Inertial Spatial Control Using Torso Reference Motion Filtering
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing control systems for unmanned vehicles using inertial sensors face inaccuracies when the operator is in motion, such as walking or riding in a vehicle, leading to interference with accurate control due to the operator's movement.
Innovation Solution
A motion identification system that uses inertial sensors on both the operator's hand and torso to differentiate between intentional hand movements and unintentional body movements, determining whether the hand and body are moving in sync to avoid sending erroneous commands to the unmanned vehicle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If inertial sensors are used to detect hand/arm movements for controlling unmanned vehicles, then motion-induced control is enabled, but operator movement interferes with accurate control
Solution Approach 1:
The patent introduces a torso-mounted inertial sensor as an intermediary reference point to distinguish between intentional hand movements and unintentional body movements. The controller compares motion data from both the hand controller and torso sensor, using the torso as a stable reference frame to filter out common-mode motion-induced errors while preserving intentional control commands.
2Speed
If motion data from inertial sensors is used to generate control commands, then responsive control is achieved, but motion-induced errors cause inaccurate control when operator is moving
Solution Approach 1:
The system implements feedback by continuously monitoring motion data from both the hand controller and torso sensor, comparing the two data streams to identify motion-induced errors, and adjusting the control commands accordingly. This feedback loop maintains responsive control while filtering out unreliable motion-induced errors through real-time comparison and correction.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system accurately distinguishes between intended and unintended hand movements, ensuring precise control of unmanned vehicles by filtering out motion-induced errors and preventing unnecessary commands.
Implementation Method 1
The inertial sensor may be a second inertial sensor in the motion identification system that is being worn by an operator. The inertial sensor may measure the linear and angular acceleration(s), velocity(ies), and/or position(s) of a torso of the operator.
Data Source
AI summary
Methods and systems are described herein for detecting motion-induced errors received from inertial-type input devices and for generating accurate vehicle control commands that account for operator movement. These methods and systems may determine, using motion data from inertial sensors, whether the hand/arm of the operator is moving in the same motion as the body of the operator, and if both are moving in the same way, these systems and methods may determine that the motion is not intended to be a motion-induced command. However, if the hand/arm of the operator is moving in a different motion from the body of the operator, these methods and systems may determine that the operator intended the motion to be a motion-induced command to a vehicle.