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

Abstract

The present disclosure pertains to a multi-IMU chip, a method for operating a multi-IMU chip, a multi-IMU, and a program that make it possible to measure acceleration and angular velocity at low cost and with high accuracy by using a plurality of the same multi-IMU chips (IMU units). One of the plurality of IMU units including N IMUs mounted on one multi-IMU chip is set as a master, and the others are set as slaves. Each of the IMU units set as the slaves synthesizes the measurement results of the N IMUs to generate a self-synthesized value, and transmits the self-synthesized value to the IMU unit serving as the master. The IMU unit set as the master synthesizes the self-synthesized value with another unit synthesized value that is a synthesized value of the measurement results of the N IMUs of the other IMU units of the other multi-IMU chip, generates a self-other synthesized value, and transmits the self-other synthesized value to a host controller as a measurement result. The present invention can be applied to a multi-IMU.

Description

Multi-IMU chip, operation method of multi-IMU chip, multi-IMU, and program

[0001] The present disclosure relates to a multi-IMU chip, a method for operating the multi-IMU chip, a multi-IMU, and a program, and in particular to a multi-IMU chip that enables acceleration and angular velocity to be measured at low cost and with high accuracy, a method for operating the multi-IMU chip, a multi-IMU, and a program.

[0002] Techniques have been proposed to improve measurement accuracy by integrating the measurement results of multiple sensors.

[0003] For example, a technology has been proposed in which multiple inertial force sensors with different axial directions are arranged to improve measurement accuracy, and even if one sensor does not function, the measurement results of the non-functioning sensor are complemented by the output results of the other sensors, thereby preventing a decrease in measurement accuracy (see Patent Document 1).

[0004] Japanese Patent Application Laid-Open No. 2022-075075

[0005] However, with the technology of Patent Document 1, in order to improve measurement accuracy, it is necessary to arrange inertial force sensors with different axial directions, and since inertial force sensors with different axial directions are arranged individually, there is a risk that costs will increase.

[0006] The present disclosure has been made in consideration of such circumstances, and in particular, by using multiple identical multi-IMUs (Inertial Measurement Units), acceleration and angular velocity can be measured at low cost and with high accuracy.

[0007] A multi-IMU chip and a program according to a first aspect of the present disclosure are a multi-IMU chip and a program including: an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity; a self-synthesis unit that synthesizes the measurement results of the N IMUs to generate a self-synthesis value; a self-other synthesis unit that synthesizes the self-synthesis value with an other-unit synthetic value that is a synthetic value of the measurement results of the N IMUs of other IMU units different from the IMU unit to generate a self-other synthetic value; and a transmission unit that transmits the self-synthesis value or the self-other synthetic value to a destination specified as the measurement result.

[0008] A method for operating a multi-IMU chip according to a first aspect of the present disclosure is a method for operating a multi-IMU chip having an IMU unit provided with N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity, the method including the steps of: combining the measurement results of the N IMUs to generate a self-composite value; combining the self-composite value with an other-unit composite value that is a composite value of the measurement results of the N IMUs of another IMU unit different from the IMU unit to generate a self-other composite value; and transmitting the self-composite value or the self-other composite value to a destination specified as the measurement result.

[0009] In one aspect of the present disclosure, an IMU unit is provided with N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity, and the measurement results of the N IMUs are combined to generate a self-composite value, and the self-composite value is combined with an other-unit composite value, which is a composite value of the measurement results of the N IMUs of other IMU units different from the IMU unit, to generate a self-other composite value, and the self-composite value or the self-other composite value is transmitted to a destination specified as the measurement result.

[0010] A multi-IMU according to a second aspect of the present disclosure comprises a plurality of multi-IMU chips including an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity, a self-synthesis unit that synthesizes the measurement results of the N IMUs to generate a self-synthesis value, a self-other synthesis unit that synthesizes the self-synthesis value with an other-unit synthetic value that is a synthetic value of the measurement results of the N IMUs of other IMU units different from the IMU unit to generate a self-other synthetic value, and a transmitter that transmits the self-synthesis value or the self-other synthetic value to a destination specified as the measurement result, and a host controller that sets the IMU units as master or slave and acquires the measurement results, and the transmitter of the IMU unit set as the master transmits the self-other synthetic value to the host controller as the measurement result.

[0011] In a second aspect of the present disclosure, an IMU unit is provided with N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity using multiple multi-IMU chips, and the measurement results of the N IMUs are combined to generate a self-composite value, and the self-composite value is combined with an other-unit composite value, which is a composite value of the measurement results of the N IMUs of other IMU units different from the IMU unit, to generate a self-other composite value, and the self-composite value or the self-other composite value is sent to a destination specified as the measurement result, and a host controller sets the IMU unit as a master or a slave, acquires the measurement result, and the IMU unit set as the master sends the self-other composite value to the host controller as the measurement result.

[0012] FIG. 1 is a diagram illustrating a multi-IMU. FIG. 1 is a diagram illustrating the structure of an IMU. FIG. 2 is a diagram illustrating the circuit configuration of a readout circuit of the IMU of FIG. 2. FIG. 3 is a diagram illustrating the operation of the IMU of FIG. 2. FIG. 4 is a diagram illustrating the operation of the multi-IMU. FIG. 5 is a diagram illustrating a configuration example of a first embodiment of a multi-IMU of the present disclosure. FIG. 6 is a diagram illustrating a configuration example of the IMU unit of FIG. 6. FIG. 7 is a diagram illustrating functions implemented by the multi-IMU of FIG. 8. FIG. 8 is a diagram illustrating a setting example of master and slave IMU units. FIG. 9 is a flowchart illustrating measurement processing by the multi-IMU of FIG. 8. FIG. 10 is a diagram illustrating a first variation of the first embodiment of the multi-IMU of the present disclosure. FIG. 11 is a diagram illustrating a second variation of the first embodiment of the multi-IMU of the present disclosure. FIG. 12 is a flowchart illustrating measurement processing by the multi-IMU of FIG. 14. FIG. 13 is a diagram illustrating a second application example of the first embodiment of the multi-IMU of the present disclosure. FIG. 14 is a flowchart illustrating measurement processing by the multi-IMU of FIG. 16. FIG. 15 is a diagram illustrating a configuration example of a second embodiment of the multi-IMU of the present disclosure. FIG. 1 is a diagram illustrating a configuration example of a second embodiment of a multi-IMU of the present disclosure. FIG. 2 is a diagram illustrating a configuration example of a third embodiment of a multi-IMU of the present disclosure. FIG. 3 is a diagram illustrating a configuration example of a fourth embodiment of a multi-IMU of the present disclosure. FIG. 4 is a diagram illustrating a configuration example of a fourth embodiment of a multi-IMU of the present disclosure. FIG. 5 is a diagram illustrating a configuration example of a general-purpose personal computer.

[0013] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0014] Hereinafter, embodiments for implementing the present technology will be described. The description will be made in the following order: 1. Overview of the present disclosure 2. First embodiment 3. First variation of the first embodiment 4. Second variation of the first embodiment 5. First application example of the first embodiment 6. Second application example of the first embodiment 7. Second embodiment 8. Third embodiment 9. Fourth embodiment 10. Example of execution by software

[0015] <<1. Overview of the Present Disclosure>> <Regarding Multi-IMU> The present disclosure relates in particular to measuring acceleration and angular velocity at low cost and with high accuracy by using multiple identical multi-IMUs (Inertial Measurement Units).

[0016] First, in explaining the outline of the present disclosure, a multi-IMU will be explained.

[0017] As shown in the left part of Figure 1, the single IMU 1 is configured to include, for example, an acceleration sensor that detects acceleration, which is translational movement, in each of the three axial directions consisting of the X, Y, and Z axes, and a gyro sensor that detects angular velocity, which is rotational movement, and detects acceleration and angular velocity in each of the three axial directions.

[0018] There are high-precision standalone IMUs 1 available, but generally the more accurate they are, the larger and more expensive they are. Increasing the precision of an IMU increases both size and cost.

[0019] Therefore, as shown in the right part of Figure 1, a multi-IMU 10 is configured by providing multiple (for example, n) low-precision but inexpensive IMUs 1, such as IMUs 1-1 to 1-n, and by having a synthesis unit 2 synthesize the acceleration and angular velocity, which are the measurement results of each of IMUs 1-1 to 1-n, thereby reducing the noise density and bias fluctuation to 1 / √n, thereby improving measurement precision and achieving high accuracy.

[0020] The device size and cost of the individual low-precision, inexpensive IMUs 1-1 to 1-n that make up the multi-IMU 10 shown in the right part of Figure 1 can be made sufficiently smaller than the device size and cost required when a single high-precision IMU 1 such as the one shown in the left part of Figure 1 is provided, and it is also possible to achieve cost reduction.

[0021] In the following description, when there is no need to distinguish between IMUs 1-1 to 1-n, they will simply be referred to as IMU 1, and the same applies to other configurations. Furthermore, in this specification, IMU 1 will be referred to as a small, inexpensive IMU with relatively low accuracy, but it may also be a large, expensive, high-accuracy IMU.

[0022] <Structure of IMU> Next, the structure of the IMU 1 will be described with reference to FIG.

[0023] As shown in the right part of Figure 2, each of the IMUs 1 that make up the multi-IMU 10 is composed of, from the top in the figure, a vibrator 11 made of silicon, a base 12 that fixes the vibrator 11, and a readout circuit 13 that reads the vibration of the vibrator 11 and outputs the angular velocity, and these are pasted (bonded) together in the order shown in the right part of Figure 2, and then integrated by a resin mold as shown in the left part of Figure 2.

[0024] <Circuit Configuration of Readout Circuit> Next, the circuit configuration of the readout circuit 13 in the IMU 1 will be described with reference to FIG.

