59 results about "Inertial acceleration" patented technology

Doppler Aided Inertial Navigation (DAIN) facilitates the determination of position, velocity and direction of mobile devices operating in highly obstructed GPS / GNSS environments. Delivering high precision, high resolution positioning information using signals of opportunity, the present invention measures the Doppler shift of a moving device using a variety of signals combined with inertial accelerometers and environmental sensors to deliver an autonomous positioning and navigation capability that does not require external infrastructure or a priori knowledge of signal sources.

A system determines three-dimensional attitude of a stationary or moving platform using signals from a Global Navigation Satellite System (GNSS) antenna that undergoes deliberate translation, which may be occasional. The system uses single GNSS receiver, a single GNSS antenna, and inertial acceleration and / or rotation rate sensors. In one implementation, the GNSS antenna and inertial sensing components are rigidly connected and mounted to a pallet that is intentionally translated along a track as needed. In a second implementation, the GNSS antenna is mounted to a pallet, and the inertial sensing components are fixed in position. To maximize effectiveness, the track is oriented along a geometrical direction of the platform that is predominantly in a lateral direction from the gravity vector. The system achieves three-dimensional attitude accuracy that rivals interferometric GNSS systems.

An inertia measuring and controlling method for preventing the lateral turn-over of car includes such steps as scaling the Z-axis gyroscope to be zero deflection in stationary state, using the rotation speed measured by Z-axis gyroscope and the linear speed measured by traditional speed meter to calculate centrifugal acceleration, using the output of X-axis acceleration meter to calculate the components of gravitational acceleration on X-axis and Z-axis, the inclination, total inertial acceleration and the deflection, dividing the maximal critical inclination by said deflection to obtain the safety coefficient, and judging its value to calculate the control instruction.

Apparatus and methods of monitoring mooring lines of an offshore drilling rig, with the apparatus including a communication system in communication with a global positioning system, providing position coordinates of the apparatus at a first point on the line, and also includes an inertial navigation system supported by the frame, providing position coordinates of the apparatus at a second point on the line, by double integration with respect to time of inertial accelerations measured by the device as it is moved from the first point to the second point. Correction at the second point is provided by obtaining at the second point, depth, position relative to magnetic north, and deviation from vertical.

A data processing system including a data storage device having data stored on a data storage medium. Within said data processing system, a system electronics is operatively coupled to a sensor and to said data storage device. When the sensor senses a change in gravitational or inertial acceleration of said data processing system, it alerts system electronics to temporarily park a read / write head in a safe position.

The invention provides a long-contact time micro-electromechanical universal inertia switch and a manufacturing method for the same, and aims to solve the problems of capability of capturing inertial acceleration in a single direction only and short contact time of a movable electrode and a fixed electrode of the conventional micro-electromechanical system (MEMS) inertia switch. Key points are that a middle structural layer of a silicon chip comprises an annular mass frame, an annular external electrode and an anchorage area, which are arranged outwards from an anchorage point taken as the center of a circle. The anchorage area and the anchorage point are bonded with a lower cover plate. Four external springs are arranged crosswise. The two ends of each external spring are fixedly arranged between the anchorage area and the annular external electrode respectively. Four internal springs are arranged crosswise. The two ends of each internal spring are fixedly arranged on the annular mass frame and the anchorage point respectively. The inertia switch and the manufacturing method have the positive effects that inertial acceleration in any direction can be captured; and after threshold acceleration is captured, the contact time of the two electrodes is greatly prolonged.

The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3), wherein the movement setting means (3) is held by an operator in a predefined position relative to a reference mark (19, 19', 19") and the reference mark (19) is detected by the movement setting means and optionally read (16), and the distance (17) thereof to the reference mark is measured. The position and the alignment of the movement setting means (3) is detected by internal sensors (9), e.g. inertial / acceleration sensors, or by external sensors (30, 31, 32), e.g. 3D camera. Upon satisfying the coupling condition (25), the industrial robot or individual articulated arms thereof are coupled virtually to the movement setting meansand follow its movements, as if a fixed or rigid or flexible mechanical coupling had been established with respect to the industrial robot. In addition, a haptic feedback to the operator can be provided by a mechanical coupling of the movement setting means to an articulated arm of the industrial robot.

