 121-0 configured as a master device via the I2C bus (I2C0) 143-0.

[0155] Then, as Figure 10 As shown by the thick dotted arrow, the IMU unit 121-0, configured as the master device, acquires measurement results from IMU units 121-1 to 121-3, configured as slave devices, via I2C buses 143-2 to 143-0. It then combines all measurement results with its own synthesized value to generate a synthesized value. The transmission unit 155 outputs the synthesized value as the measurement result to the host controller 124 via the SPI bus 142.

[0156] With this setup, the host controller 124 can obtain high-precision information on acceleration and angular velocity by setting any one of the IMU units 121-0 to 121-3 as the master device and setting the others as slave devices only when the multiple IMUs 101 are activated, and by obtaining the measurement results of the multiple IMU units 121-0 to 121-3 only from the IMU unit 121 set as the master device.

[0157] Therefore, even if the number of IMU units 121 increases, the host controller 124 only needs to determine the master / slave device first, and only needs to obtain one measurement result from the IMU unit 121 set as the master device, thus reducing the processing load.

[0158] Furthermore, increasing the number of IMU units 121 can improve accuracy.

[0159] Furthermore, since the number of identical IMU units 121 can be increased only through mass production, costs can be reduced, enabling the implementation of high-precision multiple IMUs 101 at low cost.

[0160] Figure 8 Measurement processing via multiple IMUs

[0161] Next, we will refer to Figure 11 The flowchart description is through Figure 8 Measurement processing for the multi-IMU 101. Figure 11 In the flowchart, the left side shows the processing of the host controller, and the right side shows the processing of the IMU unit 121.

[0162] In step S11, the master-slave control unit 141 of the host controller 124 determines whether the multiple IMUs 101 have been activated.

[0163] In step S11, if it is determined that the multiple IMU 101 has been activated, the process proceeds to step S12.

[0164] In step S12, the master-slave control unit 141 communicates with IMU units 121-0 to 121-3 via SPI bus 142 and obtains their respective IDs.

[0165] At this time, in step S31, the ID storage unit 156 in the control unit 132 of the IMU unit 121 provides the stored ID to the master-slave control unit 141 of the host controller 124.

[0166] In step S13, the master-slave control unit 141 sets the IMU unit 121 with the smallest ID as the master device based on the acquired IDs of IMU units 121-0 to 121-3, and sets the other IMU units 121 as slave devices. At this time, the master-slave control unit 141 sets the host controller 124 as the transmission destination of the master device and sets the IMU units 121 that are the master devices as the transmission destinations of the slave devices.

[0167] Since it is sufficient to set any one of IMU units 121-0 to 121-3 as the master device based on the ID, it is possible to set the IMU unit with the smallest ID, the IMU unit with the largest ID, or randomly select any one of the IMU units.

[0168] Through this process, in step S32, the master-slave management unit 151 in the control unit 132 of the IMU unit 121 receives the setting content through the master-slave control unit 141 and stores the setting information of the master device or slave device. The transmission destination control unit 152 receives the setting content through the master-slave control unit 141, sets the transmission destination to the host controller 124 when it is the master device, and sets the transmission destination to the IMU unit 121 when it is the slave device, and stores the setting content.

[0169] Furthermore, in step S11, if it is determined that the multiple IMU 101 is not activated or has been activated, then the processing of steps S12 and S13 is skipped.

[0170] In step S33, the self-synthesis unit 153 acquires information about acceleration and angular velocity as measurement results from IMUs 131-1 to IMUs 131-8, synthesizes the information, and generates a self-synthesized value as its measurement result.

[0171] In step S34, the master-slave management unit 151 determines whether it is set as the master device.

[0172] In step S34, if it is determined that it is not a master device, that is, it is a slave device, then the process proceeds to step S39.

[0173] In step S39, the transmission unit 155 transmits the measurement results, including the self-synthesized values, to the IMU unit 121, which is set as the master device in the transmission destination control unit 152, via the I2C bus 143.

[0174] On the other hand, in step S33, if it is determined to be the master device, the process proceeds to step S35.

[0175] In step S35, the other unit synthesis unit 154 acquires the measurement results transmitted from the other IMU units 121 that are set as slave devices via the I2C bus 143.

[0176] In step S36, the other unit synthesis unit 154 synthesizes the measurement results transmitted from the other IMU unit 121, which is set as the slave device to be acquired, via the I2C bus 143 with its own self-synthesized value as its own measurement result, and generates a self-synthesized value.

[0177] In step S37, the transmission unit 155 transmits the self-synthesized values, including all the synthesis results, as measurement results to the host controller 124 located in the transmission destination control unit 152 via the SPI bus 142.

[0178] In step S14, the host controller 124 acquires the measurement results transmitted from the IMU unit 121, which is set as the master device, via the SPI bus 142.

[0179] In steps S15 and S38, it is determined whether an end-of-process instruction has been executed. If no end-of-process instruction has been executed, the process returns to steps S11 and S33, and the subsequent processing is repeated.

[0180] Then, in steps S15 and S38, if an instruction to end the process is executed, the process ends.

[0181] According to the above processing, the host controller 124 can obtain high-precision information on acceleration and angular velocity by setting any one of the IMU units 121-0 to 121-3 as the master device, setting the other IMU units as slave devices only when the multiple IMUs 101 are activated, and obtaining the measurement results of the multiple IMU units 121-0 to 121-3 only from the IMU unit 121 set as the master device.

[0182] Therefore, even if the number of IMU units 121 increases, the host controller 124 only needs to determine the master / slave device first, and only needs to obtain one measurement result from the IMU unit 121 that is set as the master device, thus reducing the processing load.

[0183] Furthermore, increasing the number of IMU units 121 can improve accuracy.

[0184] Furthermore, since the number of identical IMU units 121 can be increased only through mass production, costs can be reduced, enabling the implementation of high-precision multiple IMUs 101 at low cost.

[0185] 3. A first variation of the first embodiment

[0186] In the example above, the IMU unit 121 configured as a slave device transmits the corresponding measurement results directly to the IMU unit 121 configured as a master device via the I2C bus 143.

[0187] However, the IMU unit 121 configured as a slave device can be configured to transmit to the IMU unit 121 configured as a master device in a sequential relay format.

[0188] That is, for example, such as Figure 12 As shown, consider the case where IMU unit 121-0 is set as the master device and IMU units 121-1 to 121-3 are set as slave devices.

[0189] In this scenario, the self-synthesis unit 153 of IMU unit 121-3 generates a self-synthesized value as its own measurement result. The transmission unit 155 transmits this measurement result to IMU unit 121-2, which is configured as a slave device, via I2C bus (I2C0) 143-0. Figure 12 The thick dotted-dash arrow in the image is shown.