[0025] 3 will be used to explain the configuration for detecting angular velocity within the readout circuit that constitutes the IMU 1. The configuration for detecting acceleration in the IMU 1 is a configuration in which the detection circuit is removed from the configuration for detecting angular velocity, and therefore, the more complex configuration for detecting angular velocity will be specifically explained.

[0026] The read circuit 13 is composed of a drive circuit block 31 , a sense circuit block 32 , and a digital output circuit block 33 .

[0027] The drive circuit block 31 supplies an oscillation signal having a predetermined drive frequency to the vibrator 11, which is made up of MEMS (Micro Electro Mechanical Systems), and the sense circuit block 32, and vibrates the vibrator 11 based on the oscillation signal.

[0028] The sense circuit block 32 detects, as an analog signal, vibrations that occur in response to the Coriolis force acting on the vibrator 11 that vibrates based on the oscillation signal, and outputs the analog signal to the digital output circuit block 33 .

[0029] The digital output circuit block 33 converts the vibration generated in response to the Coriolis force acting on the vibrator 11, which is supplied from the sense circuit block 32, from an analog signal into a digital signal, and outputs it as an angular velocity.

[0030] More specifically, the drive circuit block 31 includes an oscillation circuit 51 and an automatic gain control circuit 52 .

[0031] The oscillation circuit 51 is configured with an RC circuit, and generates an oscillation signal using the vibration supplied from the vibrator 11 as a reference signal, and outputs it to the automatic gain control circuit 52 and the phase shift circuit 72 of the sense circuit block 32 .

[0032] The automatic gain control circuit 52 adjusts the gain of the oscillation signal having the drive frequency supplied from the oscillation circuit 51 and supplies it to the vibrator 11, causing the vibrator 11 to vibrate.

[0033] The sense circuit block 32 includes a charge amplifier circuit 71 , a phase shift circuit 72 , a synchronous detection circuit 73 , and an LPF 74 .

[0034] The charge amplifier circuit 71 detects the vibration of the vibrator 11 as a vibration signal, amplifies the signal, and supplies it to the phase shift circuit 72 .

[0035] 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 supplied from the oscillation circuit 51 , and outputs the adjusted signal to the synchronous detection circuit 73 .

[0036] The synchronous detection circuit 73 detects a waveform representing the Coriolis force acting on the oscillator 11 , which is expressed by an envelope, from the phase-adjusted vibration signal of the oscillator 11 , and outputs the waveform to the LPF 74 .

[0037] The LPF 74 smoothes the waveform indicating the Coriolis force acting on the vibrator 11 and outputs it to the digital output circuit block 33 as angular velocity information in the form of an analog signal.

[0038] The digital output circuit block 33 includes an AD conversion circuit 91 , a decimation filter 92 , and a digital output circuit 93 .

[0039] The AD conversion circuit 91 converts the angular velocity information, which is made up of an analog signal and is made up of the Coriolis force acting on the vibrator 11 , into a digital signal and outputs it to the decimation filter 92 .

[0040] The decimation filter 92 averages the angular velocity information composed of a digital signal and outputs it to a digital output circuit 93 .

[0041] The digital output circuit 93 outputs the digitized and averaged angular velocity information as a digital signal.

[0042] <Regarding IMU Operation> Next, the operation of the IMU 1 will be described with reference to FIG.

[0043] As shown in the upper left of FIG. 4, the vibrator 11 vibrates based on a reference signal consisting of an oscillation signal of a drive frequency fb that is oscillated by an oscillation circuit 51 and whose gain is adjusted by an automatic gain control circuit 52 .

[0044] At this time, when the Coriolis force acts on the vibrator 11, amplitude modulation due to the Coriolis force is applied, and for example, the waveform output from the charge amplifier circuit 71 undergoes amplitude modulation in accordance with the Coriolis force, as shown by the waveform fbc, for the drive frequency fb.

[0045] The synchronous detection circuit 73 detects the amplitude modulation due to the Coriolis force from the envelope of the waveform fbc as the Coriolis force, that is, as the waveform of an analog signal indicating the angular velocity, and outputs it to the LPF 74 .

[0046] The waveform of the analog signal thus extracted 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.

[0047] The multi-IMU collects and integrates n of the above-mentioned IMUs 1, for example, as shown in FIG. 5, and outputs the angular velocities detected by each of the IMUs 1-1 to 1-n with high accuracy by combining them using a combining unit 2.

[0048] Incidentally, the more IMUs 1 are integrated, the more accurate the detected angular velocity becomes.

[0049] Therefore, in the present disclosure, a more accurate multi-IMU is realized by using multiple multi-IMUs 10 themselves.

[0050] In this case, one of the multiple multi-IMUs 10 is set as the master, and the other multi-IMUs 10 are set as slaves, so that, for example, the multi-IMU 10 set as the slave transmits its measurement results to the master multi-IMU 10. The master multi-IMU 10 then combines the measurement results from the slave multi-IMUs 10, including its own measurement results, and outputs the combined measurement results.

[0051] By doing this, even if multiple multi-IMUs 10 are provided, the angular velocity measurement results output can be handled as if they were output from a single multi-IMU 10.

[0052] Furthermore, since the multiple multi-IMUs 10 only need to use the same configuration, the cost of manufacturing the multi-IMUs 10 can be reduced.

[0053] As a result, it is possible to realize a low-cost, highly accurate multi-IMU 10.

[0054] <<2. First Embodiment>> <Configuration Example of Multi-IMU According to the Present Disclosure>> Next, with reference to FIG. 6, an external configuration of a multi-IMU according to the present disclosure will be described.

[0055] The multi-IMU of the present disclosure is realized by connecting a plurality of IMU units each consisting of the multi-IMU 10 or IMU 1 described above.

[0056] Therefore, hereinafter, the configuration corresponding to the above-mentioned multi-IMU 10 and IMU 1 will be referred to as an IMU unit, and will be expressed to be distinguished from the multi-IMU of the present disclosure.

[0057] In the following description, the IMU unit will be described using only a configuration corresponding to the multi-IMU 10 described above. However, this is for the sake of simplicity, and it goes without saying that the IMU unit may also be the IMU 1. Furthermore, the multi-IMU of the present disclosure is composed of multiple multi-IMUs 10, and therefore can also be considered a multi-IMU system.

[0058] 6 is a top view of the multi-IMU 101 of the present disclosure. The multi-IMU 101 of the present disclosure is composed of a board 111, IMU units 121-0 to 121-3, cables 122-0 to 122-4, an integrated board 123, and a host controller 124.

[0059] The IMU units 121-0 to 121-3 have a configuration corresponding to the above-mentioned multi-IMU 10, and each includes eight IMUs 131-1 to 131-8 (FIG. 7), and are joined to the four corners of the substrate 111.

[0060] The IMU units 121-0 to 121-3 are connected to the integrated board 123 via cables 122-0 to 122-3 which are connected to the terminals 121a-0 to 121a-3, respectively.

[0061] The integrated board 123 is joined to the center of the board 111 and is electrically connected to cables 122-0 to 122-3 that are connected to terminals 123a-0 to 123a-3.

[0062] The integrated board 123 is also electrically connected to the host controller 124 via a cable 122-4 connected to a terminal 123a-4.

[0063] The integrated board 123 electrically connects the IMU units 121-0 to 121-3 and the host controller 124 together via cables 122-0 to 122-4.

[0064] <Configuration example of IMU unit> Next, a configuration example of the IMU unit 121 will be described with reference to Fig. 7. Note that the IMU unit 121A on the left side of Fig. 7 shows the configuration of the back side of the IMU unit 121 in Fig. 6, and the IMU unit 121B on the right side of Fig. 7 shows the configuration of the front side of the IMU unit 121 in Fig. 6.

[0065] In the IMU unit 121, a terminal 121a and IMUs 131-1 to 131-4 are provided on the front side of a substrate 130, and IMUs 131-5 to 131-8 and a control unit 132 are provided on the back side.

[0066] The IMUs 131-1 to 131-8 have a configuration corresponding to the above-mentioned IMU 1. That is, the IMU unit 121 in Figures 6 and 7 is provided with a total of eight IMUs 131-1 to 131-8.

[0067] In this example, eight IMUs 131 are provided for one IMU unit 121, but the number of IMUs 131 is not limited to this and may be any other number, and may be any number greater than or equal to one.

[0068] The control unit 132 is controlled by the host controller 124, and one of the four IMU units 121-0 to 121-3 in FIG. 6 is set as the master, and the rest are set as slaves.

[0069] When the control unit 132 is set as a slave, it combines information on angular velocity and acceleration, which are measurement results from the IMUs 131-1 to 131-8, and outputs the combined information to the IMU unit 121 set as a master.

[0070] When the control unit 132 is set as the master, it combines the angular velocity and acceleration information that are the measurement results from the IMUs 131-1 to 131-8, and also combines the results from the IMU unit 121 that is set as the slave, and outputs the combined result to the host controller 124.

[0071] Note that combining information here refers to the process itself performed by the above-described combining unit 2. Therefore, when the IMU unit 121 is set as a slave, it combines the angular velocity and acceleration information of the IMUs 131-1 to 131-8 and outputs the combined information to the IMU unit 121 set as a master.

[0072] Furthermore, when the IMU unit 121 is set as the master, it combines the angular velocity and acceleration information that is the measurement results from the IMUs 131-1 to 131-8, and also combines the results from the IMU unit 121 that is set as the slave, and outputs the combined result to the host controller 124 as the measurement result.

[0073] The functions realized by the IMU unit 121 will be described in detail later with reference to FIG.

[0074] 6 shows an example in which there are four IMU units 121, but there is no limit to the number and other numbers may be used to realize the multi-IMU 101. As described above, the more IMUs 131 that correspond to the IMU 1, the better the measurement accuracy, so when higher accuracy is required, it is desirable to connect more IMU units 121.