The invention discloses a strapdown inertial navigation error model simulation method with specified inertial navigation position precision. The strapdown inertial navigation error model simulation method comprises following steps: 1) real-time acquisition of inertial acceleration information and aircraft track information with higher precision is carried out; 2) acceleration information of simulated aircraft inertial components is stimulated based on the obtained aircraft track information; 3) a strapdown inertial navitation error model is established, and a specified inertial navigation precision and inertial component random error coefficient model is established; 4) software programs are designed, and error input of a plurality of inertial navigation systems is realized; and 5) an error characteristic curve of a strapdown inertial navigation system is obtained via real-time arithmetic based on an inertial system error equation, and is applied to determination of an inertial component error model and model selection of the strapdown inertial navigation system. According to the strapdown inertial navigation error model simulation method, random error coefficients of different inertial navigation components and strapdown inertial navigation initial errors are set based on the specified inertial navigation position precision, and strapdown inertial navigation error simulation is carried out so as to obtain values close real inertial navigation position errors.

A method for estimating inertial acceleration bias errors including obtaining uncorrected acceleration measurements on board a vehicle; obtaining independent position and independent velocity data of the vehicle; transforming the uncorrected acceleration measurements into a reference frame of the independent position and independent velocity data; blending the transformed acceleration measurements with the independent position and the independent velocity data to produce feedback errors; transforming the feedback errors into the reference frame of the acceleration measurements; multiplying the feedback errors by a gain and integrating to estimate the acceleration measurement bias errors.

The invention relates to assembly tightening process sample collection, which collects video information through a video collection device, collects an electromyographic signal, an inertial acceleration signal and an azimuth signal of a human body through an electromyographic device, collects torque information collected by a torque collection device, receives the torque information by a computerand stores the torque information according to a time label so as to obtain a sample library for machine learning. The invention further relates to a monitoring system for the assembly tightening process, and the second computer identifies human skeleton nodes in the image and calculates coordinate information of each skeleton node; the coordinate information of the bone nodes, the electromyographic signals, the inertial acceleration signals and the azimuth signals are input into a deep learning network; the monitoring torque value is output, the monitoring torque value is compared with a preset torque reference value, whether the tightening process is abnormal or not is judged, it is achieved that the tightening process is not limited by fields and environments, no torque sensor is used in the monitoring process, torque information and the number of torsion turns can be monitored, and the abnormal condition is fed back to an operator immediately.

Doppler Aided Inertial Navigation (DAIN) facilitates the determination of position, velocity and direction of mobile devices operating in highly obstructed GPS / GNSS environments. Delivering high precision, high resolution positioning information using signals of opportunity, the present invention measures the Doppler shift of a moving device using a variety of signals combined with inertial accelerometers and environmental sensors to deliver an autonomous positioning and navigation capability that does not require external infrastructure or a priori knowledge of signal sources.

The invention discloses an MEMS (Micro-Electro-Mechanical System) inertial sensor based on diamagnet suspension. The MEMS inertial sensor comprises deep silicon etched grooves, a suspended permanent magnet, a fixed permanent magnet and diamagnetic materials, wherein the deep silicon etched grooves internally have closed spaces and are obtained by etching out middle regions of supporting layers inSOI silicon chips; the suspended permanent magnet is positioned in the closed spaces of the deep silicon etched grooves; the fixed permanent magnet is fixed to the top outside an upper etched groove and is used for providing a suspension force acted on the suspended permanent magnet to overcome a gravity of the suspended permanent magnet, so that the suspended permanent magnet is suspended in theclosed spaces; the diamagnetic materials are symmetrically fixed inside the deep silicon etched grooves and provides symmetrical diamagnetic forces to the suspended permanent magnet; when the MEMS inertial sensor is applied with an external acting force to cause a change of a position of the suspended permanent magnet, the diamagnetic forces are used as elasticity-like resilience forces for restraining the position of the suspended permanent magnet; and a displacement of the suspended permanent magnet is used for determining a spatial inertial acceleration corresponding to the external actingforce. The inertial sensor disclosed by the invention is not influenced by a friction force.

