Multi-IMU Cluster Calibration for Dynamic Orientation Compensation
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Solution Overview
Problem
Existing IMU calibration methods are cumbersome, requiring manual or specialized machinery positioning and cannot account for changing conditions during use, limiting calibration to specific locations and necessitating elaborate positioning patterns.
Innovation Solution
An IMU arrangement comprising a cluster of at least nine IMUs with unique angular orientations, enabling dynamic and automatic calibration through a computer system that processes calibration measurements from each IMU to simulate different orientations of a single IMU, using machine learning and extended Kalman filters for real-time adaptation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional IMU calibration methods are used, then calibration can be performed with a single IMU, but the calibration process requires manual positioning or specialized machinery and is restricted to specific locations
Solution Approach 1:
The system segments the calibration function across multiple IMUs (at least nine) arranged in a cluster, where each IMU has a distinct angular orientation. This segmentation allows the calibration process to capture measurements from multiple orientations simultaneously, eliminating the need for manual repositioning of a single IMU and enabling calibration in restricted locations.
2Measurement precision
If elaborate positioning patterns are executed for calibration, then calibration measurements can be obtained from different orientations, but the process becomes cumbersome and time-consuming
Solution Approach 1:
The system performs preliminary action by pre-arranging multiple IMUs in a cluster with distinct angular orientations before the calibration process begins. This preliminary configuration eliminates the need for time-consuming repositioning operations during calibration, as all necessary orientation measurements are captured simultaneously by the pre-positioned IMUs.
Solution Approach 2:
The system transitions from static, manual positioning to a dynamic configuration where multiple IMUs continuously capture measurements from different orientations. The cluster of IMUs with varying angular orientations enables dynamic calibration that adapts to changing conditions during vehicle operation, reducing calibration time while maintaining precision.
3Adaptability or versatility
If a single IMU is used for calibration, then the device complexity is low, but the calibration cannot account for changing conditions during vehicle use
Solution Approach 1:
The cluster of multiple IMUs serves multiple functions simultaneously: each IMU captures measurements from its specific angular orientation, collectively providing comprehensive calibration data for all orientations. This multi-functionality enables the system to adapt to changing conditions during vehicle use by leveraging data from all IMUs, while the processing system integrates these measurements to maintain calibration accuracy.
Data Source
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AI summary
An inertial measurement unit (IMU) arrangement is disclosed, which comprises a cluster of at least nine IMUs, wherein each of the IMUs has a respective angular orientation within the cluster, and wherein all respective angular orientations among the IMUs are different. For example, the respective angular orientations may collectively span a three-dimensional angle space. A computer-implemented method for calibrating the IMU arrangement is also disclosed. The method comprises receiving a respective result of calibration measurements from each of the IMUs, wherein all the calibration measurements relate to a single angular orientation of the cluster, and causing calibration of at least one of the IMUs by using the respective results from different ones of the IMUs as if the corresponding calibration measurements related to different angular orientations of a single IMU. Corresponding computer system, wheel, vehicle, computer program product, and non-transitory computer-readable storage medium are also disclosed.