[0075] However, since increasing the number of IMU units 121 increases costs, there is a trade-off between the required accuracy and cost. However, since it is sufficient to use multiple mass-produced IMU units 121 with the same configuration, even if more IMU units 121 are required, it is possible to reduce manufacturing costs.

[0076] As described above, the IMU unit 121 is the multi-IMU 10 itself, and as explained with reference to Figure 7, it is configured such that eight IMUs 131 and a control unit 132 are provided on a single board 130, so it can also be said to constitute a multi-IMU chip.

[0077] <Functions Realized by IMU Unit> Next, functions realized by the IMU unit 101 in FIG. 6 will be described with reference to the functional block diagram of FIG. 8 .

[0078] The functions of the multi-IMU 101 are realized by the IMU units 121-0 to 121-3 and the host controller 124.

[0079] The host controller 124 and the IMU units 121-0 to 121-3 are connected via an SPI bus 142 that realizes SPI (Serial Peripheral Interface) communication.

[0080] The IMU units 121-0 to 121-3 are connected to one another by three I2C (Inter Integrated Circuit) (registered trademark) buses 143-0 to 143-2 that realize I2C communication.

[0081] 8, the I2C buses 143-0 to 143-2 are also depicted as I2C0 to I2C2, respectively. The I2C buses 143-0 to 143-2 may be other buses that have similar functions, such as an I3C (Improved Inter Integrated Circuits) (registered trademark) bus, which is an extension of the I2C bus. Because the I3C bus allows for faster communication than the I2C bus, using the I3C bus instead of the I2C bus can speed up processing.

[0082] Also, in FIG. 8, the host controller 124 and the IMU units 121-0 to 121-3 are not connected by the I2C bus 143, but the two may be connected by the I2C bus 143 in addition to the SPI bus 142.

[0083] Furthermore, the communication paths realized by the SPI bus 142 and the I2C buses 143-0 to 143-2 may be realized in other configurations as long as similar communication is possible. For example, they may be connected by wired communication using other communication methods, or may be connected by wireless communication.

[0084] The host controller 124 is provided with a master-slave control unit 141. The master-slave control unit 141 sets one of the IMU units 121-0 to 121-3 as the master and the others as slaves by communicating with the IMU units 121-0 to 121-3 via an SPI bus 142.

[0085] The master-slave control unit 141 acquires the ID of each of the IMU units 121-0 to 121-3, for example, by communicating with them via the SPI bus 142, and sets the IMU unit 121 with the smallest ID value as the master and the others as slaves.

[0086] The master-slave control unit 141 sets the IMU unit 121 set as the master as the destination of measurement results for the IMU unit 121 set as the slave, and sets the host controller 124 as the destination for the IMU unit 121 set as the master.

[0087] The IMU unit 121 set as a slave transmits its own measurement results to the IMU unit 121 set as a master, which is the destination, via the I2C buses 143-0 to 143-2.

[0088] The IMU unit 121 set as the master acquires the measurement results from the IMU unit 121 set as the slave via the I2C buses 143-0 to 143-2, and combines all the measurement results, including its own measurement results, and transmits the combined results to the destination host controller 124 via the SPI bus 142.

[0089] <Functions Realized by IMU Unit> Next, functions realized by the IMU unit 121 will be described with reference to FIG.

[0090] The function of the IMU unit 121 is realized by the IMU 131 and the control unit 132. Note that in Fig. 9, the number of IMUs 131 is expressed as 1 to N, but in the case of a configuration corresponding to the IMU unit 121 in Fig. 7, N = 8. Here, an example in which the number of IMUs 131 is eight is described, but since there is no limit to the number of IMUs 131, the number of IMUs 131 is expressed as "1 to N."

[0091] The control unit 132 includes a master / slave management unit 151 , a destination control unit 152 , a self-combining unit 153 , a other unit combining unit 154 , a transmitting unit 155 , and an ID storage unit 156 .

[0092] The master-slave management unit 151 stores and manages the setting contents of either the master or slave set by the master-slave control unit 141 of the host controller 124 .

[0093] The destination control unit 152 controls the destination of its own measurement results, which is set by the master-slave control unit 141 of the host controller 124; when it is set as the master, it sets the destination to the host controller 124; when it is set as the slave, it sets the destination to the IMU unit 121 that is set as the master.

[0094] The self-combining unit 153 and other-unit combining unit 154 operate according to the master or slave setting. When set as a slave in the master-slave management unit 151, the self-combining unit 153 combines the measurement results of the IMUs 131-1 to 131-8 provided in its own IMU unit 121 to generate a self-combined value. The transmitter 155 transmits the self-combined value as a measurement result via the I2C bus 143 to the IMU unit 121 set as the master, which is the destination. In this case, the other-unit combining unit 154 does not function.

[0095] Furthermore, when set as the master in the master-slave management unit 151, the self-combining unit 153 generates a self-combined value by combining the measurement results of the IMUs 131-1 to 131-8 provided in its own IMU unit 121. Furthermore, the other-unit combining unit 154 acquires the measurement results from the IMU unit 121 set as the slave via the I2C bus 143, combines them with the self-combined value combined by the self-combining unit 153, and generates a self-and-other combined value. The transmitting unit 155 transmits the self-and-other combined value as the measurement result to the host controller 124, which is the transmission destination, via the SPI bus 142.

[0096] The ID storage unit 156 stores an ID that identifies the IMU unit 121, and when the multi-IMU 101 starts up, the master-slave control unit 141 of the host controller 124 supplies the stored ID when it requests an ID from the IMU unit 121. Based on the ID thus acquired, the master-slave control unit 141 sets which of the IMU units 121 will be the master and which will be the slave.

[0097] <Example of Master and Slave Settings> Next, an example of master and slave settings in the multi-IMU 101 will be described with reference to FIG.

[0098] For example, when the multi-IMU 101 is started, the master-slave control unit 141 of the host controller 124 communicates with the IMU units 121-0 to 121-3 via the SPI bus 142 and acquires the IDs of the respective units.

[0099] The master-slave control unit 141 sets the IMU unit with the smallest ID as the master based on the acquired IDs of the IMU units 121-0 to 121-3. In the case of Figure 10, the IDs of the IMU units 121-0 to 121-3 are assumed to be 00, 01, 10, and 11, respectively.

[0100] In this case, the master-slave control unit 141 sets the IMU unit 121-0 with the smallest ID=00 as the master, and sets the other IMU units 121-1 to 121-3 as slaves.

[0101] Then, the master-slave control unit 141 sets the destination of the measurement results of the IMU units 121-1 to 121-3 set as slaves to the ID of the IMU unit 121-0 set as the master, and sets the destination of the measurement results of the IMU unit 121-0 set as the master to the host controller 124.

[0102] More specifically, in Figure 10, the master or slave setting information (master) managed by the master-slave management unit 151 is displayed in the lower left of IMU units 121-0 to 121-3, and the destination information (send to) set in the destination control unit 152 is displayed in the lower right.

[0103] That is, in the IMU unit 121-0 set as the master, True, which indicates that it has been set as the master, is set as the master or slave setting information (master) managed by the master-slave management unit 151. Also, Host, which indicates that the destination is the host controller, is set as the information (send to) stored in the destination control unit 152.

[0104] Furthermore, in the IMU units 121-1 to 121-3 set as slaves, False, indicating that they have been set as slaves, is set as the master or slave setting information (master) managed by the master-slave management unit 151. Furthermore, ID=00, indicating that the destination is the IMU unit 121-0 set as master, is set as the information (send to) stored in the destination control unit 152.

[0105] With this setting, the IMU unit 121-1 set as the slave outputs the self-synthesized value as its own measurement result to the IMU unit 121-0 set as the master via the I2C bus (I2C2) 143-2, as shown by the thick solid arrow in Figure 10.

[0106] In addition, the IMU unit 121-2 set as the slave outputs the self-synthesized value as its own measurement result to the IMU unit 121-0 set as the master via the I2C bus (I2C1) 143-1, as shown by the thick dashed arrow in Figure 10.

[0107] Furthermore, the IMU unit 121-3 set as the slave outputs the self-synthesized value as its own measurement result to the IMU unit 121-0 set as the master via the I2C bus (I2C0) 143-0, as shown by the thick dashed arrow in Figure 10.

[0108] 10, the IMU unit 121-0 set as the master acquires the measurement results supplied from the IMU units 121-1 to 121-3 set as slaves via the I2C buses 143-2 to 143-0, and combines them with the self-composite value, which is its own measurement result, to generate a self-other composite value. The transmitter 155 outputs the self-other composite value as the measurement result to the host controller 124 via the SPI bus 142.

[0109] With this setting, the host controller 124 can acquire highly accurate acceleration and angular velocity information by simply setting one of the IMU units 121-0 to 121-3 as the master and the others as slaves only when the multi-IMU 101 is started up, and obtaining the measurement results from the multiple IMU units 121-0 to 121-3 from the IMU unit 121 set as the master.

[0110] As a result, even if the number of IMU units 121 is increased, the host controller 124 only needs to initially determine the master / slave and acquire one measurement result supplied from the IMU unit 121 set as the master, thereby reducing the processing load.

[0111] Furthermore, the more IMU units 121 there are, the more accurate it becomes possible to achieve the desired results.

[0112] Furthermore, since it is only necessary to mass-produce and increase the number of identical IMU units 121, costs can be reduced, and a low-cost, highly accurate multi-IMU 101 can be realized.

[0113] <Measurement Processing by Multi-IMU in Fig. 8> Next, the measurement processing by the multi-IMU 101 in Fig. 8 will be described with reference to the flowchart in Fig. 11. In the flowchart in Fig. 11, the left part shows the processing of the host controller, and the right part shows the processing of the IMU unit 121.

[0114] In step S11, the master-slave control unit 141 of the host controller 124 determines whether the multi-IMU 101 has started up.

[0115] If it is determined in step S11 that the multi-IMU 101 has been started, the process proceeds to step S12.

