Double Tetrahedron Sensor Cluster for 8DOF Error Compensation
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Solution Overview
Problem
Conventional sensor cluster geometric structures provide only six degrees of freedom (6DOF) and suffer from sensor errors that worsen over time or under specific environmental conditions.
Innovation Solution
A double tetrahedron sensor cluster design with interleaved side surfaces and redundant sensors, allowing for eight degrees of freedom (8DOF) and enabling sensor calibration and redundancy to compensate for defective sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional cube structure is used for mounting sensor clusters, then the structure is simple and easy to manufacture, but it provides only six degrees of freedom (6DOF) and lacks redundancy to compensate for sensor errors
Solution Approach 1:
The sensor cluster is divided into multiple sensor groups, each mounted on different faces of the polyhedral structure. This segmentation allows independent calibration of each sensor group while maintaining overall system redundancy and accuracy.
Solution Approach 2:
The invention transitions from a conventional 6DOF cube structure to an 8DOF polyhedral structure by adding additional spatial dimensions and orientations. This dimensional expansion provides redundant measurement paths and enables compensation for sensor errors through multiple independent sensor groups.
2Adaptability or versatility
If sensors are mounted on parallel faces of a cube, then two sensors can be placed along each Cartesian axis, but the structure lacks interleaved configuration needed for enhanced calibration
Solution Approach 1:
The polyhedral structure employs asymmetric face orientations and interleaved sensor group arrangements, where no two sensor groups are mounted on parallel faces. This asymmetric configuration enables enhanced calibration capabilities by providing non-coplanar measurement vectors that are more sensitive to misalignment errors.
Solution Approach 2:
The sensor groups are pre-configured in specific interleaved positions on the polyhedral structure during manufacturing, establishing optimal calibration geometry beforehand. This preliminary arrangement enables straightforward calibration procedures without requiring complex real-time adjustments.
3Reliability
If a simple cube structure is used, then manufacturing is easy, but sensor errors worsen over time and under environmental conditions without redundancy for compensation
Solution Approach 1:
Multiple sensor types (accelerometers, gyroscopes, magnetometers) are merged into integrated sensor groups, with each group containing complementary sensors mounted on specific faces of the polyhedron. This merging provides redundant measurement capabilities that compensate for individual sensor drift and environmental effects.
Solution Approach 2:
The invention changes the geometric parameters of the mounting structure from a standard cube to a polyhedral form with specific face orientations and angles. These parameter changes create non-coplanar sensor arrangements that provide mathematical redundancy for error compensation while maintaining manufacturability through standard fabrication techniques.
Data Source
AI summary
A sensor cluster is disclosed comprising a first plurality of side surfaces of a first N-hedron structure, and a second plurality of side surfaces of a second N-hedron structure. A first plurality of a first type of sensor are mounted on the first plurality of side surfaces, and a second plurality of a second type of sensor are mounted on the second plurality of side surfaces. N is greater than three and the first plurality of side surfaces are interleaved with the second plurality of side surfaces.