[0190] Furthermore, when other unit synthesis units 154 of IMU unit 121-2 obtain measurement results from IMU unit 121-3, IMU unit 121-2 synthesizes these measurement results with the self-synthesized value (its own measurement value) obtained through self-synthesizing unit 153, and generates a self-synthesized value. For example... Figure 12 As shown by the thick dashed arrow in the figure, the transmission unit 155 transmits the self-synthesized value as a measurement result to the IMU unit 121-1, which is set as a slave device, via the I2C bus (I2C1) 143-1.

[0191] Furthermore, when other synthesis units 154 of IMU unit 121-1 obtain measurement results from IMU unit 121-2, IMU unit 121-1 combines these measurement results with the self-synthesized value (its own measurement result) obtained through self-synthesizing unit 153 to generate a self-synthesized value. For example... Figure 12 As shown by the thick solid arrow in the figure, the transmission unit 155 transmits the synthesized value as a measurement result to the IMU unit 121-0, which is set as the master device, via the I2C bus (I2C2) 143-2.

[0192] Then, the other unit synthesis unit 154 of the IMU unit 121-0, which is set as the master device, obtains the measurement results provided by the IMU unit 121-1, which is set as the slave device, through the I2C bus 143-2, and synthesizes the measurement results with the self-synthesized value (its own measurement results) obtained by the self-synthesizing unit 153 to generate a self-synthesized value. Figure 12As shown by the thick dotted arrow in the diagram, the transmission unit 155 transmits the synthesized value as a measurement result to the host controller 124 via the SPI bus 142.

[0193] At this time, in the IMU unit 121-0, which is set as the master device, the information (master device) managed by the master-slave management unit 151 is set to true, indicating that the IMU unit is set as the master device. In addition, the information (transmission to) stored in the transmission destination control unit 152 is set to host, indicating that the transmission destination is the host controller.

[0194] Furthermore, in the slave IMU unit 121-3, the information managed by the master-slave management unit 151 (master device) is set to false, indicating that the IMU unit is set as a slave device. Additionally, the information (transmission to) stored in the transmission destination control unit 152 is set to indicate that the transmission destination is IMU unit 121-2 with ID=10.

[0195] Furthermore, in the slave IMU unit 121-2, the information managed by the master-slave management unit 151 (master device) is set to false, indicating that the IMU unit is set as a slave device. Additionally, the information (transmission to) stored in the transmission destination control unit 152 is set to ID=01, indicating that the transmission destination is IMU unit 121-1.

[0196] Furthermore, in the IMU unit 121-1, the information managed by the master-slave management unit 151 (master device) is set to false, indicating that the IMU unit is set as a slave device. Additionally, the information (transmission to) stored in the transmission destination control unit 152 is set to ID=00, indicating that the transmission destination is IMU unit 121-0.

[0197] like Figure 10 and Figure 12 As shown, the master-slave control unit 141 can select, according to user request, a method for transmitting measurement results from the IMU unit 121 set as a slave device to the IMU unit 121 set as a master device.

[0198] In addition, Figure 12 In the example shown, the IMU unit 121 of the device is configured to transmit measurement results in a relay format via a different I2C bus 143. However, some IMU units may transmit measurement results in a relay format via the same I2C bus 143, or all IMU units may transmit measurement results via the same I2C bus 143.

[0199] For example, the transmission units 155 of IMU units 121-3 and 121-2 can transmit their respective measurement results to IMU units 121-2 and 121-1 via I2C bus (I2C0) 143-0, and the transmission unit 155 of IMU unit 121-1 can transmit the measurement results to IMU unit 121-0 via I2C bus (I2C2) 143-2.

[0200] In addition, for example, the transmission unit 155 of IMU unit 121-3, IMU unit 121-2 and IMU unit 121-1 can transmit the measurement results to IMU units 121-2 to 121-0 via I2C bus (I2C1) 143-1.

[0201] For example, the master-slave control unit 141 can set which I2C bus 143 is used to set the IMU unit 121 as a slave device to transmit measurement results, according to user requests.

[0202] 4. A second variation of the first embodiment

[0203] In the example above, one of the multiple IMU units 121 is set as the master device. However, multiple IMU units 121 can be set as the master device.

[0204] That is, for example, such as Figure 13 As shown, IMU units 121-0 and 121-2 can be configured as master devices, and IMU units 121-1 and 121-3 can be configured as slave devices corresponding to the master devices respectively.

[0205] In this case, the transmission unit 155 of IMU unit 121-3 generates a self-synthesized value, which is itself. For example... Figure 13 As indicated by the thick dashed arrow, the transmission unit 155 transmits the measurement result to the IMU unit 121-2, which is set as the master device, via the I2C bus (I2C0) 143-0.

[0206] Then, the other unit synthesis unit 154, which is set as the master device IMU unit 121-2, obtains the measurement results provided by the IMU unit 121-3, which is set as its slave device, through the I2C bus 143-0, and synthesizes the measurement results with its own measurement results obtained by synthesizing with the self-synthesis unit 153 to generate a self-synthesized value. Figure 13 As shown by the thick dashed arrow in the figure, the transmission unit 155 transmits the synthesized value to the host controller 124 as the measurement result via the SPI bus 142.

[0207] Furthermore, the self-synthesis unit 153 of IMU unit 121-1 generates self-synthesized values ​​as its own measurement results. For example... Figure 13 As indicated by the thick solid arrow in the image, the transmission unit 155 transmits the self-synthesized value as a measurement result to the IMU unit 121-1, which is set as the master device, via the I2C bus (I2C2) 143-2.

[0208] Then, the other unit synthesis unit 154, which is set as the master device IMU unit 121-0, obtains the measurement results provided by the IMU unit 121-1, which is set as its slave device, through the I2C bus 143-2, and synthesizes the measurement results with its own measurement results obtained by synthesizing with the self-synthesis unit 153 to generate a self-synthesized value. Figure 13 As shown by the thick dashed arrow in the figure, the transmission unit 155 transmits the synthesized value to the host controller 124 via the SPI bus 142 as a measurement result.

[0209] At this time, in the IMU unit 121-0, which is set as the master device, the information (master device) managed by the master-slave management unit 151 is set to true, indicating that the IMU unit is set as the master device. In addition, the information (transmission to) stored in the transmission destination control unit 152 is set to host, indicating that the transmission destination is the host controller.

[0210] Furthermore, in IMU unit 121-1, which is set as a slave device, the information (master device) managed by master-slave management unit 151 is set to false, indicating that the IMU unit is set as a slave device. In addition, the information (transmission to) stored in transmission destination control unit 152 is set to ID=00, indicating that the transmission destination is IMU unit 121-0.

[0211] Furthermore, in the IMU unit 121-2, which is set as the master device, the information (master device) managed by the master-slave management unit 151 is set to true, indicating that the IMU unit is set as the master device. Additionally, the information (transmission to) stored in the transmission destination control unit 152 is set to host, indicating that the transmission destination is the host controller.