[0116] In step S12, the master-slave control unit 141 communicates with the IMU units 121-0 to 121-3 via the SPI bus 142 and acquires the IDs of the respective units.

[0117] At this time, in step S31, the ID storage unit 156 in the control unit 132 of the IMU unit 121 supplies the stored ID to the master-slave control unit 141 of the host controller 124.

[0118] In step S13, the master-slave control unit 141 sets the IMU unit 121 with the smallest ID as the master and the others as slaves based on the acquired IDs of the IMU units 121-0 to 121-3. At this time, the master-slave control unit 141 sets the master's transmission destination to the host controller 124 and the slave's transmission destination to the master IMU unit 121.

[0119] It should be noted that any one of the IMU units 121-0 to 121-3 can be set as the master based on the ID, so the one with the smallest ID or the largest ID may be selected, or one may be selected randomly.

[0120] As a result of this processing, in step S32, the master-slave management unit 151 in the control unit 132 of the IMU unit 121 accepts the setting contents from the master-slave control unit 141 and stores the master or slave setting information. Also, the transmission destination control unit 152 accepts the setting contents from the master-slave control unit 141 and sets the transmission destination to the host controller 124 if it is the master, or to the IMU unit 121 set as the master if it is a slave, and stores the transmission destination.

[0121] If it is determined in step S11 that the application has not been started or has already been started, the processes of steps S12 and S13 are skipped.

[0122] In step S33, the self-synthesizing unit 153 acquires and synthesizes the acceleration and angular velocity information that is the measurement results of the IMUs 131-1 to 131-8, and generates a self-synthesized value that is its own measurement result.

[0123] In step S34, the master-slave manager 151 determines whether or not it has been set as the master.

[0124] If it is determined in step S34 that the device is not the master, that is, that the device is the slave, the process proceeds to step S39.

[0125] In step S39, the transmitting unit 155 transmits the measurement result consisting of the self-synthesized value via the I2C bus 143 to the IMU unit 121 set as the master in the destination control unit 152.

[0126] On the other hand, if it is determined in step S33 that the device is the master, the process proceeds to step S35.

[0127] In step S35, the other unit synthesis unit 154 acquires the measurement results transmitted via the I2C bus 143 from the other IMU units 121 set as slaves.

[0128] In step S36, the other unit synthesis unit 154 synthesizes the measurement results transmitted via the I2C bus 143 from the other IMU units 121 set as the acquired slave with its own measurement result, which is the self-synthesized value, to generate a self-other synthesized value.

[0129] In step S37, the transmitting unit 155 transmits the self-other composite value consisting of all the composite results as the measurement result to the host controller 124 set in the destination control unit 152 via the SPI bus 142.

[0130] In step S14, the host controller 124 acquires the measurement results transmitted via the SPI bus 142 from the IMU unit 121 set as the master.

[0131] In steps S15 and S38, it is determined whether or not an instruction to end the process has been issued. If an instruction to end the process has not been issued, the process returns to steps S11 and S33, and the subsequent processes are repeated.

[0132] If an instruction to end the process is given in steps S15 and S38, the process ends.

[0133] Through the above processing, the host controller 124 can acquire highly accurate acceleration and angular velocity information by simply setting one of the IMU units 121-0 to 121-3 as the master and setting the others as slaves only when the multi-IMU 101 is started, and obtaining the measurement results from the multiple IMU units 121-0 to 121-3 from the IMU unit 121 set as the master.

[0134] As a result, even if the number of IMU units 121 is increased, the host controller 124 only needs to initially determine the master / slave and acquire one measurement result supplied from the IMU unit 121 set as the master, thereby reducing the processing load.

[0135] Furthermore, the more IMU units 121 there are, the more accurate it becomes possible to achieve the desired results.

[0136] Furthermore, since it is only necessary to mass-produce and increase the number of identical IMU units 121, costs can be reduced, and a low-cost, highly accurate multi-IMU 101 can be realized.

[0137] <<3. First Variation of First Embodiment>> In the above, an example has been described in which the IMU unit 121 set as a slave directly transmits its respective measurement results to the IMU unit 121 set as a master via the I2C bus 143.

[0138] However, the IMU units 121 set as slaves may be set to sequentially transmit to the IMU unit 121 set as master in a relay format.

[0139] That is, for example, as shown in FIG. 12, consider a case where the IMU unit 121-0 is set as the master and the IMU units 121-1 to 121-3 are set as slaves.

[0140] In this case, the self-combining unit 153 of the IMU unit 121-3 generates a self-combined value, which is its own measurement result. The transmitter 155 transmits this value to the IMU unit 121-2, which is set as the slave, via the I2C bus (I2C0) 143-0, as indicated by the thick dashed-dotted arrow in FIG.

[0141] Furthermore, when the other-unit synthesis unit 154 of the IMU unit 121-2 acquires the measurement result from the IMU unit 121-3, it synthesizes it with the self-synthesized value, which is its own measurement result synthesized by the self-synthesizing unit 153, to generate a self-other synthesized value. As indicated by the thick dashed arrow in Fig. 12, the transmission unit 155 transmits the self-other synthesized value as a measurement result to the IMU unit 121-1 set as the slave via the I2C bus (I2C1) 143-1.

[0142] Furthermore, when the other-unit synthesis unit 154 of the IMU unit 121-1 acquires the measurement result from the IMU unit 121-2, it synthesizes it with the self-synthesized value, which is its own measurement result synthesized by the self-synthesizing unit 153, to generate a self-other-synthesized value. As shown by the thick solid arrow in Figure 12, the transmission unit 155 transmits the self-other-synthesized value as the measurement result to the IMU unit 121-0 set as the master via the I2C bus (I2C2) 143-2.

[0143] The other-unit synthesis unit 154 of the IMU unit 121-0 set as the master acquires the measurement results supplied via the I2C bus 143-2 from the IMU unit 121-1 set as the slave, and generates a self-other synthesized value by synthesizing it with the self-synthesized value, which is its own measurement result synthesized by the self-synthesizing unit 153. The transmitter 155 transmits the self-other synthesized value as the measurement result to the host controller 124 via the SPI bus 142, as shown by the thick dotted arrow in Figure 12.

[0144] At this time, in the IMU unit 121-0 set as the master, True, which indicates that it has been set as the master, is set as information (master) managed by the master-slave management unit 151. Also, Host, which indicates that the destination is the host controller, is set as information (send to) stored in the destination control unit 152.

[0145] In addition, in the IMU unit 121-3 set as the slave, False, which indicates that it has been set as the slave, is set as information (master) managed by the master-slave management unit 151. Furthermore, ID=10, which indicates that the destination is the IMU unit 121-2, is set as information (send to) stored in the destination control unit 152.

[0146] Furthermore, in the IMU unit 121-2 set as the slave, False, which indicates that it has been set as the slave, is set as information (master) managed by the master-slave management unit 151. Also, ID=01, which indicates that the destination is the IMU unit 121-1, is set as information (send to) stored in the destination control unit 152.

[0147] In addition, in the IMU unit 121-1 set as the slave, False, which indicates that it has been set as the slave, is set as information (master) managed by the master-slave management unit 151. Furthermore, ID=00, which indicates that the destination is IMU unit 121-0, is set as information (send to) stored in the destination control unit 152.

[0148] In addition, the method of transmitting measurement results from the IMU unit 121 set as a slave to the IMU unit 121 set as a master, as shown in Figures 10 and 12, may be selected by the master-slave control unit 141 in response to a user request.

[0149] Also, in Figure 12, an example is shown in which the IMU units 121 set as slaves transmit their measurement results in relay format via different I2C buses 143, but some of them may transmit in relay format via the same I2C bus 143, or all may transmit via the same I2C bus 143.

[0150] For example, the transmitting units 155 of the IMU units 121-3 and 121-2 may transmit the measurement results to the IMU units 121-2 and 121-1, respectively, via the I2C bus (I2C0) 143-0, and the transmitting unit 155 of the IMU unit 121-1 may transmit the measurement results to the IMU unit 121-0 via the I2C bus (I2C2) 143-2.

[0151] Also, for example, the transmitters 155 of the IMU unit 121-3 and the IMU units 121-2 and 121-1 may transmit their respective measurement results to the IMU units 121-2 to 121-0 via the I2C bus (I2C1) 143-1.

[0152] The I2C bus 143 that the IMU unit 121 set as a slave uses to transmit measurement results may be set by the master-slave control unit 141 according to a user request, for example.

[0153] <<4. Second Variation of First Embodiment>> In the above, an example has been described in which one of the multiple IMU units 121 is set as the master, but multiple IMU units 121 may also be set as the master.

[0154] That is, for example, as shown in FIG. 13, IMU units 121-0 and 121-2 may be set as masters, and IMU units 121-1 and 121-3 may be set as slaves corresponding to the respective masters.

[0155] In this case, the transmitter 155 of the IMU unit 121-3 generates a self-synthesized value, which is its own measurement result, and transmits it to the IMU unit 121-2 set as the master via the I2C bus (I2C0) 143-0, as indicated by the thick dashed-dotted arrow in FIG.

[0156] The other-unit synthesis unit 154 of the IMU unit 121-2 set as the master acquires the measurement results supplied via the I2C bus 143-0 from the IMU unit 121-3 set as its slave, and generates a self-other synthesis value by synthesizing it with its own measurement results synthesized by the self synthesis unit 153. The transmitter 155 transmits the self-other synthesis value as the measurement result to the host controller 124 via the SPI bus 142, as indicated by the thick dotted arrow in Figure 13.

[0157] The self-combining unit 153 of the IMU unit 121-1 generates a self-combined value, which is the result of its own measurement. The transmitting unit 155 transmits the self-combined value as the measurement result to the IMU unit 121-1 set as the master via the I2C bus (I2C2) 143-2, as indicated by the thick solid arrow in Figure 13.

