Inertial Measurement Unit Harmonization via Vector Comparison
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Solution Overview
Problem
Existing inertial navigation systems require significant computer resources and precise accuracy to harmonize multiple inertial measurement units, making them complex and resource-intensive.
Innovation Solution
A method for harmonizing two inertial measurement units by comparing their specific force and rotation vectors directly, without needing an inertial reference frame, and determining a harmonization value considering the lever arm between them.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional inertial navigation programs are used to harmonize two inertial measurement units by calculating rotation matrices, then harmonization accuracy is improved, but computer resource requirements and system complexity increase significantly
Solution Approach 1:
The patent extracts and eliminates the complex inertial reference frame calculation and rotation matrix computation from the harmonization process. Instead, it directly compares specific force vectors and rotation vectors from both IMUs in their respective coordinate systems, taking out the unnecessary intermediate steps that consumed significant computer resources while maintaining harmonization accuracy.
Solution Approach 2:
The patent inverts the traditional approach by not transforming both IMU data into a common inertial reference frame. Instead, it compares the vectors directly in their original coordinate systems and uses the lever arm information to establish the harmonization relationship, fundamentally reversing the conventional method's sequence and approach.
2Measurement precision
If traditional inertial navigation programs are used to harmonize two inertial measurement units, then harmonization accuracy is improved, but computer resource consumption increases
Solution Approach 1:
The patent removes the computationally intensive inertial reference frame calculation and rotation matrix operations from the processing chain. By directly comparing specific force vectors and rotation vectors in their native coordinate systems, it eliminates the heavy computational burden while preserving the essential harmonization function.
3Reliability
If two inertial measurement units of equivalent accuracies are used, then harmonization reliability is improved, but system cost and complexity increase
Solution Approach 1:
The patent introduces the lever arm as an intermediary element that mediates the relationship between two IMUs of potentially different accuracies. By using the lever arm information in the harmonization calculation, the system can reliably harmonize data from IMUs with different performance characteristics, eliminating the requirement for equivalent accuracy units.
Data Source
AI summary
A method of harmonizing a first inertial measurement unit and a second inertial measurement unit with each other includes the steps of: causing a control unit to compare the vectors measured by the inertial measurement units in order to determine a specific force difference and a rotation difference while taking account of the lever arms between the two measurement units; and causing the control unit to determine a harmonization value from the specific force difference and the rotation difference while taking account of the lever arms between the two measurement units. Navigation apparatus performs the method.