[0212] Furthermore, in IMU unit 121-3, which is set as a slave device, the information (master device) managed by master-slave management unit 151 is set to false, indicating that the IMU unit is set as a slave device. Additionally, the information (transmission to) stored in transmission destination control unit 152 is set to indicate that the transmission destination is IMU unit 121-2 with ID=10.

[0213] Through such Figure 13The setup shown improves redundancy by providing measurement results from two IMU units 121-0 and 121-2, which are set as the master device, to the host controller 124, but reduces measurement accuracy.

[0214] However, even in the event of a failure in IMU unit 121, which is configured as a master device, measurement results from another master device can be acquired. This improves the reliability of acquiring measurement results.

[0215] Specifically, the multi-IMU 101 can be used in scenarios such as outer space, smart agriculture, and autonomous driving, where even a brief interruption in measurement results could lead to fatal malfunctions or disrupt human life. In such cases, it is necessary to improve redundancy reliability.

[0216] For example, in the case of using multiple IMU 101s in outer space, once a failure occurs, the multiple IMU 101s cannot be repaired or replaced, and therefore high redundancy reliability is required.

[0217] In cases where multiple IMU 101 is intended for use in extreme situations requiring high redundancy and reliability, multiple master devices can be configured according to the required redundancy and reliability when multiple IMU units 121 are configured.

[0218] Furthermore, depending on the use case of multiple IMU 101 units, the number of master devices can be varied to match the required redundancy and reliability. This improves scalability.

[0219] like Figure 13 The method shown for transmitting measurement results from IMU unit 121 set as a slave device to IMU unit 121 set as a master device can be selected by the master-slave control unit 141 according to user request.

[0220] In such Figure 13 In the setup shown, for example, the transmission unit 155 of IMU units 121-3 and 121-1 can transmit the self-synthesized value as a measurement result to IMU units 121-2 and 121-0 via any one of the I2C buses 143-0 to 143-2.

[0221] For example, the master-slave control unit 141 can select which I2C bus 143 to use to set the IMU unit 121 as a slave device to transmit measurement results, according to user requests.

[0222] 5. First application example of the first implementation method

[0223] In the example above, the host controller 124 sets any one of the multiple IMU units 121 as the master device and sets the other IMU units 121 as slave devices. The measurement results of the IMU units 121 set as slave devices are provided to the master device, and the master device combines the measurement results with its own measurement results and outputs the combined result.

[0224] However, in this case, if the IMU unit 121, which is set as the master device, fails, the measurement results will not be provided to the host controller 124.

[0225] Therefore, if no measurement results are transmitted from the IMU unit 121 set as the master device, the master-slave control unit 141 can determine that a fault has occurred and can continue to output measurement results by setting one of the IMU units 121 set as the master device.

[0226] That is, for example, such as Figure 14 As shown, when IMU unit 121-0 is set as the master device, IMU units 121-1 to 121-3 are set as slave devices, and a fault occurs in IMU unit 121-0, the host controller 124 is placed in a state where it cannot obtain measurement results from IMU unit 121-0.

[0227] In this case, the master-slave control unit 141, as it is in the activated state, sets IMU unit 121-1 with the smallest ID among IMU units 121-1 to 121-3 as the master device and sets IMU units 121-2 and 121-3 as slave devices.

[0228] Using this setting, such as Figure 14 As shown by the thick dashed arrow in the image, the IMU unit 121-2, configured as a slave device, transmits its own measurement results to the IMU unit 121-1, configured as a master device, via the I2C bus (I2C1) 143-1.

[0229] In addition, such as Figure 14 As shown by the thick dashed arrow, the IMU unit 121-3, which is configured as a slave device, transmits its own measurement results to the IMU unit 121-1, which is configured as a master device, via the I2C bus (I2C2) 143-2.

[0230] Then, as Figure 14As shown by the thick dotted arrow in the diagram, the IMU unit 121-1, which is set as the master device, obtains measurement results from the IMU units 121-2 and 121-3, which are set as slave devices, through the I2C buses 143-1 and 143-0. It combines all the measurement results with its own self-synthesized value to generate a self-synthesized value, and outputs the self-synthesized value as a measurement result to the host controller 124 through the SPI bus 142.

[0231] That is, if the measurement results cannot be obtained from the IMU unit 121 that is set as the master device, the master-slave control unit 141 of the host controller 124 sets an alternative master device from the IMU unit 121 that is set as the slave device, and re-sets other IMU units as slave devices.

[0232] Therefore, when a measurement result cannot be obtained from the IMU unit 121 set as the master device, the IMU unit 121 set as the master device is determined to be faulty. Then, one of the IMU units 121 set as slave devices is set as a substitute master device, while the other IMU units 121 are set as slave devices, so that the measurement result can be obtained again.

[0233] Therefore, the 101 can achieve high accuracy and high fault tolerance in a multi-IMU at low cost.

[0234] Measurement processing via multiple IMUs in a first application example of the first embodiment.

[0235] Next, we will refer to Figure 15 The flowchart describes the measurement processing performed by multiple IMUs according to a first application example of the first embodiment.

[0236] Notice, Figure 15 The processing of steps S51 to S53, S56, S57 and S71 to S79 ​​in the flowchart is... Figure 11 The processes of steps S11 to S15 and S31 to S39 in the flowchart are similar, so their descriptions will be omitted.

[0237] That is, when multiple IMUs 101 are activated, one of the multiple IMU units 121 is set as the master device, and the other IMU units 121 are set as slave devices. Then, the IMU unit 121 set as the slave device provides the measurement results to the IMU unit 121 set as the master device, and the IMU unit 121 set as the master device combines the measurement results from the IMU unit 121 set as the slave device with its own self-synthesized value as its own measurement result to generate a self-synthesized value, and transmits the self-synthesized value as the measurement result to the host controller 124.

[0238] In step S54, the master-slave control unit 141 determines whether the IMU unit 121 set as the master device is faulty. More specifically, the master-slave control unit 141 determines whether the IMU unit 121 set as the master device is faulty, for example, based on whether the state is that the measurement result from the IMU unit 121 set as the master device has not been transmitted.

[0239] In step S54, if the state is that the measurement result from the IMU unit 121 set as the master device has not been transmitted, and it is determined that the IMU unit 121 set as the master device is faulty, the process proceeds to step S55.

[0240] In step S55, the master-slave control unit 141 sets the IMU unit 121 with the smallest ID as the master device based on the ID of the IMU unit 121 set as the slave device, and re-sets the other IMU units 121 as slave devices. At this time, the master-slave control unit 141 sets the host controller 124 as the transmission destination of the master device, and sets the IMU units 121 that are the master devices as the transmission destinations of the slave devices.

[0241] At this time, in IMU unit 121, in step S80, the master-slave management unit 151 in the control unit 132 of IMU unit 121 determines whether to reset the master device.

[0242] In step S80, if the master device is reset by the master-slave control unit 141 of the host controller 124 through the processing in step S55, the process returns to step S72.

