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1. 发明申请

US20230120267A1 Inertia Measurement Device, Vehicle, And Electronic Device 有权
公开(公告)号：US20230120267A1
公开(公告)日：2023-04-20
申请号：US18072836
申请日：2022-12-01
申请人： SEIKO EPSON CORPORATION
发明人： Yusuke KINOSHITA , Nobuyuki IMAI
IPC分类号： G01P15/18 , G01C21/16 , G01C21/18 , G01S19/47 , G01S19/49
摘要： An inertia measurement device, which is used in combination with a satellite positioning receiver that outputs a positioning result at every T seconds in a positioning system equipped on a vehicle, when a Z-axis angular velocity sensor, a position error P[m] based on the detection signal of the Z-axis angular velocity sensor while the vehicle moves at a moving speed V[m/sec] for T seconds satisfies Pp ≥ P = (V/Bz) × (1 - cos (Bz×T) ) (where, a bias error of the Z-axis angular velocity sensor is Bz[deg/sec] and a predetermined allowable maximum position error during movement for T seconds is Pp[m]), and a bias error Bx and By of the Y-axis angular velocity sensor satisfies Bz

2. 发明申请

US20230026000A1 PARTICLE FILTERING METHOD AND NAVIGATION SYSTEM USING MEASUREMENT CORRELATION 有权
公开(公告)号：US20230026000A1
公开(公告)日：2023-01-26
申请号：US17784509
申请日：2020-12-07
申请人： OFFICE NATIONAL D'ETUDES ET DE RECHERCHES AÉROSPATIALES
发明人： Nicolas MERLINGE , Clément AUDEBERT , Karim DAHIA , Bruno HERISSE , Jean-Michel ALLARD
IPC分类号： G01C21/18
摘要： A box regularized particle filtering method implements a binary representation of numbers. This implementation can be used to determine a box division coordinate and/or to modify state intervals according to a fixed probability kernel, for example according to an Epanechnikov kernel. The method can be executed autonomously within a navigation system using measurement correlation, in particular on board an aircraft such as an airplane, a flying drone or any self-propelled airborne vehicle.

3. 发明授权

US11543248B2 Inertial measurement system with smart power mode management and corresponding smart power mode management method 有权
公开(公告)号：US11543248B2
公开(公告)日：2023-01-03
申请号：US16932526
申请日：2020-07-17
申请人： STMicroelectronics S.r.l.
发明人： Paolo Rosingana , Alessandra Maria Rizzo Piazza Roncoroni , Federico Rizzardini , Lorenzo Bracco , Stefano Paolo Rivolta , Marco Bianco
IPC分类号： G06F3/038 , G01C21/18 , G06F1/3206 , G06F3/0346
摘要： An embodiment inertial measurement system includes: at least one motion sensor to output motion data with an output data rate (ODR) period; and a control unit coupled to the motion sensor to control operation thereof based on a power mode switching, according to which each ODR period includes: a first phase, in which the motion sensor is controlled in a condition of low power consumption; and a subsequent measurement phase, in which the motion sensor is controlled to perform measurements for generation of measurement data. The control unit adaptively adjusts the duration of the ODR period based on at least one check related to the measurement data generated during the measurement phase.

4. 发明授权

US11512976B2 Latitude-free initial alignment method under swaying base based on gradient descent optimization 有权
公开(公告)号：US11512976B2
公开(公告)日：2022-11-29
申请号：US17236237
申请日：2021-04-21
申请人： Harbin Institute of Technology
发明人： Ya Zhang , Qian Sun , Wei Gao , Fei Yu , Yanyan Wang , Xiuwei Xia , Jianxiong Wei , Weiqi Miao
IPC分类号： G01C25/00 , G01C21/18 , G06F17/16
摘要： The disclosure discloses a latitude-free initial alignment method under a swaying base based on gradient descent optimization. Firstly, swaying base latitude-free alignment is regarded as a Wahba attitude determination problem to inhibit device noise interference, and an objective function is established based on a gravitational acceleration vector under an earth system; then an exact solution of the objective function is obtained through a gradient descent optimization method, and inertial system conversion quaternion estimation is achieved under the latitude-free condition; and finally, an attitude quaternion is determined by only using information of an accelerometer and a gyroscope of a strapdown attitude heading reference system, and therefore latitude-free initial alignment under the swaying base is achieved. The disclosure can solve the problem that initial alignment cannot be accomplished with unknown latitude under the swaying base, and thus the application range of the strapdown attitude heading reference system is ensured.

5. 发明申请

US20220291251A1 Inertia Measurement Device, Vehicle, And Electronic Device 有权
公开(公告)号：US20220291251A1
公开(公告)日：2022-09-15
申请号：US17643603
申请日：2021-12-10
申请人： Seiko Epson Corporation
发明人： Yusuke KINOSHITA , Nobuyuki IMAI
IPC分类号： G01P15/18 , G01C21/16 , G01C21/18 , G01S19/47
摘要： An inertia measurement device, which is used in combination with a satellite positioning receiver that outputs a positioning result at every T seconds in a positioning system equipped on a vehicle, when a Z-axis angular velocity sensor, a position error P[m] based on the detection signal of the Z-axis angular velocity sensor while the vehicle moves at a moving speed V[m/sec] for T seconds satisfies Pp≥P=(V/Bz)×(1−cos(Bz×T)) (where, a bias error of the Z-axis angular velocity sensor is Bz[deg/sec] and a predetermined allowable maximum position error during movement for T seconds is Pp[m]), and a bias error Bx and By of the Y-axis angular velocity sensor satisfies Bz

