Synthetic IMU Wireless Mesh Synchronization
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Solution Overview
Problem
Current multiple IMU technologies face challenges in achieving accurate location and rotation estimation due to timing errors and limited geometric configurations, which restrict the improvement in location estimation accuracy beyond a few IMUs.
Innovation Solution
The development of a synthetic inertial measurement unit (IMU) with a wireless mesh network that synchronizes distributed IMUs, allowing for precise synchronization and combination of multiple IMUs to achieve high accuracy rotation and location estimation, enabling the use of arbitrary 3-D configurations and larger rigid bodies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple IMUs are combined to improve location estimation accuracy, then measurement precision improves, but timing errors and geometric limitations worsen
Solution Approach 1:
The patent introduces a wireless mesh network as an intermediary system to synchronize multiple distributed IMUs. The network enables time synchronization and data exchange between IMUs, allowing them to function as a coordinated array rather than independent units. This resolves the timing error problem by providing a common time reference across all sensors.
Solution Approach 2:
The patent divides a large rigid body into multiple segments, each equipped with its own IMU. By segmenting the measurement system across multiple spatial locations, the patent achieves better location estimation accuracy through the combined data from distributed sensors, while the wireless network coordinates their operation to overcome timing issues.
2Measurement precision
If more IMUs are added to the system, then location estimation accuracy improves, but device complexity increases
Solution Approach 1:
The wireless mesh network performs multiple functions simultaneously: it synchronizes time across IMUs, transmits sensor data, coordinates measurements, and enables geometric configuration management. This multi-functionality reduces the need for separate dedicated systems for each task, thereby managing complexity despite having multiple IMUs.
Solution Approach 2:
The patent combines multiple IMUs and the wireless mesh network into an integrated system where the network infrastructure serves all IMUs. Rather than having separate communication and synchronization systems for each IMU, they are merged into a unified mesh network that handles all coordination tasks collectively.
3Measurement precision
If distributed IMUs are synchronized wirelessly, then navigation accuracy improves, but frequency offset and clock synchronization challenges worsen
Solution Approach 1:
The wireless mesh network implements feedback mechanisms where each node monitors and reports its clock status and frequency offset to the network. This enables continuous synchronization adjustments, where timing information flows back from receivers to transmitters to correct drift and maintain synchronization across the distributed IMU array.
Data Source
AI summary
Systems and methods are disclosed herein for blind frequency synchronization. In one embodiment, a synthetic inertial measurement unit (IMU) is disclosed, comprising: a plurality of nodes wirelessly coupled to each other, each The method may further comprise: a wireless transceiver at a particular node for providing wireless communications with at least one other node of the plurality of nodes, configured to receive I and Q radio samples from the other node, and to determine a frequency offset of the other node based on the received I and Q radio samples, and to synchronize a clock at the particular node, a frequency offset synchronization module at the particular node coupled to the wireless transceiver, at the particular node, and an IMU sensor for determining rotation, acceleration, and speed of the particular node; and an IMU location estimation module for using time of arrival information assuming that the clock may be synchronized at the node, the determined distance, and the rotation, acceleration, and speed of the particular node received from the IMU sensor to determine the location of the nodes, thereby providing enhanced determination of location of the plurality of nodes.