[0243] In other words, in this case, as during activation, the master-slave management unit 151 in the control unit 132 of the IMU unit 121 receives the setting content through the master-slave control unit 141 and stores the setting information of the master or slave device. The transmission destination control unit 152 receives the setting content through the master-slave control unit 141, sets the transmission destination to the host controller 124 in the case of the master device, and sets the transmission destination to the IMU unit 121, which is the master device, in the case of the slave device, and stores the setting content.

[0244] In step S54, if the IMU unit 121 set as the master device does not have a fault, the processing in step S55 is skipped, and in step S80, it is assumed that the master device has not been reset, and the processing returns to step S73.

[0245] Through the above processing, when it is impossible to obtain measurement results from the IMU unit 121 that is set as the master device, the master-slave control unit 141 of the host controller 124 sets an alternative master device from the IMU unit 121 that is set as the slave device, and re-sets other IMU units as slave devices.

[0246] Therefore, when a measurement result cannot be obtained from the IMU unit 121 set as the master device, the IMU unit 121 set as the master device is determined to be faulty. Then, one of the IMU units 121 set as slave devices is set as the substitute master device, while the other IMU units 121 are set as slave devices, so that the measurement result can be obtained again.

[0247] Therefore, the 101 can achieve high accuracy and high fault tolerance in a multi-IMU at low cost.

[0248] 6. Second application example of the first implementation method

[0249] In the example above, if the IMU unit 121 set as the master device does not provide measurement results, the master-slave control unit 141 determines that a fault has occurred and continues to output measurement results by setting one of the IMU units 121 set as the slave device as the master device.

[0250] However, outputting measurement results does not help in handling situations where a fault in IMU unit 121 prevents the output of appropriate values.

[0251] However, since it is impossible to check whether the measurement results output from IMU unit 121 are appropriate by a single unit, the measurement results of three or more IMU units 121 are usually compared to detect whether there are outlier measurement results, and the IMU unit 121 that outputs measurement results as outliers is considered to be faulty.

[0252] Therefore, the other unit synthesis unit 154, which is configured as the master device in the IMU unit 121, detects the presence of abnormal values ​​by synthesizing the measurement results from the IMU unit 121 configured as the slave device with the self-synthesized value (which is its own measurement result) obtained by the self-synthesizing unit 153, in order to determine whether there is a fault in the IMU unit 121. Then, the other unit synthesis unit 154 registers the IMU unit 121 in which the fault was detected and does not use its measurement results in subsequent synthesis.

[0253] More specifically, for example, such as Figure 16 As shown, consider the following scenario: IMU unit 121-0 is set as the master device, and IMU units 121-1 to 121-3 are set as slave devices.

[0254] In this case, the other unit synthesis unit 154, which is set as the master device IMU unit 121-0, determines whether there are outliers by comparing the measurement results from the IMU units 121-1 to 121-3, which are set as slave devices, with its own measurement results.

[0255] For example, if the measurement result of IMU unit 121-2 is determined to be an abnormal value based on comparison with other measurement results, the other unit synthesis unit 154 considers IMU unit 121-2 to be faulty and registers the corresponding ID as faulty.

[0256] In subsequent processing, the other unit synthesis unit 154 excludes the measurement results from the IMU unit 121-2 corresponding to the ID registered as faulty, and synthesizes the measurement results from the other IMU units 121-1 and 121-3 set as slave devices with the self-synthesized value as their own measurement results to generate a self-synthesized value. The transmission unit 155 outputs this self-synthesized value as the measurement result to the host controller 124.

[0257] Through such processing, such as Figure 16 As indicated by the thick dashed arrow, measurement results provided via I2C bus (I2C1) 143-1 from the IMU unit 121-2, which is considered to be faulty, were excluded.

[0258] That is, such as Figure 16 The measurement results provided from IMU unit 121-3 via I2C bus (I2C0) 143-0 (indicated by the thick dashed arrow), the measurement results provided from IMU unit 121-1 via I2C bus (I2C2) 143-2 (indicated by the thick solid arrow), and the measurement results themselves are combined to generate a self-synthesized value. The generated self value and other synthesized values ​​are transmitted as measurement results to host controller 124.

[0259] Therefore, the synthesized result after excluding the measurement results from the faulty IMU unit 121-2 that have output abnormal values ​​can be output as the measurement result to the host controller 124. Thus, the measurement results from the faulty IMU unit 121 can be omitted, and the reduction in measurement accuracy caused by using the measurement results from the faulty IMU unit 121 can be suppressed.

[0260] This configuration allows for handling individual anomalies within IMU unit 121, thus suppressing the reduction in measurement accuracy due to faults. Therefore, high-precision multi-IMU 101 can be achieved when measuring acceleration and angular velocity at low cost.

[0261] Measurement processing via multiple IMUs: A second application example of the first embodiment

[0262] Next, we will refer to Figure 17 The flowchart describes the measurement processing performed by multiple IMUs according to a second application example of the first embodiment.

[0263] Figure 17 The processing of steps S91 to S97, S111 to S115 and S122 to S124 in the flowchart and Figure 15 The processes in steps S51 to S57, S71 to S75 and S78 to S80 in the flowchart are the same, so their description will be omitted.

[0264] That is, when multiple IMUs 101 are activated, one of the multiple IMU units 121 is set as the master device, and the other IMU units 121 are set as slave devices. Then, the IMU unit 121 set as the slave device provides the measurement results to the IMU unit 121 set as the master device. The IMU unit 121 set as the master device combines the measurement results from the IMU unit 121 set as the slave device with its own synthesized value, which is its own measurement result, to generate a self-synthesized value, and transmits the self-synthesized value as the measurement result to the host controller 124.

[0265] In step S116, the other unit synthesis unit 154 of the control unit 132 of the IMU unit 121, which is set as the master device, synthesizes the measurement results of the IMU unit 121 (not the IMU unit 121 registered as faulty) with its own measurement results obtained by the self-synthesis unit 153 to generate a self-synthesized value. In the first process, since there is no information about the ID of the IMU unit 121 registered as faulty, the measurement results of all IMU units 121 are synthesized with the self-synthesized value, which is its own measurement result.

[0266] In step S117, the other unit synthesis unit 154 compares all the acquired measurement results and searches for outliers.

[0267] In step S118, the other unit synthesis unit 154 determines whether there is a faulty IMU unit 121 based on the presence of outliers.

[0268] In step S118, if a faulty IMU unit 121 is determined to exist, the process proceeds to step S119.

[0269] In step S119, the other unit synthesis unit 154 registers the ID of the IMU unit 121, which is used to identify the measurement result corresponding to the output abnormal value, as a fault.

[0270] In step S120, the other unit synthesis unit 154 excludes the measurement results from the faulty IMU unit 121 and generates the self-synthesized value when synthesizing the measurement results.

[0271] In step S121, the other unit synthesis unit 154 outputs the self-synthesized value as the measurement result to the host controller 124.