[0158] The other-unit synthesis unit 154 of the IMU unit 121-0 set as the master acquires the measurement results supplied via the I2C bus 143-2 from the IMU unit 121-1 set as its slave, and generates a self-other synthesis value by synthesizing it with its own measurement results synthesized by the self synthesis unit 153. The transmission unit 155 transmits the self-other synthesis value as a measurement result to the host controller 124 via the SPI bus 142, as indicated by the thick dotted arrow in Figure 13.

[0159] At this time, in the IMU unit 121-0 set as the master, True, which indicates that it has been set as the master, is set as information (master) managed by the master-slave management unit 151. Also, Host, which indicates that the destination is the host controller, is set as information (send to) stored in the destination control unit 152.

[0160] In addition, in the IMU unit 121-1 set as the slave, False, which indicates that it has been set as the slave, is set as information (master) managed by the master-slave management unit 151. Furthermore, ID=00, which indicates that the destination is IMU unit 121-0, is set as information (send to) stored in the destination control unit 152.

[0161] Furthermore, in the IMU unit 121-2 set as the master, True, which indicates that it has been set as the master, is set as information (master) managed by the master-slave management unit 151. Also, Host, which indicates that the destination is the host controller, is set as information (send to) stored in the destination control unit 152.

[0162] In addition, in the IMU unit 121-3 set as the slave, False, which indicates that it has been set as the slave, is set as information (master) managed by the master-slave management unit 151. Furthermore, ID=10, which indicates that the destination is the IMU unit 121-2, is set as information (send to) stored in the destination control unit 152.

[0163] With the settings as shown in FIG. 13, measurement results are supplied to the host controller 124 from the two master IMU units 121-0 and 121-2, which increases redundancy but reduces measurement accuracy.

[0164] However, even if a failure occurs in the IMU unit 121 set as one of the masters, the measurement results of the other master can be obtained, thereby improving the reliability of obtaining the measurement results.

[0165] In particular, the multi-IMU 101 may be used in situations such as outer space, smart agriculture, and autonomous driving, where even a momentary interruption in measurement results could cause fatal damage or affect human life, and in such cases, high redundancy reliability is required.

[0166] For example, when used in outer space, even if a failure occurs, repair or replacement is not possible, so high redundant reliability is required.

[0167] When assuming use under extreme conditions where such high redundant reliability is required, if multiple IMU units 121 are provided, multiple masters may be set according to the required level of redundant reliability.

[0168] In addition, by making the number of masters variable according to the required redundant reliability depending on the situation in which the multi-IMU 101 is used, it is possible to improve scalability.

[0169] In addition, the method of transmitting measurement results from the IMU unit 121 set as a slave to the IMU unit 121 set as a master, as shown in Figure 13, may be selectable by the master-slave control unit 141 in response to a request from the user.

[0170] In the case of the setting shown in Figure 13, for example, the transmitters 155 of the IMU units 121-3 and 121-1 may transmit the self-synthesized values ​​as measurement results to the IMU units 121-2 and 121-0 via any of the I2C buses 143-0 to 143-2.

[0171] The I2C bus 143 that the IMU unit 121 set as a slave will use to transmit measurement results may be selected by the master-slave control unit 141, for example, in response to a request from the user.

[0172] <<5. First application example of the first embodiment>> In the above, an example has been described in which the host controller 124 sets one of the multiple IMU units 121 as the master and sets the others as slaves, and the measurement results of the IMU unit 121 set as the slave are supplied to the master, and the master combines and outputs its own measurement results.

[0173] However, in this case, if any failure occurs in the IMU unit 121 set as the master, the measurement results will not be supplied to the host controller 124.

[0174] Therefore, if the IMU unit 121 set as the master does not transmit measurement results, the master-slave control unit 141 may assume that a malfunction has occurred and may continue to output measurement results by setting one of the IMU units 121 set as the slave to become an alternative master.

[0175] That is, for example, as shown in FIG. 14, when IMU unit 121-0 is set as the master and IMU units 121-1 to 121-3 are set as slaves, if some kind of fault occurs in IMU unit 121-0 and it breaks down, the host controller 124 will be unable to obtain measurement results from IMU unit 121-0.

[0176] In such a case, the master-slave control unit 141 sets, as in the state at startup, the IMU unit 121-1 with the smallest ID, for example, of the IMU units 121-1 to 121-3, as the master, and sets the IMU units 121-2 and 121-3 as slaves.

[0177] With this setting, as shown by the thick dashed arrow in Figure 14, the IMU unit 121-2 set as the slave transmits its measurement results to the IMU unit 121-1 set as the master via the I2C bus (I2C1) 143-1.

[0178] Also, as indicated by the thick dashed arrow in Figure 14, the IMU unit 121-3 set as the slave transmits its measurement results to the IMU unit 121-1 set as the master via the I2C bus (I2C2) 143-2.

[0179] As shown by the thick dotted arrow in Figure 14, the IMU unit 121-1 set as the master acquires the measurement results supplied from the IMU units 121-2 and 121-3 set as slaves via the I2C buses 143-1 and 143-0, and combines them with its own measurement result, which is its own self-synthesized value, to generate a self-other-synthesized value, which is output as the measurement result to the host controller 124 via the SPI bus 142.

[0180] In other words, when the master-slave control unit 141 of the host controller 124 is unable to obtain measurement results from the IMU unit 121 set as the master, it sets an alternative master from among the IMU units 121 set as slaves and re-sets the others as slaves.

[0181] As a result, when it becomes impossible to obtain measurement results from the IMU unit 121 set as the master, the IMU unit 121 set as the master is considered to have failed, and one of the IMU units 121 that had previously been set as a slave is set as the alternative master, and the other IMU unit 121 is set as the slave, making it possible to obtain measurement results again.

[0182] As a result, it is possible to realize a multi-IMU 101 that is highly fault-resistant, low-cost, and highly accurate.

[0183] <Measurement Processing by Multi-IMU in First Application Example of First Embodiment> Next, measurement processing by multi-IMU in the first application example of the first embodiment will be described with reference to the flowchart of FIG.

[0184] The processes of steps S51 to S53, S56, S57, and S71 to S79 ​​in the flowchart of FIG. 15 are similar to the processes of steps S11 to S15 and S31 to S39 in the flowchart of FIG. 11, and therefore will not be described again.

[0185] That is, when the multi-IMU 101 is started, one of the multiple IMU units 121 is set as the master, and the others are set as slaves. The IMU unit 121 set as the slave supplies its measurement results to the IMU unit 121 set as the master, and the IMU unit 121 set as the master combines the measurement results from the IMU unit 121 set as the slave with a self-combined value, which is its own measurement result, to generate a self-other combined value and transmit it to the host controller 124 as the measurement result.

[0186] In step S54, the master-slave control unit 141 determines whether or not the IMU unit 121 set as the master has failed. More specifically, the master-slave control unit 141 determines whether or not the IMU unit 121 set as the master has failed, for example, based on whether or not the measurement results from the IMU unit 121 set as the master have not been transmitted.

[0187] In step S54, if it is determined that the measurement results are not being transmitted from the IMU unit 121 set as the master and that the IMU unit 121 set as the master is faulty, processing proceeds to step S55.

[0188] In step S55, the master-slave control unit 141 sets the IMU unit 121 with the smallest ID as the master based on the IDs of the IMU units 121 set as slaves, and resets the others as slaves. At this time, the master-slave control unit 141 sets the master's transmission destination to the host controller 124, and sets the slave's transmission destination to the master IMU unit 121.

[0189] At this time, in the IMU unit 121, in step S80, the master-slave management unit 151 in the control unit 132 of the IMU unit 121 determines whether or not the master is to be reset.

[0190] In step S80, if the master is re-established by the master-slave control unit 141 of the host controller 124 through the process of step S55, the process returns to step S72.

[0191] That is, in this case, as at the time of startup, the master-slave management unit 151 in the control unit 132 of the IMU unit 121 accepts the setting contents from the master-slave control unit 141 and stores the master or slave setting information. Also, the transmission destination control unit 152 accepts the setting contents from the master-slave control unit 141 and sets the transmission destination as the host controller 124 if it is the master, or sets the transmission destination as the IMU unit 121 set as the master if it is a slave, and stores the setting information.

[0192] In addition, if in step S54 no failure has occurred in the IMU unit 121 set as the master, the processing of step S55 is skipped, and in step S80 it is determined that the master is not being reset, and the processing returns to step S73.

[0193] As a result of the above processing, if the master-slave control unit 141 of the host controller 124 is unable to obtain measurement results from the IMU unit 121 set as the master, it will set an alternative master from among the IMU units 121 set as slaves and re-set the others as slaves.

[0194] As a result, when it becomes impossible to obtain measurement results from the IMU unit 121 set as the master, the IMU unit 121 set as the master is considered to have failed, and one of the IMU units 121 that had previously been set as a slave is set as the alternative master, and the other IMU unit 121 is set as the slave, making it possible to obtain measurement results again.

[0195] As a result, it is possible to realize a multi-IMU 101 that is highly fault-resistant, low-cost, and highly accurate.

[0196] <<6. Second application example of the first embodiment>> In the above, an example has been described in which, when measurement results are not supplied from the IMU unit 121 set as the master, it is assumed that a failure has occurred, and one of the IMU units 121 set as the slave is set as an alternative master, thereby allowing the output of measurement results to continue.

[0197] However, even if the IMU unit 121 is failing and outputting a measurement result, it is not possible to deal with a failure in which an appropriate value is not being output.

[0198] However, since it is not possible to confirm on a stand-alone basis whether the measurement results output from an IMU unit 121 are appropriate, the measurement results of three or more IMU units 121 are generally compared to detect whether there are any outlier measurement results, and any IMU unit 121 that outputs an outlier measurement result is deemed to be faulty.

