Skew-Angle IMU Gyroscope for High-Rate Rotation Sensing
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Solution Overview
Problem
Conventional three-dimensional gyroscopes have a limited operational range for measuring rotation rates, restricting their ability to sense high rates of rotation about roll, pitch, and yaw axes, which hinders their application in measuring higher rotation rates required in certain applications.
Innovation Solution
An inertial measurement unit (IMU) is designed with one or more three-dimensional gyroscopes oriented at a skew angle relative to the input axis, allowing the IMU to measure rotation rates beyond the maximum rated capacity of the gyroscopes by utilizing the pitch and yaw axes to sense rotation about the input axis, with calculations adjusting for the skew angle to determine the accurate rotation rate.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a three-dimensional gyroscope is configured with standard orientation, then the gyroscope can accurately measure rotation rates within its rated operational range, but it cannot measure rotation rates beyond its maximum rated capacity
Solution Approach 1:
The patent applies dimensionality change by orienting the gyroscope's sensitive axis at a skew angle relative to the input axis, transforming a single-axis measurement problem into a multi-axis solution. This allows the gyroscope to measure rotation rates beyond its rated capacity by utilizing the pitch and yaw axes to sense rotation about the input axis, effectively adding dimensional capability to overcome the rated range limitation.
Solution Approach 2:
The patent changes the orientation parameter of the gyroscope from a standard aligned configuration to a skewed configuration. By adjusting the angle between the gyroscope's sensitive axis and the input axis, the system enables measurement of higher rotation rates while maintaining accuracy through mathematical correction based on the skew angle.
2Adaptability or versatility
If the gyroscope is oriented at a skew angle to measure higher rotation rates, then the operational range increases, but the device complexity increases due to additional calculation requirements
Solution Approach 1:
The patent substitutes mechanical complexity with mathematical processing. Instead of using multiple physical gyroscopes or complex mechanical arrangements to extend operational range, the invention uses a single gyroscope with skewed orientation combined with mathematical calculations (division by sine of skew angle) to achieve the same effect, thereby reducing physical complexity while maintaining enhanced capability.
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
Enables the IMU to measure higher rotation rates than the maximum rated capacity of individual gyroscopes, enhancing its operational range and sensitivity while maintaining accuracy by combining signals from multiple axes, thereby overcoming the limitations of conventional gyroscopes.
Implementation Method 1
a first three dimensional gyroscope configured to sense rotation about a first set of three mutually orthogonal axes
Data Source
Figure 1
Figure 2
Figure 3A~3C
AI summary
One embodiment is directed towards an inertial measurement unit (IMU) for measuring an input rate of rotation about an input axis. The IMU includes a first three dimensional gyroscope disposed such that a first axis of its three axes is oriented at a skew angle in degrees away from a reference plane, wherein the reference plane is normal to the input axis. The IMU also includes one or more processing devices coupled to the first gyroscope. The IMU also includes one or more data storage devices coupled to the one or more processing devices, the one or more data storage devices including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to calculate the input rate of rotation based on dividing a sensed rate of rotation about the first axis by the sine of the skew angle.