[0272] In step S118, if it is determined that there is no faulty IMU unit 121, then the processing of steps S119 and S120 is skipped, and the synthesis result of step S116 is output to the host controller 124 through the processing of step S120.

[0273] Through the above processing, the synthesized value, after excluding the measurement results from the faulty IMU unit 121 that outputs abnormal values, can be output as the measurement result to the host controller 124. Therefore, the measurement results from the faulty IMU unit 121 can be omitted, and the reduction in measurement accuracy caused by using the measurement results from the faulty IMU unit 121 can be suppressed.

[0274] Note that if the other unit synthesis unit 154 of the IMU unit 121, which is set as the master device, determines that it has failed, the other unit synthesis unit 154 can continue processing by excluding its own measurement results and synthesizing other measurement results. In this case, since there is a possibility that the other unit synthesis unit 154 itself has failed, the transmission of the synthesized measurement results can be stopped.

[0275] Therefore, the master-slave control unit 141 of the host controller 124 can identify the occurrence of a fault because the measurement results are not provided from the IMU unit 121 that is set as the master device, and can set up a new alternative master device to eliminate itself.

[0276] Therefore, individual anomalies in IMU unit 121 can be handled, and thus the reduction in measurement accuracy caused by faults can be suppressed, while further improving fault tolerance.

[0277] 7. Second Implementation Method

[0278] In the example above, such as Figure 6 As shown, multiple IMUs 101 are configured by connecting four IMU units 121 to the four corners of the substrate 111 and electrically integrating and connecting the IMU units to the integrated substrate 123 via cables 122.

[0279] However, the four IMU units 121 can have other configurations, as long as they are electrically connected.

[0280] For example, such as Figure 18As shown, IMU units 121-0 to 121-3 can be electrically connected to foldable flexible cables 211 and are integrally formed, housed in housing 221b, formed on substrate 221a, and connected to host controller 124 via cables 222.

[0281] Figure 18 The left side shows the configuration of individual IMU units 121-0 to 121-3 electrically connected to flexible cable 211.

[0282] In addition, Figure 18 On the right side, IMU units 121-0 to 121-3 are compactly integrally formed by folding flexible cable 211 in an electrically connected state to form IMU unit box 221, and IMU unit box 221 and host controller 124 are connected to each other by cable 222 to form multiple IMU 201.

[0283] The IMU unit box 221 is composed of a substrate 221a and a housing 221b. The flexible cable 211, which is electrically connected to the IMU units 121-0 to 121-3, is folded and connected to the substrate 221a.

[0284] With this configuration, four IMU units 121-0 to 121-3 are electrically connected on the substrate 221a in a stacked state. The four IMU units 121-0 to 121-3 stacked on the substrate 221a are housed in the housing 221b, and the substrate 221a and the housing 221b are integrally formed to form the IMU unit box 221.

[0285] More specifically, the flexible cable 211 has the following characteristics: Figure 19 The left side shows an H-shaped structure, and terminals 211a-0 to 211a-3 are provided at each end. In addition, the cable 222 is integrally formed from the H-shaped central strip that constitutes the flexible cable 211, and the terminal 222a at the end of the cable 222 is electrically connected to the host controller 124.

[0286] like Figure 19 As shown in the central part, terminals 211a-0 to 211a-3 are respectively connected to terminals 121a-0 to 121a-3 of IMU units 121-0 to 121-3.

[0287] Then, by folding the flexible cable 211, as... Figure 19 As shown on the right, IMU units 121-0 to 121-3 are stacked sequentially from the left side of the figure and formed as a single unit.

[0288] With this configuration, the four IMU units 121-0 to 121-3 can be compactly molded as a single unit.

[0289] As mentioned above, even in Figure 18 and Figure 19 In the multi-IMU 201, acceleration and angular velocity can be measured with high accuracy at low cost by using multiple identical IMU units 121.

[0290] 8. Third Implementation Method

[0291] In the aforementioned multiple IMU 201, IMU units 121-0 to 121-3 are electrically connected to foldable flexible cables 211 to be compactly integrally formed to form an IMU unit box 221, and the IMU unit box 221 is connected to the host controller 124 via cables 222.

[0292] However, as Figure 18 The IMU unit box 221 shown can be regarded as an IMU unit itself, and can be configured to include multiple IMUs 131.

[0293] Figure 20 An example configuration of multiple IMUs including a large number of IMUs 131 is shown, where the IMU unit box 221 itself is regarded as an IMU unit.

[0294] Figure 20 The multi-IMU 251 includes IMU unit boxes 221-1 to 221-8, cables 222-1 to 222-8, an integrated board 262, an integrated processing unit 263, and a controller 124.

[0295] IMU unit boxes 221-1 to 221-8 are connected to the integrated board 262 via cables 222-1 to 222-8, respectively.

[0296] The integrated substrate 262 is provided with an integrated processing unit 263, which synthesizes the measurement results provided by IMU unit boxes 221-1 to 221-8, and outputs the synthesized results to the host controller 124 through a terminal 262a provided on the integrated substrate 262.

[0297] Since the integrated processing unit 263 has the same function as the other unit synthesis unit 154 in the control unit 132 of the IMU unit 121, for example, the IMU unit 121 can replace the integrated processing unit 263 and may only make the other synthesis unit 154 function.

[0298] Right now, Figure 20 The multi-IMU 251 has eight IMU unit boxes 221, each containing four IMU units 121, and each IMU unit 121 contains eight IMUs 131.

[0299] Therefore, in Figure 20 The multi-IMU 251 contains a total of 256 IMUs 131.

[0300] Figure 20 The processing in the multiple IMU 251 is similar to that described above, but the host controller 124 controls 32 IMU units 121.

[0301] As mentioned above, also in Figure 20 In the multi-IMU 251, cost reduction and improved measurement accuracy can be achieved by using multiple identical IMU units 121.

[0302] 9. Fourth Implementation Method

[0303] In the example above, the host controller 124 controls the master and slave devices of multiple IMU units 121, and obtains measurement results related to acceleration and angular velocity from the IMU unit 121 that is set as the master device.

[0304] However, in addition to the functions of the IMU unit, multiple microcomputers capable of performing signal processing based on the measurement results, or multiple processor-mounted substrates (also known as microcomputer substrates) serving as substrates with processors, can be used to acquire measurement results related to acceleration and angular velocity, and to perform signal processing based on the acquired measurement results with high precision.

[0305] Figure 21 An example configuration of multiple IMUs using a substrate with multiple processors is shown. Figure 21 The upper part is an external perspective view of the multi-IMU 301 using a substrate with multiple processors, and the lower part is a side view of the multi-IMU 301.

[0306] The multi-IMU 301 is configured with processor mounting boards 321-0 to 321-3 and host controller board 322.

[0307] The processor mounting substrates 321-0 to 321-3 are configured to correspond to IMU units 121-0 to 121-3 respectively, and the host controller board 322 is configured to correspond to the host controller 124.

