Marine Proximity Sensor IMU Self-Calibration for Flexible Installation
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Solution Overview
Problem
Current proximity sensing systems on marine vessels require laborious and exacting installation measurements, are error-prone, and lack flexibility due to pre-determined sensor locations, which can be costly and constraining for boat builders.
Innovation Solution
A 'plug-and-play' system that uses inertial measurement units (IMUs) to automatically estimate and calibrate the location and orientation of proximity sensors, allowing for flexible installation without prior specification, using a main IMU and co-located IMUs with each sensor to translate data into a common reference frame for cohesive navigation and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If pre-determined sensor locations are used, then manufacturing precision is improved, but adaptability deteriorates
Solution Approach 1:
The system performs self-calibration by automatically determining sensor locations through IMU data correlation during vessel maneuvers. The calibration module enables the system to self-adjust and self-configure without requiring precise pre-determined installation measurements, allowing sensors to be installed at flexible locations while maintaining measurement accuracy.
2Ease of manufacture
If automated sensor location estimation is implemented, then ease of manufacture is improved, but measurement precision may deteriorate
Solution Approach 1:
The system uses feedback from IMU measurements during calibrated maneuvers to automatically determine and refine sensor locations. The calibration module processes the feedback data from accelerometer and gyroscope readings to compute accurate sensor positions and orientations, maintaining measurement precision while simplifying installation.
Solution Approach 2:
The patent replaces mechanical measurement systems (physical measurement tools and procedures) with an automated electronic calibration system using IMUs and software algorithms. This substitution enables automated sensor location estimation through digital processing of motion data, improving ease of manufacture while maintaining accuracy through computational methods.
Data Source
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AI summary
A system for proximity sensing on a marine vessel (10) includes a main inertial measurement unit (IMU) (36) positioned at a main installation attitude and a main location, a first proximity sensor (72, 74, 76, 78) configured to measure proximity of objects from a first sensor location, and a first sensor IMU (62, 64, 66, 68) positioned at the first sensor location and at a first installation attitude. A sensor processor (70) is configured to receive main IMU data (80) from the main IMU (36) and first IMU data (82) from the first sensor IMU (62, 64, 66, 68), and then determine a relative orientation transform (94) between the main installation attitude and the first installation attitude by comparing the main IMU data (80) and the first IMU data (82), and then determine a relative position transform (98) between the main location and the first sensor location based on the relative orientation transform (94), the main IMU data (80), and the first IMU data (82).