The invention relates to an inertial acceleration transducer frequency control force feedback signal processing circuit which comprises a weak signal amplification circuit, a filter integrating circuit, a current mode controlled oscillator and a digital differential circuit. The input end and the output end of the weak signal amplification circuit are connected with an acceleration sensor and the filter integrating circuit respectively, so as to amplify the collected weak signal; the input end and the output end of the filter integrating circuit are connected with the weak signal amplification circuit and the current mode controlled oscillator respectively, so as to amplify integrated signal error; the input end and the output end of the current mode controlled oscillator are connected with the filter integrating circuit and the digital differential circuit respectively, so as to output signal through the phase integrating system; the input end and the output end of the digital differential circuit are connected with the current mode controlled oscillator and the acceleration sensor respectively, so as to output quantized noise plastic signal containing feedback information, and feedback the feedback input end of the acceleration sensor. The circuit provided by the invention is high in signal processing precision, has a simple structure, and is good in usage effect.

The invention provides a vehicle ramp slope identification method and device. The method comprises the steps: obtaining the average wheel speed of front wheels, the average wheel speed of rear wheels,the engine torque change rate, the brake master cylinder pressure and the longitudinal acceleration measured by an inertial acceleration sensor of a vehicle; performing filtering differential processing on the average wheel speed of the rear wheel and the average wheel speed of the front wheels to obtain a rear wheel acceleration filtering value and a front wheel acceleration filtering value; filtering the longitudinal acceleration measured by the inertial acceleration sensor to obtain an inertial longitudinal acceleration filtering value; and determining the slope angle of the vehicle on a ramp according to the difference between the rear wheel acceleration filtering value and the front wheel acceleration filtering value, the engine torque change rate, the brake master cylinder pressureand the difference between the rear wheel acceleration filtering value and the inertia longitudinal acceleration filtering value. According to the identification method, the ramp is identified by adopting the existing sensor of the vehicle, so that the control of the vehicle can be corrected, the cost can be saved, and the accuracy of the obtained ramp slope can be effectively ensured to be higher.

The invention relates to an inertial acceleration indoor localization error calibration method based on the ultrasound localization technology. In comparison with the prior art, the defect that long-time accurate localization cannot be achieved due to inertial acceleration accumulative errors is solved in the invention. The method of the invention comprises the following steps: obtaining of inertial acceleration localization coordinate; obtaining of ultrasound localization coordinate; comparison between the inertial acceleration location information and ultrasound localization information; and calibration of the inertial acceleration location information. By the utilization of directivity of ultrasound and through the mode of updating reference point at any time, accumulative errors generated by inertial localization are thoroughly eliminated, and then an inertial localization system can continuously maintain high-precision localization for a long time.

The invention discloses a preparation method of an MEMS inertial sensor based on anti-magnet suspension. The preparation method comprises the steps of: determining the positions of four etching grooves to be etched on a supporting layer of an SOI silicon wafer; etching the four etching grooves to be etched in the supporting layer of the SOI silicon wafer; etching a plurality of insulating layer release holes in a device layer of the SOI silicon wafer; removing a corresponding insulating layer in a middle area of the supporting layer through the insulating layer release holes to obtain the etching grooves; symmetrically disposing diamagnetic materials on the walls of the grooves, and aligning the etching grooves of the two device diamagnetic materials for packaging; disposing a fixed permanent magnet on top of the outer side of the upper etching groove to provide a suspension force acting on a suspended permanent magnet; placing the suspended permanent magnet in a closed space formed by two etching grooves; providing an diamagnetic force for the suspended permanent magnet by the diamagnetic materials; and when the position of the suspended permanent magnet changes, serving the diamagnetic force as a quasi-elastic restoring force, and using the displacement of the suspended permanent magnet to determine an external inertial acceleration. The inertial sensor prepared by the preparation method disclosed by the invention is not affected by friction.

The invention relates to an inertial acceleration filtering decoupling method based on pattern recognition. The method comprises the following steps: 1, carrying out the pattern recognition of a gravitational acceleration signal through the gravitational acceleration of an EGM2008 model, and building a statistical model of an earth surface gravitational acceleration signal; 2, establishing a statetransition equation of gravity dynamic measurement through the statistical model of the earth surface gravity acceleration signal established in step 1 in combination with a gravity sensor output error model; and 3, establishing a measurement equation of the system through GNSS information, and performing Kalman filtering in combination with the state transition equation established in step 2 torealize optimal estimation of the gravity anomaly delta g in the state variable. The unbiased minimum variance estimation of the inclination error, the scale factor error and the carrier motion compensation amount of the gravity sensor can be realized in a state variable optimal estimation mode, and the processing precision of dynamic gravity measurement data can be obviously improved.