[0308] More specifically, such as Figure 22 As shown, IMUs 331-1 to 331-4, female stacking connector 332a, and DIP switch 333 are located on the front side of the processor mounting substrate 321. Figure 21 (The surface viewed from above is the front) 321A.

[0309] In addition, IMUs 331-5 to 331-8, male stacking connector 332b, and control processor 334 are disposed on the back of processor mounting substrate 321 (on Figure 21 The surface viewed from below is the back side (on 321B).

[0310] exist Figure 22 In the middle, the upper left is an external perspective view of the front 321A of the processor mounting substrate 321, and the lower left is an external perspective view of the back 321B of the processor mounting substrate 321.

[0311] Figure 22 The upper middle part is an external perspective view of the front 321A of the processor mounting substrate 321 with the cover 351 installed. The cover 351 is used to suppress the reduction in accuracy caused by irregular external air by covering the IMUs 331-1 to 331-4.

[0312] also, Figure 22 The lower middle part is an external perspective view of the back side 321B of the processor mounting substrate 321 with the cover 351 installed. The cover 351 is used to suppress the reduction in accuracy caused by irregular external air by covering the IMUs 331-5 to 331-8.

[0313] Figure 22 The upper right part of Figure 351 is the outer cover portion 351A of the cover 351, and the lower right part of Figure 33 is the inner cover portion 351B of the cover 351.

[0314] IMUs 331-1 to 331-8 have configurations corresponding to IMUs 131-1 to 131-8 respectively, and have the same functions. Furthermore, in the front section 321A, IMUs 331-1 to 331-4 are protected by cover 351, and in the back section 321B, IMUs 331-5 to 331-8 are protected by cover 351.

[0315] Female stacking connector 332a and male stacking connector 332b are positioned in corresponding positions. By inserting the protrusion of male stacking connector 332b into the hole of female stacking connector 332a, multiple processor mounting substrates 321 are stacked and electrically connected.

[0316] The DIP switch 333 is a physical switch that operates when switching between predetermined operating modes.

[0317] The control processor 334 has a configuration corresponding to the control unit 132 described above, and has similar functions to the control unit 132. Furthermore, the control processor 334 can perform signal processing on the measurement results through programming. For example, the control processor 334 can calculate position, distance traveled, velocity, etc., based on information about acceleration and angular velocity as measurement results, and output the calculation results along with the measurement results.

[0318] Therefore, in addition to the acceleration and angular velocity measurement results provided by the multiple processor mounting substrates 321, the host controller board 322 can also synthesize and output calculation results based on the respective measurement results.

[0319] As mentioned above, even in Figure 21 and 22 In the multi-IMU 301, by using multiple identical processors mounted on the substrate 321, in addition to acquiring acceleration and angular velocity with high accuracy and low cost, it is also possible to synthesize and output calculation results based on the corresponding measurement results.

[0320] 10. Example of software execution

[0321] The above series of processes can be performed by hardware or software. When these processes are performed by software, the software configuration program is installed from a recording medium into a computer built into dedicated hardware, or into a general-purpose computer that can perform various functions by installing various programs.

[0322] Figure 23 An example configuration of a general-purpose computer is shown. The personal computer has a built-in central processing unit (CPU) 1001. An input / output interface 1005 is connected to the CPU 1001 via a bus 1004. Read-only memory (ROM) 1002 and random access memory (RAM) 1003 are connected to the bus 1004.

[0323] The input / output interface 1005 is connected to: an input unit 1006, configured with input devices such as a keyboard and mouse for user input of operation commands; an output unit 1007, which outputs the processing operation screen and the image of the processing result to a display device; a storage unit 1008, configured with a hard disk drive for storing programs and various data; and a communication unit 1009, configured with a local area network (LAN) adapter for performing communication processing via a network such as the Internet. In addition, a drive 1010 is connected, which reads and writes data to a removable storage medium 1011 such as a disk (including a floppy disk), an optical disk (including a compact read-only memory (CD-ROM) and a digital versatile optical disk (DVD)), a magneto-optical disk (including a mini-disc (MD)), or a semiconductor memory.

[0324] The CPU 1001 performs various processes based on programs stored in the ROM 1002 or programs read from a removable storage medium 1011 such as a disk, optical disk, magneto-optical disk, or semiconductor memory installed in the storage unit 1008 and loaded into the RAM 1003. The RAM 1003 also appropriately stores data required by the CPU 1001 to perform various processes.

[0325] In the computer configured as described above, the CPU 1001 loads the program stored in the storage unit 1008 into, for example, RAM 1003 via the input / output interface 1005 and the bus 1004, and executes the program to perform the series of processes described above.

[0326] The program executed by the computer (CPU 1001) can be recorded on, for example, a removable storage medium 1011 such as a packaging medium and provided. The program can also be provided via wired or wireless transmission media (such as a local area network, the Internet, or digital satellite broadcasting).

[0327] In a computer, a program can be installed in the storage unit 1008 via the input / output interface 1005 by inserting the removable storage medium 1011 into the drive 1010. The program can also be received by the communication unit 1009 and installed in the storage unit 1008 via a wired or wireless transmission medium. In addition to the methods described above, the program can be pre-installed in the ROM 1002 or the storage unit 1008.

[0328] Note that a program executed by a computer may be a program for performing processing sequentially in the order described in this specification, or it may be a program for performing processing in parallel or at necessary time intervals (such as when an execution call is performed).

[0329] Figure 23 CPU 1001 implementation Figure 8 , Figure 18 and Figure 20 The host controller 124 and Figure 21 The functions of the host controller board 322.

[0330] Furthermore, in this specification, a system refers to a collection of multiple components (devices, modules (parts), etc.), regardless of whether all components are housed in the same housing. Therefore, a system refers to multiple devices housed in separate housings and connected via a network, as well as a device in which multiple modules are housed within a single housing.

[0331] The embodiments disclosed herein are not limited to those described above, and various modifications may be made without departing from the spirit of this disclosure.

[0332] For example, this disclosure may employ a cloud computing configuration, in which a single function is shared and processed by multiple devices via a network.

[0333] Furthermore, each step described in the above flowchart can be performed by a single device or can be shared and performed by multiple devices.

[0334] Furthermore, when a single step includes multiple processes, the multiple processes included in that single step can be performed by a single device, or can be shared and performed by multiple devices.

[0335] This disclosure can also be configured as follows.

[0336] <1> A multi-IMU chip, comprising: An inertial measurement unit (IMU) is provided, which has N IMUs configured to detect acceleration and angular velocity; The self-synthesis unit is configured to synthesize the measurement results of N IMUs and generate a self-synthesized value; The self-synthesized unit is configured to synthesize self-synthesized values ​​with synthesized values ​​from other units to generate a self-synthesized value, wherein the synthesized values ​​from other units are the synthesized values ​​of measurements from N IMUs that are different from the IMU unit; and The transmission unit is configured to transmit self-synthesized values ​​or self-other synthesized values ​​as measurement results to a designated transmission destination.