[0199] Therefore, the other unit synthesis unit 154 of the control unit 132 in the IMU unit 121 set as the master detects the presence or absence of an outlier by combining the measurement results from the IMU unit 121 set as the slave with the self-synthesized value, which is its own measurement result synthesized by the self-synthesizing unit 153, to determine the presence or absence of a malfunction in the IMU unit 121. The other unit synthesis unit 154 then registers the IMU unit 121 in which a malfunction has been detected, and thereafter does not use the measurement results for synthesis.

[0200] More specifically, for example, as shown in FIG. 16, consider a case where the IMU unit 121-0 is set as the master and the IMU units 121-1 to 121-3 are set as slaves.

[0201] In this case, the other unit synthesis unit 154 of the IMU unit 121-0 set as the master determines whether or not there is an outlier by comparing the measurement results from the IMU units 121-1 to 121-3 set as slaves with its own measurement results.

[0202] For example, if the measurement result of the IMU unit 121-2 is found to be an outlier when compared with other measurement results, the other unit synthesis unit 154 assumes that the IMU unit 121-2 is faulty and registers the corresponding ID as faulty.

[0203] In subsequent processing, the other-unit synthesis unit 154 excludes the measurement result from the IMU unit 121-2 corresponding to the ID for which a fault has been registered, and synthesizes the measurement results from the IMU units 121-1 and 121-3 set as other slaves with the self-synthesized value, which is its own measurement result, to generate a self-other synthesized value. The transmission unit 155 outputs the self-other synthesized value to the host controller 124 as the measurement result.

[0204] By this processing, as shown by the thick dashed arrow in FIG. 16, the measurement results supplied from the IMU unit 121-2 that is deemed to be faulty via the I2C bus (I2C1) 143-1 are excluded.

[0205] 16, the measurement result supplied from the IMU unit 121-3 via the I2C bus (I2C0) 143-0, the measurement result supplied from the IMU unit 121-1 via the I2C bus (I2C2) 143-2, and the measurement result of the IMU unit 121-1 are combined with the I2C bus (I2C2) 143-2 and the IMU unit 121-1's own measurement result to generate a self-other composite value. The generated self-other composite value is then transmitted to the host controller 124 as the measurement result.

[0206] This allows a composite result excluding the measurement result from the faulty IMU unit 121-2 that outputs the outlier measurement result to be output as the measurement result to the host controller 124. As a result, it becomes possible to avoid using the measurement result of the faulty IMU unit 121, and it becomes possible to suppress a decrease in measurement accuracy that occurs when the measurement result of the faulty IMU unit 121 is used.

[0207] This configuration makes it possible to respond to individual abnormalities in the IMU units 121, thereby suppressing a decrease in measurement accuracy due to a malfunction. As a result, it is possible to realize a multi-IMU 101 that measures acceleration and angular velocity with high accuracy at low cost.

[0208] <Measurement Processing by Multi-IMU in Second Application Example of First Embodiment> Next, measurement processing by multi-IMU in the second application example of the first embodiment will be described with reference to the flowchart of FIG.

[0209] The processes of steps S91 to S97, S111 to S115, and S122 to S124 in the flowchart of FIG. 17 are similar to the processes of steps S51 to S57, S71 to S75, and S78 to S80 in the flowchart of FIG. 15, and therefore will not be described again.

[0210] That is, when the multi-IMU 101 starts up, one of the multiple IMU units 121 is set as the master, and the others are set as slaves. The IMU unit 121 set as the slave supplies its measurement results to the IMU unit 121 set as the master. The IMU unit 121 set as the master combines the measurement results from the IMU unit 121 set as the slave with a self-combined value, which is its own measurement result, to generate a self-other combined value, and transmits the self-other combined value to the host controller 124 as the measurement result.

[0211] In step S116, the other-unit synthesis unit 154 of the control unit 132 of the IMU unit 121 set as the master synthesizes the measurement results of the IMU units other than the fault-registered IMU unit 121 and its own measurement result synthesized by the self synthesis unit 153 to generate a self-other synthesis value. Note that in the initial processing, there is no ID information for the fault-registered IMU unit 121, so the measurement results of all the IMU units 121 and the self synthesis value, which is its own measurement result, are synthesized.

[0212] In step S117, the other unit synthesis unit 154 compares all the acquired measurement results to search for outliers.

[0213] In step S118, the other unit synthesis unit 154 determines whether or not there is a faulty IMU unit 121 based on the presence or absence of an outlier.

[0214] If it is determined in step S118 that a faulty IMU unit 121 exists, the process proceeds to step S119.

[0215] In step S119, the other unit synthesis unit 154 registers the ID identifying the IMU unit 121 that output the outlier measurement result as a fault.

[0216] In step S120, the other unit synthesis unit 154 synthesizes the measurement results, excluding the measurement results from the faulty IMU unit 121, to generate a self-other synthesis value.

[0217] In step S121, the other unit synthesis unit 154 outputs the self-other synthesis value as a measurement result to the host controller 124.

[0218] Furthermore, if it is determined in step S118 that there is no faulty IMU unit 121, the processing of steps S119 and S120 is skipped, and the synthesis result of step S116 is output to the host controller 124 by the processing of step S120.

[0219] By the above processing, a self-other composite value excluding the measurement result from the faulty IMU unit 121 that outputs the outlier measurement result can be output as the measurement result to the host controller 124. This makes it possible to avoid using the measurement result of the faulty IMU unit 121, and makes it possible to suppress a decrease in measurement accuracy that occurs when the measurement result of the faulty IMU unit 121 is used.

[0220] If the other unit synthesis unit 154 of the IMU unit 121 set as the master determines that it has failed, it may continue the synthesis process while excluding its own measurement results. In this case, since the function of the other unit synthesis unit 154 itself may be faulty, transmission of the synthesized measurement results may be stopped.

[0221] As a result, the master-slave control unit 141 of the host controller 124 can recognize that a failure has occurred because measurement results are not being supplied from the IMU unit 121 set as the master, and by setting a new replacement master, it is possible to realize processing that excludes itself.

[0222] As a result, it becomes possible to respond to individual abnormalities in the IMU unit 121, which not only makes it possible to further strengthen fault tolerance but also makes it possible to suppress a decrease in measurement accuracy due to a fault.

[0223] <<7. Second Embodiment>> In the above, an example has been described in which a multi-IMU 101 is configured by connecting four IMU units 121 to the four corners of a substrate 111 and electrically integrating and connecting them to an integrated substrate 123 via cables 122, as shown in FIG. 6 .

[0224] However, the four IMU units 121 may have other configurations as long as they are electrically connected.

[0225] For example, as shown in FIG. 18, IMU units 121-0 to 121-3 may be integrated by electrically connecting them to a foldable flexible cable 211, housed in a housing 221b, configured on a base plate 221a, and connected to a host controller 124 via a cable 222.

[0226] The left part of FIG. 18 shows a configuration in which the individual IMU units 121-0 to 121-3 are electrically connected to a flexible cable 211.

[0227] In addition, in the right part of Figure 18, IMU units 121-0 to 121-3 are compactly integrated by folding flexible cable 211 while electrically connected to form an IMU unit box 221, and the IMU unit box 221 and host controller 124 are connected via cable 222 to form multi-IMU 201.

[0228] The IMU unit box 221 is composed of a base plate 221a and a housing 221b. The flexible cable 211, to which the IMU units 121-0 to 121-3 are electrically connected, is folded and connected to the base plate 221a.

[0229] With this configuration, the four IMU units 121-0 to 121-3 are stacked on the base plate 221a and electrically connected to each other. The four IMU units 121-0 to 121-3 stacked on the base plate 221a are housed in a housing 221b, and the base plate 221a and housing 221b are integrated to form the IMU unit box 221.

[0230] 19, the flexible cable 211 has an H-shaped configuration, with terminals 211a-0 to 211a-3 provided at each end. A cable 222 is formed integrally with the central bar of the H-shape that constitutes the flexible cable 211, and a terminal 222a at the end of the cable 222 is electrically connected to the host controller 124.

[0231] As shown in the center of FIG. 19, the terminals 211a-0 to 211a-3 are connected to the terminals 121a-0 to 121a-3 of the IMU units 121-0 to 121-3, respectively.

[0232] Then, by folding the flexible cable 211, the IMU units 121-0 to 121-3 are integrated in a stacked state from the left in the figure, as shown in the right part of FIG.

[0233] With this configuration, the four IMU units 121-0 to 121-3 can be integrated into a compact unit.

[0234] As described above, in the multi-IMU 201 of FIGS. 18 and 19, by using a plurality of identical IMU units 121, it is possible to measure acceleration and angular velocity at low cost and with high accuracy.

[0235] <<8. Third Embodiment>> In the above, a multi-IMU 201 has been described in which IMU units 121-0 to 121-3 are electrically connected to a foldable flexible cable 211 to be compactly integrated to form an IMU unit box 221, and which is connected to a host controller 124 via a cable 222.

[0236] However, the IMU unit box 221 itself as shown in FIG. 18 may be treated as an IMU unit, and a multi-IMU may be configured with many IMUs 131.

[0237] FIG. 20 shows an example of a multi-IMU configuration in which the IMU unit box 221 itself is regarded as one IMU unit and more IMUs 131 are provided.

[0238] The multi-IMU 251 in FIG. 20 is composed of 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.

[0239] The IMU unit boxes 221-1 to 221-8 are connected to the integrated board 262 via cables 222-1 to 222-8, respectively.

[0240] The integrated board 262 is provided with an integrated processing unit 263 that combines the measurement results supplied from the IMU unit boxes 221-1 to 221-8 and outputs them to the host controller 124 via a terminal 262a provided on the integrated board 262.

[0241] The integration processing unit 263 has the same function as the other unit synthesis unit 154 in the control unit 132 of the IMU unit 121, so for example, it may be substituted by the IMU unit 121, and only the other unit synthesis unit 154 may be made to function.