The invention discloses a system for reminding vehicles in front of and behind an out-of-control truck on a long downhill road section. The system comprises an inertial accelerometer, a vehicle-mounted odometer, a brake pipeline pressure sensor, a wheel rotating speed sensor, a vehicle speed sensor, a data processor, a vehicle-mounted communication device, a road side unit and an early warning device. The invention further discloses a method for reminding the vehicles in front of and behind the out-of-control truck on the long downhill road section, which comprises the following steps of: judging whether the vehicles are in the long downhill road section or not according to the gradient value i of the current lane of the vehicles and the continuous running distance L of the vehicles when the gradient value i is greater than or equal to a gradient threshold; calculating the slip rate S of the vehicles according to the vehicle brake pressure P, the real-time wheel rotating speed w and the real-time speed v; judging whether the vehicles are in a brake out-of-control state or not according to the slip rate S; and when vehicle braking is out of control, early warning is conducted on surrounding vehicles of the out-of-control vehicle. According to the invention, the early warning range is large, the early warning information is accurate, vehicles around the out-of-control vehicles can effectively obtain the early warning information, and the traffic risk is effectively reduced.

An ultra-low orbit satellite orbit autonomous maintenance method is provided. The method comprises: 1, setting the working orbit range of a satellite, and estimating the magnitude of atmospheric resistance; 2, analyzing the magnitude of the noise of the inertial acceleration measurement system according to the magnitude of the atmospheric resistance to obtain a noise analysis result of the inertial acceleration measurement system; 3, setting parameters of a small-thrust execution system according to the noise analysis result of the inertial acceleration measurement system, and performing on-orbit calibration on the inertial acceleration measurement system and the small-thrust execution system to obtain a calibrated inertial acceleration output result; and 4, setting an orbit control smallthrust output algorithm of the small thrust execution system according to the calibrated inertial acceleration output result.

The invention relates to an inertial acceleration assisted receiver tracking loop algorithm. According to the main technical characteristics, the method comprises the following steps that: frequency mixing is carried out on digital intermediate frequency signals to obtain homodromous I path signals and quadrature Q path signals; a homodromous advancing signal IE, a homodromous lag signal IL, a quadrature advancing signal QE and a quadrature lag signal QL pass through a code loop discriminator to obtain a code phase error, the code phase error is smoothed by a code loop filter, and the smoothed code phase error is added to faid / M so as to control a local C / A code generator in a feedback manner; a homodromous instant signal IP and a quadrature instant signal QP pass through a phase discriminator to obtain a loop phase error, the loop phase error is smoothed by a loop filter to obtain a carrier phase error, and the carrier phase error is added to faid to correct a local carrier generator. According to the invention, the dynamic stress borne by the loop is eliminated, the loop is enabled to realize stable tracking of a large dynamic environment under a small bandwidth, the dynamic performance of the loop is substantially improved, and the interference resistance of the loop is effectively improved.

The invention relates to a design method of an unmanned aerial vehicle inertial navigation and GPS mixed height measurement device. The method comprises the following steps of: firstly, installing a BN-880Q GPS position receiver, receiving real-time GPS height information of the unmanned aerial vehicle, then installing an ACS100 high-precision Mems accelerometer, measuring real-time acceleration information of the unmanned aerial vehicle, designing a nonlinear filter to obtain GPS filtering height information, and then carrying out twice integration on the implemented acceleration informationto obtain inertia height; comparing the inertia height with the filtering height to obtain height error information, performing nonlinear filtering to obtain filtering error information, introducing inertia acceleration and speed compensation feedback, performing integration to obtain a mixed speed and a mixed height, and comparing the mixed height with a GPS height to form an error signal to further compensate generation of the mixed height; thus finally obtaining the inertial navigation and GPS composite measurement method. The method has the advantages that measurement errors are not accumulated and diverged along with time, and the precision is higher than that of single measurement.