[0337] <2> according to <1> The multi-IMU chip also includes: The master-slave management unit is configured to receive and manage the settings of the master or slave device through the host controller. In a master-slave management unit, when configured as a slave device, the transmission unit transmits its own synthesized value or its own synthesized value as the measurement result to other designated IMU units, and In the master-slave management unit, when set as the master device, the transmission unit transmits the combined self-value as the measurement result to the host controller.

[0338] <3> according to <2> In a multi-IMU chip, the transmission unit transmits at least self-synthesized values ​​or self-synthesized values ​​from other units as measurement results via wired or wireless communication, and

[0339] The transmission unit transmits the synthesized values ​​as measurement results to the host controller via wired or wireless communication.

[0340] <4> according to <3> In a multi-IMU chip, the transmission unit transmits at least self-synthesized values ​​or self-synthesized values ​​from other units as measurement results via an internal inter-integrated circuit (I2C) bus or an improved internal inter-integrated circuit (I3C) bus, and

[0341] The transmission unit transmits the synthesized values ​​as measurement results to the host controller via the Serial Peripheral Interface (SPI) bus.

[0342] <5> according to <2> The multi-IMU chip also includes: The transmission destination setting unit is configured to set other IMU units as the transmission destination for self-synthesized values ​​or self-other-synthesized values, wherein... The transmission unit transmits the self-synthesized value or the self-synthesized value as the measurement result to other IMU units set by the transmission destination setting unit.

[0343] <6> according to <5> In a multi-IMU chip, in the master-slave management unit, when the device is set as a slave, in the transmission destination setting unit, other IMU units corresponding to the transmission destination of the self-synthesized value or the self-synthesized value are set as master devices in the master-slave management unit.

[0344] <7> according to <2> In a multi-IMU chip, the master or slave device set in the master-slave management unit is set when activated by the host controller.

[0345] <8> according to <2> In a multi-IMU chip, the master or slave device is configured in the master-slave management unit by the host controller based on an identifier used to identify the IMU unit or other IMU units.

[0346] <9> according to <2> In a multi-IMU chip, in the master-slave management unit, when set as the master device, the self-synthesized unit compares the self-synthesized value with the synthesized values ​​of other units of other IMU units to detect whether there are abnormal values. If an abnormal value is detected, the self-synthesized value corresponding to the abnormal value is excluded from the synthesized values ​​of other units and then synthesized into a self-synthesized value or a synthesized value of other units to generate the self-synthesized value.

[0347] <10> according to <9> In a multi-IMU chip, when an abnormal value is detected, the self-synthesizing unit stores the identifier used to identify the IMU unit or other IMU units corresponding to the abnormal value as fault information. Then, after excluding the self-synthesized value of the IMU unit corresponding to the identifier registered in the fault information or the other unit synthesized value of other IMU units corresponding to the identifier registered in the fault information, the self-synthesized value is synthesized with the other unit synthesized value to generate the self-synthesized value.

[0348] <11> according to <2> In a multi-IMU chip, in the master-slave management unit, when set as the master device, the self-synthesized unit compares the self-synthesized value with the synthesized values ​​of other units of other IMU units to detect whether there are abnormal values. If the self-synthesized value is an abnormal value, the transmission unit stops transmitting the self-synthesized value as a measurement result to the host controller.

[0349] <12> according to <11> In a multi-IMU chip, if the measurement results are not transmitted to the host controller, the host controller can reset the master or slave device set in the master-slave management unit.

[0350] <13> according to <1> In a multi-IMU chip, the number of N is one or more.

[0351] <14> A method for operating multiple IMU chips, wherein the multiple IMU chips are configured with: An inertial measurement unit (IMU) is configured with N IMUs to detect acceleration and angular velocity. Its operation includes: The measurement results from N IMUs are combined to generate a self-synthesized value; The self-synthesized value is combined with the synthesized values ​​of other units to generate a self-synthesized value, where the synthesized value of other units is the combined value of the measurement results of N IMUs from other IMU units that are different from the IMU unit; and Transmit self-synthesized values ​​or self-other synthesized values ​​as measurement results to the specified transmission destination.

[0352] <15> A program that enables a computer to perform the following function: the computer is configured to control a multi-IMU chip having N inertial measurement units (IMUs) for detecting acceleration and angular velocity. The self-synthesis unit is configured to synthesize the measurement results of N IMUs and generate a self-synthesized value; The self-synthesized unit is configured to synthesize self-synthesized values ​​with synthesized values ​​from other units to generate a self-synthesized value, wherein the synthesized values ​​from other units are the synthesized values ​​of measurements from N IMUs that are different from the IMU unit; and The transmission unit is configured to transmit self-synthesized values ​​or self-other synthesized values ​​as measurement results to a designated transmission destination.

[0353] <16> A multi-IMU includes: Multiple multi-IMU chips, each multi-IMU chip including: An inertial measurement unit (IMU) is configured to detect N IMUs for acceleration and angular velocity. The self-synthesis unit is configured to synthesize the measurements from N IMUs and generate a self-synthesized value. The self-synthesized unit is configured to synthesize self-synthesized values ​​with synthesized values ​​from other units to generate a self-synthesized value, wherein the synthesized values ​​from other units are the synthesized values ​​of measurements from N IMUs that are different from the IMU unit itself. The transmission unit is configured to transmit self-synthesized values ​​or self-other synthesized values ​​as measurement results to a designated transmission destination; and The host controller is configured to set the IMU unit as a master or slave device and acquire measurement results, wherein... The transmission unit of the IMU unit set as the master device transmits the synthesized values ​​as measurement results to the host controller.

[0354] <17> according to <16> In a multi-IMU system, multiple IMU chips are mounted on the same substrate and electrically connected to the host controller.

[0355] <18> according to <16> In a multi-IMU system, multiple IMU chips are electrically connected to the host controller via flexible cables.

[0356] <19> according to <16> In a multi-IMU, the multi-IMU chip consists of multiple processors mounted on a substrate.

[0357] <20> according to <19> In a multi-IMU, multiple processors are mounted on a stacked substrate and are physically and electrically connected to each other via stack connectors. The multiple processors mounted on the substrate are also electrically connected to a host controller board that serves as the host controller.

[0358] Reference number list

[0359] 101 Multiple IMUs, 121, 121-0 to 121-3 IMU units, 124 Host controller, 131, 131-1 to 131-8 IMUs, 132 Control unit, 141 Master-slave control unit, 142 SPI bus, 143, 143-0 to 143-2 I2C bus, 151 Master-slave management unit, 152 Transmission destination control unit, 153 Self-synthesis unit, 154 Other unit synthesis unit, 155 ID storage unit, 201 Multiple IMUs, 221, 221-1 to 221-8 IMU unit boxes, 221a Substrate, 221b Housing, 251 Multiple IMUs, 301 Multiple IMUs, 321, 321-0 to 321-3 Processor mounting substrate, 322 Host controller board, 331, 331-1 to 331-8 IMUs, 334 Control processor.