6. 发明授权

US11435187B2 Method for calibrating sensor or azimuth information obtained through sensor, based on azimuth information obtained using satellite positioning circuit, and electronic device supporting the same 有权
公开(公告)号：US11435187B2
公开(公告)日：2022-09-06
申请号：US16521091
申请日：2019-07-24
申请人： Samsung Electronics Co., Ltd.
发明人： Jinik Kim , Gongbo Moon , Namjoon Park , Jeongmin Park
IPC分类号： G01C21/18 , G01S19/47 , G01C21/00 , G01C19/5614 , G01S19/14
摘要： An electronic device and a method of an electronic device are provided. The electronic device includes a satellite positioning circuit, at least one sensor for sensing an azimuth or movement of the electronic device, and a processor configured to identify the movement of the electronic device by using a plurality of location information received through the satellite positioning circuit, identify first azimuth information corresponding to the movement of the electronic device, based at least on determining that the movement of the electronic device corresponds to a designated movement, and calibrate second azimuth information obtained using the at least one sensor, based at least on the first azimuth information.

7. 发明申请

US20220178720A1 ROBUST STEP DETECTION USING LOW COST MEMS ACCELEROMETER IN MOBILE APPLICATIONS, AND PROCESSING METHODS, APPARATUS AND SYSTEMS 有权
公开(公告)号：US20220178720A1
公开(公告)日：2022-06-09
申请号：US17674993
申请日：2022-02-18
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Jayawardan JANARDHANAN , Sandeep RAO , Goutam DUTTA
IPC分类号： G01C22/00 , G01C21/18 , G06F1/16 , G01C21/16 , G01C21/20 , G01P15/00
摘要： A system (10) for pedestrian use includes an accelerometer (110) having multiple electronic sensors; an electronic circuit (100) operable to generate a signal stream representing magnitude of overall acceleration sensed by the accelerometer (110), and to electronically correlate a sliding window (520) of the signal stream with itself to produce peaks at least some of which represent walking steps, and further operable to electronically execute a periodicity check (540) to compare different step periods for similarity, and if sufficiently similar then to update (560) a portion of the circuit substantially representing a walking-step count; and an electronic display (190) responsive to the electronic circuit (100) to display information at least in part based on the step count. Other systems, electronic circuits and processes are disclosed.

8. 发明授权

US11337652B2 System and method for measuring the movements of articulated rigid bodies 有权
公开(公告)号：US11337652B2
公开(公告)日：2022-05-24
申请号：US15659504
申请日：2017-07-25
申请人： Facebook Technologies, LLC
发明人： Patrick Kaifosh , Timothy Machado , Thomas Reardon , Erik Schomburg , Calvin Tong
IPC分类号： A61B5/00 , G01C21/18 , G06F3/01 , A61B5/11 , G06K9/00 , G06K9/62 , G16H50/50 , G01C17/38
摘要： A method for determining spatial information for a multi-segment articulated rigid body system having at least an anchored segment and a non-anchored segment coupled to the anchored segment, each segment in the multi-segment articulated rigid body system representing a respective body part of a user, the method comprising: obtaining signals recorded by a first autonomous movement sensor coupled to a body part of the user represented by the non-anchored segment; providing the obtained signals as input to a trained statistical model and obtaining corresponding output of the trained statistical model; and determining, based on the corresponding output of the trained statistical model, spatial information for at least the non-anchored segment of the multi-segment articulated rigid body system. Determining the spatial information may include determining the position and/or orientation of the non-anchored segment relative to the anchor point and/or determining a spatial relationship between the anchored and non-anchored segments.

9. 发明授权

US11330157B2 Image pickup apparatus comprising driven body driven by actuator, and moving body 有权
公开(公告)号：US11330157B2
公开(公告)日：2022-05-10
申请号：US15995722
申请日：2018-06-01
申请人： CANON KABUSHIKI KAISHA
发明人： Shinji Obana , Ayumu Nemoto
IPC分类号： H04N5/225 , H02N2/00 , G03B15/00 , G03B17/56 , H02N2/10 , B64C25/10 , F16M11/38 , H04N5/232 , H04N7/18 , G01C21/18
摘要： An image pickup apparatus is capable of decreasing a space capacity occupied by component elements and being downsized compared to a case where an actuator is arranged independently of a supporting unit. The image pickup apparatus has an image pickup unit driven by the actuator, a base unit, and the supporting unit provided in a standing manner from the base unit and rotatably supports the image pickup unit. The actuator has a piezoelectric element and an oscillator including a transmission unit which transmits driving force caused by vibration excited by the piezoelectric element. The transmission unit is arranged in the supporting unit so that it is in pressure contact with the image pickup unit. The image pickup unit has a transmitted plane with which the transmission unit is brought into pressure contact, and the vibration excited by the oscillator causes the transmitted plane to move relatively to the oscillator.

10. 发明授权

US11243081B2 Slam assisted INS 有权
公开(公告)号：US11243081B2
公开(公告)日：2022-02-08
申请号：US16369720
申请日：2019-03-29
申请人： Trimble Inc.
发明人： Andrew Lambert , Keith Leung
IPC分类号： G01C21/16 , G01C21/18 , G01C21/20
摘要： A navigation system for a dynamic platform includes an inertial navigation system (INS) unit for measuring, in real-time, linear accelerations and angular velocities of the dynamic platform, and determining, using dead reckoning, initial estimates of current poses of the dynamic platform based on a previous pose of the dynamic platform and the linear accelerations and angular velocities of the dynamic platform. The navigation system further includes an exteroceptive sensor for acquiring sequential images of an environment in which the dynamic platform is traveling, a simultaneous localization and mapping (SLAM) unit for estimating visual odometer (VO) pose changes of the dynamic platform using the sequential images, and a sensor fusion engine for determining estimates of current poses of the dynamic platform based at least in part on the initial estimates of current poses determined by the INS unit and the VO pose changes estimated by the local sub-map tracker.

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