[0242] That is, the multi-IMU 251 in FIG. 20 is provided with eight IMU unit boxes 221, each IMU unit box 221 is provided with four IMU units 121, and each IMU unit 121 is provided with eight IMUs 131.

[0243] Therefore, in the multi-IMU 251 of FIG. 20, a total of 256 IMUs 131 are provided.

[0244] The processing in the multi-IMU 251 in FIG. 20 is similar to the processing described above, but the host controller 124 controls 32 IMU units 121.

[0245] As described above, in the multi-IMU 251 of FIG. 20, by using the same IMU units 121 in multiple locations, it is possible to reduce costs and improve measurement accuracy.

[0246] <<9. Fourth Embodiment>> In the above, an example has been described in which the master and slave IMU units 121 are controlled by the host controller 124, and measurement results related to acceleration and angular velocity are obtained from the IMU unit 121 set as the master.

[0247] However, in addition to the functions of the IMU unit, multiple processor-mounted boards (also called microcomputer boards), which are boards equipped with microcomputers (hereinafter referred to as microcomputers) or processors capable of signal processing based on measurement results, may be used to acquire measurement results related to acceleration and angular velocity and to perform highly accurate signal processing based on the acquired measurement results.

[0248] Fig. 21 shows an example of the configuration of a multi-IMU using multiple processor-mounted boards. The upper part of Fig. 21 is an external perspective view of a multi-IMU 301 using multiple processor-mounted boards, and the lower part is a side view of the multi-IMU 301.

[0249] The multi-IMU 301 is composed of processor mounting boards 321 - 0 to 321 - 3 and a host controller board 322 .

[0250] The processor mounting boards 321-0 to 321-3 are configured to correspond to the IMU units 121-0 to 121-3, respectively, and the host controller board 322 is configured to correspond to the host controller 124.

[0251] More specifically, as shown in FIG. 22, IMUs 331-1 to 331-4, a female stack connector 332a, and a DIP switch 333 are provided on a surface 321A of the processor mounting board 321 (the surface seen from above in FIG. 21 is the surface).

[0252] Furthermore, IMUs 331-5 to 331-8, a male stack connector 332b, and a control processor 334 are provided on a back surface 321B of the processor mounting board 321 (the surface viewed from below in FIG. 21 is referred to as the back surface).

[0253] 22, the upper left part is a perspective view of the appearance of a front surface 321A of the processor mounting board 321, and the lower left part is a perspective view of the appearance of a back surface 321B of the processor mounting board 321.

[0254] The upper center of Figure 22 is an external perspective view of the surface portion 321A of the processor mounting board 321 with a cover 351 installed to cover the IMUs 331-1 to 331-4 and thereby suppress a decrease in accuracy due to the influence of irregular outside air.

[0255] Furthermore, the lower center of Figure 22 is an external perspective view of the back surface 321B of the processor mounting board 321 with a cover 351 installed to cover the IMUs 331-5 to 331-8 and prevent accuracy degradation due to the influence of irregular outside air.

[0256] 22 is an exterior part 351A of the cover 351, and the lower right part of FIG. 33 is an interior part 351B of the cover 351.

[0257] The IMUs 331-1 to 331-8 have configurations corresponding to the IMUs 131-1 to 131-8, respectively, and have similar functions. In addition, on the front surface 321A, the IMUs 331-1 to 331-4 are protected by a cover 351, and on the back surface 321B, the IMUs 331-5 to 331-8 are also protected by a cover 351.

[0258] The female stack connector 332a and the male stack connector 332b are configured to be arranged in corresponding positions, and by inserting the convex portion of the male stack connector 332b into the hole portion of the female stack connector 332a, multiple processor-mounted boards 321 are stacked and electrically connected.

[0259] The dip switch 333 is a physical switch that is operated to switch between predetermined operation modes.

[0260] The control processor 334 has a configuration corresponding to the above-mentioned control unit 132, and has the same functions as the control processor 132. In addition, the control processor 334 can perform signal processing on the measurement results by programming. For example, the control processor 334 can calculate the position, movement distance, speed, etc. based on the acceleration and angular velocity information that are the measurement results, and output these as calculation results together with the measurement results.

[0261] Therefore, the host controller board 322 can combine and output the results of calculations based on the measurement results of acceleration and angular velocity supplied from the multiple processor boards 321 .

[0262] As described above, in the multi-IMU 301 of FIGS. 21 and 22 , by using the same processor-mounted boards 321 for multiple units, it is possible to synthesize and output calculation results based on the respective measurement results in addition to acceleration and angular velocity at low cost and with high precision.

[0263] <<10. Example of Execution by Software>> The above-described series of processes can be executed by hardware, but can also be executed by software. When the series of processes is executed by software, the programs that make up the software are installed from a recording medium into a computer that is built into dedicated hardware, or into, for example, a general-purpose computer that can execute various functions by installing various programs.

[0264] 23 shows an example of the configuration of a general-purpose computer. This personal computer has a built-in CPU (Central Processing Unit) 1001. An input / output interface 1005 is connected to the CPU 1001 via a bus 1004. A ROM (Read Only Memory) 1002 and a RAM (Random Access Memory) 1003 are connected to the bus 1004.

[0265] The input / output interface 1005 is connected to an input unit 1006 including input devices such as a keyboard and a mouse through which a user inputs operation commands, an output unit 1007 that outputs a processing operation screen and images of processing results to a display device, a storage unit 1008 including a hard disk drive or the like that stores programs and various data, and a communication unit 1009 including a LAN (Local Area Network) adapter or the like that executes communication processing via a network typified by the Internet. Also connected is a drive 1010 that reads and writes data from / to a removable storage medium 1011 such as a magnetic disk (including a flexible disk), an optical disk (including a CD-ROM (Compact Disc-Read Only Memory) and a DVD (Digital Versatile Disc)), a magneto-optical disk (including an MD (Mini Disc)), or a semiconductor memory.

[0266] The CPU 1001 executes various processes in accordance with a program stored in a ROM 1002 or a program read from a removable storage medium 1011 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, installed in a storage unit 1008, and loaded from the storage unit 1008 into a RAM 1003. The RAM 1003 also stores data necessary for the CPU 1001 to execute various processes as appropriate.

[0267] In a computer configured as described above, the CPU 1001 performs the above-described series of processes by, for example, loading a program stored in the memory unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004 and executing it.

[0268] The program executed by the computer (CPU 1001) can be provided by being recorded on a removable storage medium 1011 such as a package medium, for example. The program can also be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.

[0269] In a computer, a program can be installed in the storage unit 1008 via the input / output interface 1005 by inserting a removable storage medium 1011 into the drive 1010. The program can also be received by the communication unit 1009 via a wired or wireless transmission medium and installed in the storage unit 1008. Alternatively, the program can be installed in advance in the ROM 1002 or the storage unit 1008.

[0270] The program executed by the computer may be a program that processes in chronological order according to the order described in this specification, or may be a program that processes in parallel or at the required timing, such as when called.

[0271] 23 realizes the functions of the host controller 124 in FIGS. 8, 18, and 20 and the host controller board 322 in FIG.

[0272] In this specification, a system refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all of the components are housed in the same housing. Therefore, multiple devices housed in separate housings and connected via a network, and a single device housed in a single housing with multiple modules, are both systems.

[0273] The embodiments of the present disclosure are not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present disclosure.

[0274] For example, the present disclosure can be configured as a cloud computing system in which a single function is shared and processed collaboratively by multiple devices via a network.

[0275] Furthermore, each step described in the above flowchart can be executed by one device, or can be shared and executed by a plurality of devices.

[0276] Furthermore, when one step includes multiple processes, the multiple processes included in that one step can be executed by one device or can be shared and executed by multiple devices.