Claims

1. A multi-IMU chip, comprising: An inertial measurement unit (IMU) is provided, which has N IMUs configured to detect acceleration and angular velocity; The self-synthesis unit is configured to synthesize the measurement results of the N IMUs and generate a self-synthesized value; The self-synthesized unit is configured to synthesize the self-synthesized value with other unit synthesized values ​​to generate a self-synthesized value, wherein the other unit synthesized value is a synthesized value of the measurement results of N IMUs of other IMU units that are different from the IMU unit; as well as The transmission unit is configured to transmit the self-synthesized value or the self-other synthesized value as a measurement result to a designated transmission destination.

2. The multi-IMU chip according to claim 1 further includes: The master-slave management unit is configured to receive and manage the settings of the master or slave device through the host controller. In the master-slave management unit, when configured as the slave device, the transmission unit transmits the self-synthesized value or the self-other synthesized value as the measurement result to another designated IMU unit, and In the master-slave management unit, when set as the master device, the transmission unit transmits the combined self-other value as the measurement result to the host controller.

3. The multi-IMU chip according to claim 2, wherein, The transmission unit transmits at least the self-synthesized value or the self-other synthesized value as the measurement result to other IMU units via wired or wireless communication, and The transmission unit transmits the synthesized value as the measurement result to the host controller via wired or wireless communication.

4. The multi-IMU chip according to claim 3, wherein, The transmission unit transmits at least the self-synthesized value or the self-synthesized value as the measurement result to other IMU units via an inter-integrated circuit (I2C) bus (registered trademark) or an improved inter-integrated circuit (I3C) bus (registered trademark), and The transmission unit transmits the synthesized value as the measurement result to the host controller via a serial peripheral interface (SPI) bus.

5. The multi-IMU chip according to claim 2, further comprising: The transmission destination setting unit is configured to set the other IMU units as the transmission destination for the self-synthesized value or the self-synthesized value, wherein... The transmission unit transmits the self-synthesized value or the self-synthesized value as the measurement result to the other IMU units set by the transmission destination setting unit.

6. The multi-IMU chip according to claim 5, wherein, In the master-slave management unit, when the device is set as the slave device, in the transmission destination setting unit, the other IMU unit corresponding to the transmission destination of the self-synthesized value or the self-other synthesized value is set as the master device in the master-slave management unit.

7. The multi-IMU chip according to claim 2, wherein, The master device or the slave device set in the master-slave management unit is set when activated by the host controller.

8. The multi-IMU chip according to claim 2, wherein, The master device or the slave device configured in the master-slave management unit is configured by the host controller based on an identifier used to identify the IMU unit or the other IMU unit.

9. The multi-IMU chip according to claim 2, wherein, In the master-slave management unit, when set as the master device, the self-synthesized unit compares the self-synthesized value with the synthesized values ​​of other units of the other IMU units to detect whether there is an abnormal value. If the abnormal value is detected, the self-synthesized value corresponding to the abnormal value is excluded from the synthesized values ​​of other units and then synthesized with the self-synthesized value or the synthesized value of other units to generate the self-synthesized value.

10. The multi-IMU chip according to claim 9, wherein, When the abnormal value is detected, the self-synthesized unit stores an identifier for identifying the IMU unit or other IMU units corresponding to the abnormal value as fault information. Then, after excluding the self-synthesized value of the IMU unit corresponding to the identifier registered in the fault information or the other unit synthesized value of the other IMU unit corresponding to the identifier registered in the fault information, the self-synthesized value is synthesized with the other unit synthesized value to generate the self-synthesized value.

11. The multi-IMU chip according to claim 2, wherein, In the master-slave management unit, when set as the master device, the self-synthesized unit compares the self-synthesized value with the synthesized values ​​of other units of the other IMU units to detect whether there is an outlier. If the self-synthesized value is the outlier, the transmission unit stops transmitting the self-synthesized value as the measurement result to the host controller.

12. The multi-IMU chip according to claim 11, wherein, If the measurement results are not transmitted to the host controller, the host controller resets the master device or the slave device set in the master-slave management unit.

13. The multi-IMU chip according to claim 1, wherein, The number of N can be one or more.

14. A method for operating a multi-IMU chip, wherein the multi-IMU chip is configured with: An inertial measurement unit (IMU) is provided, comprising N IMUs configured to detect acceleration and angular velocity, wherein the operation method includes: The measurement results of the N IMUs are combined to generate a self-synthesized value; The self-synthesized value is combined with other unit synthesized values ​​to generate a self-other synthesized value, wherein the other unit synthesized value is a synthesized value of the measurement results of N IMUs from other IMU units that are different from the IMU unit; and The self-synthesized value or the self-synthesized value is transmitted as a measurement result to the designated transmission destination.

15. A program that causes a computer to perform the function of controlling a multi-IMU chip having N inertial measurement units (IMUs) for detecting acceleration and angular velocity. The self-synthesis unit is configured to synthesize the measurement results of N IMUs and generate a self-synthesized value; The self-synthesizing unit is configured to synthesize the self-synthesized value with other unit synthesized values ​​to generate a self-synthesized value, wherein... The combined value of the other units is a combined value of the measurement results of N IMUs from other IMU units that are different from the IMU unit. as well as The transmission unit is configured to transmit the self-synthesized value or the self-other synthesized value as a measurement result to a designated transmission destination.

16. A multi-IMU, comprising: Multiple IMU chips, each of the multiple IMU chips comprising: An inertial measurement unit (IMU) is configured to detect N IMUs for acceleration and angular velocity. The self-synthesis unit is configured to synthesize the measurement results from the N IMUs and generate a self-synthesized value. The self-synthesized unit is configured to synthesize the self-synthesized value with other unit synthesized values ​​to generate a self-synthesized value, wherein the other unit synthesized values ​​are synthesized values ​​of measurement results from N IMUs of other IMU units different from the IMU unit. The transmission unit is configured to transmit the self-synthesized value or the self-other synthesized value as a measurement result to a designated transmission destination; and The host controller is configured to set the IMU unit as a master or slave device and acquire the measurement results, wherein... The transmission unit of the IMU unit, which is configured as the master device, transmits the synthesized value as a measurement result to the host controller.

17. The multiple IMUs according to claim 16, wherein, The multiple IMU chips are mounted on the same substrate and electrically connected to the host controller.

18. The multiple IMUs according to claim 16, wherein, The multiple IMU chips are electrically connected to the host controller via flexible cables.

19. The multiple IMUs according to claim 16, wherein, The multiple IMU chips are multiple processor-mounted substrates.

20. The multiple IMUs according to claim 19, wherein, The plurality of processors are mounted on a substrate stack and are physically and electrically connected to each other via a stack connector. The plurality of processors mounted on the substrate are also electrically connected to a host controller board that serves as the host controller.

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