Sensor Attitude Determination Using Initial Movement Vectors
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Solution Overview
Problem
Existing inertial navigation systems face challenges in accurately determining the attitude of sensors with respect to a moving body due to errors in coordinate transformation between the sensor's coordinate system and the moving body's coordinate system, leading to inaccuracies in position calculation over time.
Innovation Solution
A method and device for determining the attitude of a sensor with respect to a moving body by measuring a movement vector when the body starts to move, using compensation techniques and coordinate transformations to improve accuracy, particularly by calculating velocity vectors and applying constraint conditions to reduce measurement errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If coordinate transformation is performed between sensor coordinate system and moving body coordinate system, then position calculation can be performed, but accuracy deteriorates due to transformation errors and misalignment
Solution Approach 1:
The patent applies preliminary action by determining the attitude of the sensor with respect to the moving body at the moment the moving body starts to move. This initial attitude determination is performed before the inertial navigation operation begins, allowing the coordinate systems to be properly aligned at the start. By establishing the correct coordinate correspondence relationship in advance (when velocity is zero and acceleration is known), the patent eliminates the need for continuous coordinate transformation during movement, thereby preventing error accumulation and maintaining high position calculation accuracy throughout the navigation process.
2Device complexity
If sensor is fixed to moving body to match coordinate systems, then coordinate transformation is simplified, but manufacturing precision deteriorates due to difficulty in achieving correct alignment
Solution Approach 1:
The patent applies preliminary action by determining the attitude of the sensor with respect to the moving body at the moment the moving body starts to move. This initial attitude determination is performed before the inertial navigation operation begins, allowing the coordinate systems to be properly aligned at the start. By establishing the correct coordinate correspondence relationship in advance (when velocity is zero and acceleration is known), the patent eliminates the need for continuous coordinate transformation during movement, thereby preventing error accumulation and maintaining high position calculation accuracy throughout the navigation process.
3Productivity
If inertial navigation operation is performed over time, then position calculation is achieved, but accuracy deteriorates due to error accumulation
Solution Approach 1:
The patent applies preliminary action by determining the attitude of the sensor with respect to the moving body at the moment the moving body starts to move. This initial attitude determination is performed before the inertial navigation operation begins, allowing the coordinate systems to be properly aligned at the start. By establishing the correct coordinate correspondence relationship in advance (when velocity is zero and acceleration is known), the patent eliminates the need for continuous coordinate transformation during movement, thereby preventing error accumulation and maintaining high position calculation accuracy throughout the navigation process.
Data Source
AI summary
A new method for determining an attitude of a sensor with respect to a moving body is proposed. A movement vector is measured by a sensor mounted in the moving body. In addition, the attitude of the sensor with respect to the moving body is determined using the movement vector measured by the sensor when the moving body starts to move.