Inertial Sensor Control System for Orientation Detection Accuracy
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Solution Overview
Problem
The orientation detection accuracy of moving parts in control systems using inertial sensors is dependent on the detection accuracy of the sensors mounted on those parts, leading to potential inaccuracies.
Innovation Solution
A control system incorporating multiple inertial sensors with interconnected signal paths to enhance orientation detection accuracy by correcting sensor signals using coordinate transformations and weighted averaging based on detection axis information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple inertial sensors are mounted on different moving parts, then the orientation detection coverage is improved, but the measurement precision of each sensor remains limited by its own detection accuracy
Solution Approach 1:
The patent combines data from multiple inertial sensors mounted on different moving parts (boom, arm, bucket) through signal integration and coordinate transformation. The control unit synthesizes orientation information from multiple sensors to compensate for individual sensor inaccuracies, achieving improved measurement precision while maintaining comprehensive orientation detection coverage across all moving parts.
2Speed
If inertial sensors are mounted directly on moving parts for direct measurement, then the detection responsiveness is improved, but the orientation detection accuracy is limited by sensor mounting errors and detection axis misalignment
Solution Approach 1:
The control unit continuously processes orientation information from multiple inertial sensors and applies correction algorithms to compensate for mounting errors and axis misalignment. This feedback mechanism maintains fast detection responsiveness while progressively improving orientation detection accuracy through real-time data fusion and error correction from multiple sensor sources.
Solution Approach 2:
The system uses multiple inertial sensors not only for direct measurement but also for mutual validation and correction. Each sensor serves multiple functions: primary orientation detection, error detection through comparison with other sensors, and providing correction data for coordinate transformation algorithms, thereby overcoming individual sensor limitations while maintaining responsiveness.
3Measurement precision
If precise alignment of sensor detection axes is required for accurate orientation detection, then the measurement precision is improved, but the device complexity and alignment difficulty increase
Solution Approach 1:
The control unit dynamically adjusts coordinate transformation parameters based on actual sensor data from multiple inertial sensors. Instead of requiring fixed precise physical alignment, the system changes computational parameters (rotation matrices, coordinate system transformations) to account for actual mounting variations, thereby achieving accurate orientation detection without complex mechanical alignment procedures.
Data Source
AI summary
A control system includes a first inertial sensor and a second inertial sensor. The first inertial sensor includes first to third angular velocity detection elements, first to third acceleration detection elements, and a first control unit. The first control unit calculates a first orientation signal. The second inertial sensor includes fourth to sixth angular velocity detection elements, fourth to sixth acceleration detection elements, and a second control unit. The second control unit calculates a second orientation signal. The first control unit calculates first detection axis information and generates a first reference signal based on at least one signal selected from fourth to sixth angular velocity signals and fourth to sixth acceleration signals. The first control unit generates a first corrected signal by correcting, using the first reference signal, at least one signal selected from first to third angular velocity signals and first to third acceleration signals.