A system includes an electronic pen, functionally integrated with a personal computer for the acquisition and processing of signals associated with signatures, which can be network connected together with other personal computers. Each personal computer has connected as peripherals an electronic pen that includes two groups of inertial accelerometers that capture kinetic data and data about contact microvibrations with the writing support. The electronic pen also includes one self-referential optical navigation sensor that captures a series of data pairs, as momentary movements necessary in the reconstruction of the trajectory of the electronic pen and which, together with the kinetic data captured by the set of inertial accelerometers, represents personal computer input data for sensorial fusion processing and for creating the conditions to extract the information from the sensorial and psychomotric representation of a user's perspective.

The invention relates to the field of the design of satellite navigation receivers, and specifically discloses an inertial information auxiliary satellite deep combined loop. The inertial informationauxiliary satellite deep combined loop comprises an inertial information auxiliary tracking loop and an inertial information discriminant tracking loop. The inertial information auxiliary tracking loop comprises an auxiliary information anomaly discrimination module, an inertial acceleration auxiliary module, a loop optimal bandwidth calculation module, an equivalent carrier-to-noise ratio calculation module, an interference-to-signal ratio estimation module and a loop PIT adjustment module, which are connected with the output end of the inertial information discriminant tracking loop. The inertial information auxiliary satellite deep combined loop further comprises a correlator and a three-path loop connected with the output end of the correlator. Through full fusion of inertial information and satellite navigation information, reliable design of a satellite receiver and optimal design of the parameters are realized. The algorithm is simple to apply. There is no complex equation or equation needing heavy computation. Algorithm programming on a DSP or FPGA hardware platform can be guaranteed in the aspects of both real-time performance and amount of computation, namely, engineeringimplementation is easy.

The invention discloses a single-mass-block three-axis MEMS inertial accelerometer which comprises a bottom plate, a cavity structure layer, a mass block and cantilever beam structure layer and a topplate which are sequentially bonded from bottom to top. The cavity substrate bottom surface bonding rings on four sides of the bottom surface of the cavity structure layer are bonded with the bottom plate bonding ring gold on four sides of the top surface of the bottom plate. The bottom surface of the cantilever beam clamped frame is bonded with the top surface of the cavity substrate on the foursides of the top surface of the cavity structure layer through gold-silicon bonding. Each cantilever beam is suspended above the cavity, and the mass block is suspended in the cavity. The grounding extraction electrodes on four sides of the bottom surface of the top plate are bonded with the grounding electrode gold on the top surface of the cantilever beam clamped frame. According to the invention, a single mass block inertia sensitive mode and a plane parallel plate capacitance detection mode are adopted, the overall structure is simple, the preparation process is simple and convenient, andthe sensing sensitivity and the sensing precision of each axial acceleration are high.

The invention discloses a single-mass-block three-axis MEMS inertial accelerometer with a low depth-to-width ratio. The single-mass-block three-axis MEMS inertial accelerometer comprises a bottom plate, a cavity structure layer, a mass block and cantilever beam structure layer and a top plate which are sequentially bonded from bottom to top, wherein the bottom plate and the cavity structure layerare bonded through using a bottom plate bonding ring; the cavity structure layer and a cantilever beam clamped frame are bonded through using a cavity substrate bonding ring; each cantilever beam is suspended above a cavity and mass blocks are suspended in the cavity; and the cantilever beam clamped frame is bonded with the top plate by means of a top plate bonding ring, so as to form a gastight sealed structure finally. According to the single-mass-block three-axis MEMS inertial accelerometer, the mass blocks and the cavity structure layer with low depth-to-width ratios are adopted, the overall structure is simple, the preparation process is simplified, the manufacture is convenient, and the sensing sensitivity and the sensing precision of the axial acceleration are high.

The invention discloses an imaging control system of an earth observation satellite. The system comprises a control center, a ground imaging camera and a track maintenance subsystem, the frequency frame of the ground imaging camera is adjusted in real time according to a relative satellite of the satellite and a target point, and the orbit maintenance subsystem comprises an inertial acceleration measurement unit and a small thrust execution unit and is used for realizing satellite orbit autonomous maintenance based on continuous small thrust so as to ensure stable flight during satellite imaging.