초록 ▼

An apparatus and method for sensing position according to flow velocity includes at least two pitot tubes each defining a central axis is along mutually orthogonal axes. Each of at least two pressure sensors is positioned in fluid communication with a corresponding one of the at least two pitot tube

An apparatus and method for sensing position according to flow velocity includes at least two pitot tubes each defining a central axis is along mutually orthogonal axes. Each of at least two pressure sensors is positioned in fluid communication with a corresponding one of the at least two pitot tubes. A controller receives outputs from the at least two pressure sensors and analyzes to determine at least one of an angular and translational velocity according to the outputs. A distance traveled is then determined according to the at least one of an angular and translational velocity. Corresponding methods of use and calibration are also disclosed.

대표청구항 ▼

1. A system for estimating movement comprising: a sensor system including three pairs of pitot tubes, each pitot tube of each pair of pitot tubes being parallel to a central axis of the each pair of pitot tubes and having an opening facing in an opposite direction to another pitot tube of the each p

1. A system for estimating movement comprising: a sensor system including three pairs of pitot tubes, each pitot tube of each pair of pitot tubes being parallel to a central axis of the each pair of pitot tubes and having an opening facing in an opposite direction to another pitot tube of the each pair of pitot tubes, the central axis of the each pair of pitot tubes being orthogonal to and intersecting the central axes of all other pairs of pitot tubes of the three pairs of pitot tubes, the sensor system further including at least three pressure sensors each positioned in fluid communication with at least one of the pitot tubes of the three pairs of pitot tubes;a controller in data communication with the at least three pressure sensors, the controller programmed to: receive pressure readings from the at least three pressure sensors;translate the pressure readings to velocity estimates; andtranslating the velocity readings to displacement estimates. 2. The system of claim 1, wherein the controller is programmed to translate the pressure readings to velocity readings by: identifying calibration data corresponding to the pressure readings from a calibration data space; andcalculating the velocity estimates according to the identified calibration data. 3. The system of claim 2, wherein the calibration space relates pressure readings to velocity of the sensor system relative to surrounding fluid. 4. The system of claim 3, wherein the calibration space relates pressure readings to one or more of axis of rotation and orientation of the sensor system. 5. The system of claim 1, wherein the at least three pairs of pitot tubes are positioned within a shaped surface having distal ends thereof in fluid communication with space exterior to the shaped surface. 6. The system of claim 5, wherein the shaped surface defines at least one vent. 7. The system of claim 6, wherein the at least three pressure sensors are differential pressure sensors each positioned to measure a difference between pressures in the pitot tubes of one pair of pitot tubes of the three pairs of pitot tubes. 8. The system of claim 6, wherein the shaped surface is perforated. 9. A system comprising: a sensor system including three pairs of pitot tubes each defining a central axis, the central axis of the at least three pairs of pitot tubes being orthogonal to and intersecting one another, the sensor system further including six pressure sensors each positioned within one pitot tube of the three pairs of pitot tubes, the three pairs of pitot tubes being embedded in a structure symmetric with respect to three mutually orthogonal axes; anda controller in data communication with the six pressure sensors, the controller programmed to:for each calibration state of the plurality of calibration states receive readings from the six pressure sensors; andrecord readings from the at least three pressure sensors in association with the calibration state;wherein— each pitot tube of the three pairs of pitot tubes has a first end facing outwardly from the structure and in fluid communication with a region exterior to the structure and a second end facing inwardly into the structure;the second ends of all of the at least three pitot tubes face into a common volume defined within the structure, each pitot tube having one pressure sensor of the six pressure sensors positioned therein between the first end and the second end of the each pitot tube. 10. The system of claim 9, wherein the each calibration state includes a translational fluid velocity. 11. The system of claim 10, wherein the each calibration state includes an angular velocity of the sensor system. 12. The system of claim 11, wherein the each calibration state includes an orientation of the sensor system relative to translational fluid flow. 13. The system of claim 12, wherein: the each calibration state includes an axis of rotation of the sensor system; andthe at least three pitot tubes are positioned within a shaped surface having distal ends thereof in fluid communication with space exterior to the shaped surface. 14. A system comprising: at least three pitot tubes each defining a central axis, including at least one pitot tube oriented with the central axis thereof parallel to a first direction, at least one pitot tube oriented having the central axis thereof having an extent along a second direction orthogonal to the first direction, and at least one pitot tube oriented having the central axis thereof having an extent along a third direction orthogonal to the first and second directions, each pitot tube of the at least three pitot tubes being in fluid communication with an opening a surface symmetric with respect to the first, second, and third directions, the surface being at least one of a cube and a sphere; at least three pressure sensors each positioned in fluid communication with one of the at least three pitot tubes; a processor operably connected to the at least three pressure sensors, the processors programmed to: receive first signals reflecting pressure readings corresponding to the at least three pressure sensors; process the pressure readings to calculate velocity estimates; and calculate based on the velocity estimates, displacement estimates, wherein: each pitot tube of the at least three pitot tubes has a first end facing outwardly from the surface and in fluid communication with a region exterior to the surface and a second end facing inwardly from the surface; the second ends of all of the at least three pitot tubes are in fluid communication with a common volume defined within the surface. 15. The system of claim 14, wherein: the at least three pitot tubes are each positioned within a shaped surface; andeach of the at least three pitot tubes has a corresponding distal end in fluid communication with space exterior to the shaped surface. 16. The system of claim 15, wherein the shaped surface defines at least one vent. 17. The system of claim 16, wherein: the at least three pressure sensors are differential pressure sensors;wherein the shaped surface defines an interior volumeeach of the at least three pressure sensors is operably connected to measure a difference between a pressure of the interior volume within the shaped surface and a pressure within a corresponding one of the at least three pitot tubes. 18. The system of claim 17, wherein the shaped surface is perforated. 19. The system of claim 14, further comprising: a transmitter operably connected to the processor;a receiver within a communication range of the transmitter and operably connected to exchange information therewith; andthe processors is further programmed to invoke transmitting, by the transmitter to the receiver, information reflecting a distance reflecting the displacement estimate. 20. The system of claim 14, wherein the surface defines an additional aperture coupling the common volume to a region exterior to the surface independently from the at least three pitot tubes. 21. The system of claim 20, wherein the additional aperture includes a plurality of perforations distributed around the surface, the plurality of perforations being other than openings in the surface aligned with first ends of the at least three pitot tubes.