Inertial Navigation Sensor Layout to Prevent UAV Vibration Saturation
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Solution Overview
Problem
Conventional inertial measurement systems for UAVs face limitations in measurement accuracy and range due to vibration-induced saturation, requiring redundant systems that do not fully utilize redundant information and are costly and complex to calibrate.
Innovation Solution
The system positions multi-axis sensors, such as accelerometers and gyroscopes, in a way that optimizes measurement range, precision, and fault tolerance by using a positioning matrix to align sensor axes non-orthogonally, allowing for improved navigation and reduced vibration reduction needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If conventional three-axis integrated MIMU sensors are used in UAVs, then the system size and power consumption are reduced, but the measurement accuracy deteriorates and the measurement range is limited due to vibration-induced saturation
Solution Approach 1:
The patent positions the MIMU sensor at a 45-degree angle relative to the UAV's longitudinal axis, transitioning from conventional alignment (0 degrees) to an inclined orientation. This angular displacement in a new dimension allows the sensor's measurement axes to be optimally oriented with respect to the dominant vibration directions, expanding the effective measurement range while maintaining compact sensor size.
Solution Approach 2:
The patent changes the mounting angle parameter of the MIMU sensor from the conventional 0 degrees (aligned with longitudinal axis) to 45 degrees. This parameter modification transforms how vibration accelerations are projected onto the sensor's measurement axes, preventing saturation while preserving the use of compact integrated MIMU chips.
2Reliability
If redundant MIMUs are added to improve reliability, then fault tolerance is improved, but the system complexity and cost increase
Solution Approach 1:
The patent makes the single MIMU sensor perform multiple functions by optimally orienting it at 45 degrees. This orientation enables the sensor to simultaneously measure both longitudinal and lateral acceleration components effectively, providing redundant measurement capabilities through proper sensor positioning rather than through redundant hardware.
Solution Approach 2:
The patent enables the single MIMU to serve itself by positioning it at an angle where its intrinsic three-axis measurement capabilities naturally capture the dominant vibration directions. The sensor's own measurement axes, when properly oriented, provide sufficient redundancy and fault tolerance without requiring additional dedicated backup sensors.
3Measurement precision
If multiple single-axis sensors are used instead of MIMU, then measurement range is improved, but the mechanical mounting structure becomes more complex and calibration procedures become cumbersome
Solution Approach 1:
The patent merges the functionality of multiple single-axis sensors into a single three-axis MIMU by properly orienting it at 45 degrees. This consolidation integrates multiple measurement capabilities into one compact unit, eliminating the need for complex mechanical mounting structures while maintaining expanded measurement range through optimal angular positioning.
Data Source
AI summary
A movable object includes a plurality of actuation devices configured to move the movable object, a processor configured to control the actuation devices and the movements of the movable object, and at least one sensor. The sensor has a coordinate system not substantially in alignment with a coordinate system of the movable object. The sensor senses the state of the movable object and the processor controls the propulsion devices and the movements of the movable object based on the sensed state.