초록 ▼

A method is provided for correcting errors in position derived from an inertial measurement unit (IMU), by performing a first zero velocity update at a time when the IMU is at rest, recording the time and position of the IMU at a subsequent start of a period of interest after the first zero velocity

A method is provided for correcting errors in position derived from an inertial measurement unit (IMU), by performing a first zero velocity update at a time when the IMU is at rest, recording the time and position of the IMU at a subsequent start of a period of interest after the first zero velocity update, recording the time and position of the IMU at the end of the period of interest, performing a second zero velocity update at the end of the period of interest with the IMU at rest, and then recording a velocity indicated from the IMU, and deriving an accumulated error in position from the recorded data, by approximating errors in velocity by a function of time with a parameter determined from the recorded indicated velocity, and integrating the function over the period of interest to determine the accumulated error in position during the period of interest.

대표청구항 ▼

[ We claim as follows:] [1.]1. A method for correcting errors in position derived from an inertial measurement unit (IMU), comprising the steps of:performing a first zero velocity update at a time when the IMU is at rest;recording the time and position of the IMU at a subsequent start of a period of

[ We claim as follows:] [1.]1. A method for correcting errors in position derived from an inertial measurement unit (IMU), comprising the steps of:performing a first zero velocity update at a time when the IMU is at rest;recording the time and position of the IMU at a subsequent start of a period of interest after the first zero velocity update;recording the time and position of the IMU at the end of the period of interest;performing a second zero velocity update at the end of the period of interest with the IMU at rest, and then recording a velocity indicated from the IMU; andderiving an accumulated error in position the deriving comprising a) approximating errors in velocity by a function of time with a parameter determined from the recorded indicated velocity, and b) integrating the function over the period of interest to determine the accumulated error in position during the period of interest.