[0277] The present disclosure can also be configured as follows. <1> A multi-IMU chip comprising: an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity; a self-combining unit that combines measurement results from the N IMUs to generate a self-combined value; an self-and-other-combining unit that combines the self-combined value with an other-unit composite value that is a composite value of measurement results from the N IMUs of other IMU units different from the IMU unit to generate a self-and-other-combined value; and a transmitter that transmits the self-combined value or the self-and-other-combined value to a destination specified as the measurement result. <2> The multi-IMU chip according to <1>, further comprising: a master-slave management unit that accepts and manages a master or slave setting by a host controller; when set as the slave in the master-slave management unit, the transmitter transmits the self-combined value or the self-and-other-combined value to the other IMU unit specified as the measurement result; and when set as the master in the master-slave management unit, the transmitter transmits the self-combined value or the self-and-other-combined value to the host controller as the measurement result. <3> The multi-IMU chip according to <2>, wherein the transmitter transmits at least the self-composite value or the self-and-other-composite value as the measurement result to another IMU unit via wired or wireless communication, and the transmitter transmits the self-and-other-composite value as the measurement result to the host controller via wired or wireless communication. <4> The multi-IMU chip according to <3>, wherein the transmitter transmits at least the self-composite value or the self-and-other-composite value as the measurement result to another IMU unit via an I2C (Inter Integrated Circuits) (registered trademark) bus or an I3C (Improved Inter Integrated Circuits) (registered trademark) bus, and the transmitter transmits the self-and-other-composite value as the measurement result to the host controller via an SPI (Serial Peripheral Interface) bus.<5> The multi-IMU chip according to <2>, further comprising a transmission destination setting unit that sets the other IMU unit to be a destination of the self-composite value or the self-and-other-composite value, wherein the transmitter unit transmits the self-composite value or the self-and-other-composite value as the measurement result to the other IMU unit set in the transmission destination setting unit. <6> The multi-IMU chip according to <5>, wherein, when set as the slave in the master-slave management unit, the other IMU unit to be a destination of the self-composite value or the self-and-other-composite value is set as the master in the master-slave management unit. <7> The multi-IMU chip according to <2>, wherein the master or the slave set in the master-slave management unit is set by the host controller at startup. <8> The multi-IMU chip according to <2>, wherein the master or the slave set in the master-slave management unit is set by the host controller based on identifiers that identify the IMU unit and the other IMU unit. When the multi-IMU chip is set as the master in the master-slave management unit, the self-other combiner detects the presence or absence of an outlier by comparing the self-combined value with an other-unit combined value of the other IMU unit, and when the multi-IMU chip is set as the master, the self-other combiner detects the presence or absence of an outlier by comparing the self-combined value with an other-unit combined value of the other IMU unit, and when the multi-IMU chip is set as the master, the self-other combiner excludes the self-combined value or the other-unit combined value that becomes the outlier and combines the self-combined value with the other-unit combined value to generate the self-other combined value. When the multi-IMU chip is set as the master in the master-slave management unit, the self-other combiner detects the presence or absence of an outlier by comparing the self-combined value with an other-unit combined value of the other IMU unit, and when the multi-IMU chip is set as the master, the self-other combiner excludes the self-combined value or the other-unit combined value that becomes the outlier and combines the self-combined value with the other-unit combined value to generate the self-other combined value.<11> The multi-IMU chip according to <2>, wherein, when set as the master in the master-slave management unit, the self-other synthesis unit detects the presence or absence of the outlier by comparing the self-synthesized value with the other-unit synthesis value of the other IMU unit, and when the self-synthesized value is the outlier, the transmitter stops transmitting the self-other synthesis value as the measurement result to the host controller. <12> The multi-IMU chip according to <11>, wherein the master or the slave set in the master-slave management unit is reset by the host controller when the measurement result is not transmitted to the host controller. <13> The multi-IMU chip according to <1>, wherein the N is 1 or more. <14> A method for operating a multi-IMU chip equipped with an IMU unit having N IMUs (Inertial Measurement Units) for detecting acceleration and angular velocity, the method comprising the steps of: combining measurement results of the N IMUs to generate a self-composite value; combining the self-composite value with an other-unit composite value, which is a composite value of measurement results of the N IMUs of another IMU unit different from the IMU unit, to generate a self-other composite value; and transmitting the self-composite value or the self-other composite value to a destination specified as the measurement result. <15> A program that causes a computer that controls a multi-IMU chip equipped with an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity to function as: a self-combining unit that combines the measurement results of the N IMUs to generate a self-combined value; an self-other-combining unit that combines the self-combined value with an other-unit composite value that is a composite value of the measurement results of the N IMUs of other IMU units different from the IMU unit to generate a self-other-combined value; and a transmitting unit that transmits the self-combined value or the self-other-combined value to a destination specified as the measurement result.<16> A multi-IMU comprising: an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity; a self-combining unit that combines the measurement results of the N IMUs to generate a self-combined value; an self-other-combining unit that combines the self-combined value with an other-unit composite value that is a composite value of the measurement results of the N IMUs of other IMU units different from the IMU unit to generate a self-other-combined value; and a transmitter that transmits the self-combined value or the self-other-combined value to a destination specified as the measurement result; and a host controller that sets the IMU units as master or slave and acquires the measurement results, wherein the transmitter of the IMU unit set as the master transmits the self-other-combined value to the host controller as the measurement result. <17> The multi-IMU according to <16>, wherein the multiple multi-IMU chips are provided on the same substrate and electrically connected to the host controller. <18> The multi-IMU according to <16>, wherein the multiple multi-IMU chips are electrically connected to the host controller via a flexible cable. <19> The multi-IMU according to <16>, wherein the multi-IMU chip is a processor-mounted board. <20> The multi-IMU according to <19>, wherein the plurality of processor-mounted boards are stacked and physically and electrically connected via stack connectors, and are also electrically connected to a host controller board that functions as the host controller.

[0278] DESCRIPTION OF SYMBOLS 101 Multi-IMU, 121, 121-0 to 121-3 IMU unit, 124 Host controller, 131, 131-1 to 131-8 IMU, 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 Destination control unit, 153 Self-combining unit, 154 Other unit combining unit, 155 ID storage unit, 201 Multi-IMU, 221, 221-1 to 221-8 IMU unit box, 221a Board, 221b Housing, 251 Multi-IMU, 301 Multi-IMU, 321, 321-0 to 321-3 Processor mounted board, 322 Host controller board, 331, 331-1 to 331-8 IMU, 334 control processor

Claims

1. A multi-IMU chip comprising: an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity; a self-synthesizing unit that synthesizes the measurement results of the N IMUs to generate a self-synthesized value; a self-other-synthesizing unit that synthesizes the self-synthesized value with an other-unit synthetic value that is a synthetic value of the measurement results of the N IMUs of an IMU unit other than the IMU unit to generate a self-other-synthesized value; and a transmitting unit that transmits the self-synthesized value or the self-other-synthesized value to a destination specified as the measurement result.

2. The multi-IMU chip of claim 1, further comprising a master-slave management unit that accepts and manages a master or slave setting by a host controller, and when set to the slave in the master-slave management unit, the transmission unit transmits the self-composite value or the self-other-composite value to another IMU unit specified as the measurement result, and when set to the master in the master-slave management unit, the transmission unit transmits the self-other-composite value to the host controller as the measurement result.

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

4. The multi-IMU chip described in claim 3, wherein the transmission unit transmits at least the self-composite value or the self-other-composite value as the measurement result to another IMU unit via an I2C (Inter Integrated Circuits) (registered trademark) bus or an I3C (Improved Inter Integrated Circuits) (registered trademark) bus, and the transmission unit transmits the self-other-composite value as the measurement result to the host controller via an SPI (Serial Peripheral Interface) bus.

5. The multi-IMU chip of claim 2, further comprising a destination setting unit that sets the other IMU unit to which the self-composite value or the self-other-composite value is to be sent, wherein the transmitter transmits the self-composite value or the self-other-composite value as the measurement result to the other IMU unit set in the destination setting unit.

6. The multi-IMU chip according to claim 5, wherein when the other IMU unit is set as the slave in the master-slave management unit, the other IMU unit to which the self-composite value or the self-other-composite value is to be transmitted is set as the master in the destination setting unit in the master-slave management unit.

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

8. The multi-IMU chip according to claim 2, wherein the master or the slave set in the master-slave management section is set by the host controller based on an identifier for identifying the IMU unit and the other IMU unit.

9. The multi-IMU chip of claim 2, wherein, when set as the master in the master-slave management unit, the self-other synthesis unit detects the presence or absence of an outlier by comparing the self-composite value with the other-unit composite value of the other IMU unit, and when the self-other synthesis unit detects an outlier, it excludes the self-composite value or the other-unit composite value that is the outlier, and synthesizes the self-composite value with the other-unit composite value to generate the self-other composite value.

10. The multi-IMU chip of claim 9, wherein when the self-other synthesis unit detects an outlier, it stores an identifier that identifies the IMU unit of the outlier or the other IMU unit as fault information, and thereafter, excludes the self-composite value of the IMU unit corresponding to the identifier registered in the fault information, or the other-unit composite value of the other IMU unit corresponding to the registered identifier, and synthesizes the self-composite value and the other-unit composite value to generate the self-other composite value.

11. The multi-IMU chip according to claim 2, wherein, when set as the master in the master-slave management unit, the self-other synthesis unit detects the presence or absence of the outlier by comparing the self-synthetic value with the other-unit synthesis value of the other IMU unit, and when the self-synthetic value is the outlier, the transmission unit stops transmitting the self-other synthesis value as the measurement result to the host controller.

12. The multi-IMU chip according to claim 11, wherein the master or the slave set in the master-slave management unit is re-set by the host controller when the measurement result is not transmitted to the host controller.

13. The multi-IMU chip according to claim 1, wherein the N number is 1 or more.

14. A method for operating a multi-IMU chip equipped with an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity, the method including the steps of: combining the measurement results of the N IMUs to generate a self-composite value; combining the self-composite value with an other-unit composite value, which is a composite value of the measurement results of the N IMUs of an IMU unit other than the IMU unit, to generate an self-other composite value; and transmitting the self-composite value or the self-other composite value to a destination specified as the measurement result.

15. A program that causes a computer that controls a multi-IMU chip equipped with an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity to function as: a self-synthesis unit that synthesizes the measurement results of the N IMUs to generate a self-synthesized value; a self-other synthesis unit that synthesizes the self-synthesized value with a other-unit synthetic value, which is a synthetic value of the measurement results of the N IMUs of other IMU units different from the IMU unit, to generate a self-other synthetic value; and a transmission unit that transmits the self-synthesized value or the self-other synthetic value to a destination specified as the measurement result.

16. A multi-IMU comprising: an IMU unit having N IMUs (Inertial Measurement Units) that detect acceleration and angular velocity; a self-synthesizing unit that synthesizes the measurement results of the N IMUs to generate a self-synthesized value; a self-other-synthesizing unit that synthesizes the self-synthesized value with an other-unit synthesized value that is a synthesized value of the measurement results of the N IMUs of an IMU unit other than the IMU unit to generate an self-other-synthesized value; and a transmitter that transmits the self-synthesized value or the self-other-synthesized value to a destination specified as the measurement result; and a host controller that sets the IMU units as master or slave and acquires the measurement results, wherein the transmitter of the IMU unit set as the master transmits the self-other-synthesized value to the host controller as the measurement result.

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

18. The multi-IMU according to claim 16, wherein the plurality of multi-IMU chips are electrically connected to the host controller via a flexible cable.

19. The multi-IMU according to claim 16, wherein the multiple multi-IMU chips are multiple processor-mounted boards.

20. The multi-IMU according to claim 19, wherein the plurality of processor-mounted boards are stacked and physically and electrically connected via a stack connector, and are also electrically connected to a host controller board that functions as the host controller.

Images