Inertial Measurement System Calibration for 3D Detection Drift

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Solution Overview

Problem

Inertial measurement systems in detection devices used for three-dimensional environmental detection suffer from positional and orientational drift over time, leading to inaccurate environmental imaging, especially in environments without GPS or global navigation signals.

Innovation Solution

A method that involves calibrating the detection device by positioning and orienting it relative to predefined reference points, determining error variables, and correcting the trajectory computationally determined by the inertial measurement system, using techniques such as Kalman filters and image recognition, to maintain precise position and orientation over time.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If GPS or global navigation signals are used for determining position and orientation, then measurement precision is improved, but adaptability to shielded environments deteriorates

Engineering Contradiction:

Improveposition and orientation determination accuracyVSAvoidenvironmental adaptability

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent introduces an inertial measurement system as an intermediary between GPS signals and the detection device. This inertial system comprises accelerometers and gyroscopes that measure acceleration and angular velocity, serving as a mediator that can operate independently of GPS signals in shielded environments while providing continuous position and orientation data through integration of motion measurements

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system performs preliminary calibration by positioning the detection device at reference points with known coordinates before actual measurement tasks. This preliminary action establishes initial position and orientation data that the inertial measurement system can use as a baseline, enabling accurate operation without GPS signals by relying on pre-established reference information

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If inertial measurement system is used for determining position and orientation without GPS signals, then adaptability to shielded environments is improved, but measurement precision deteriorates over time due to drift

Engineering Contradiction:

Improveenvironmental adaptabilityVSAvoidposition and orientation accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The patent implements a feedback mechanism where the detection device periodically returns to reference points with known coordinates to compare measured positions against known values. This feedback loop identifies drift accumulation in the inertial measurement system and enables correction of position and orientation data, maintaining measurement precision over extended periods without GPS signals

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system employs periodic calibration by repeatedly visiting reference points during measurement operations. This periodic action allows the inertial measurement system to reset and correct accumulated drift at regular intervals, maintaining long-term measurement accuracy while operating autonomously in GPS-denied environments

Inventive Principle:

Principle #19Periodic action

3Adaptability or versatility

If double temporal integration is performed to determine position and orientation from acceleration and angular velocity, then adaptability to shielded environments is improved, but measurement precision deteriorates due to mechanical and computational inaccuracies

Engineering Contradiction:

Improveenvironmental adaptabilityVSAvoidposition and orientation accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The system performs preliminary calibration at reference points with known coordinates before beginning measurement tasks. This preliminary action establishes accurate initial conditions for position and orientation that compensate for mechanical and computational inaccuracies in the inertial measurement system, reducing drift effects during subsequent double temporal integration operations

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent replaces purely mechanical integration methods with a hybrid approach that combines inertial measurement data with periodic optical or electromagnetic measurements at reference points. This substitution reduces reliance on error-prone mechanical integration by incorporating external reference measurements that correct accumulated computational inaccuracies

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS10495456B2Method for calibrating a detection device, and detection device

Publication Date: 2019.12.03 P3D SYST

AI summary

A device designed for the three-dimensional geometrical detection of an environment includes at least one inertial measurement system for provisionally calculating a trajectory of the detection device. The device is calibrated by steps of: (a) positioning and/or orienting the detection device in a position and/or orientation with respect to at least one reference point characterized by at least one predefined relative coordinate, or determining at least one relative coordinate which characterizes the position and/or the orientation of the detection device relative to at least one reference point; (b) determining at least one error variable which characterizes the deviation of the relative coordinate in accordance with step (a) from the relative coordinate(s) provisionally calculated by the inertial measurement system; and (c) if the error variable fulfills a predefined correction criterion, correcting the provisional trajectory.