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    CALIBRATION ROUTINE FOR IMU MOUNTING ALIGNMENTS
    3.
    发明公开
    CALIBRATION ROUTINE FOR IMU MOUNTING ALIGNMENTS 审中-公开

    公开(公告)号：EP4431876A1

    公开(公告)日：2024-09-18

    申请号：EP23161611.1

    申请日：2023-03-13

    申请人： Leica Geosystems Technology A/S

    发明人： KEAN, Michael Goulet

    IPC分类号： G01C25/00 ,  E02F9/26

    CPC分类号： G01C25/005 ,  E02F9/267 ,  E02F9/264 ,  E02F3/845

    摘要： The invention relates to a computer program product comprising a program code, wherein the program code is configured for calibrating mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle 1, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts 3,6,7 of the construction vehicle 1, and provides an at least partially automatically executing calibration routine for the mounting alignments of the set of IMUs on the construction vehicle 1, wherein for the calibration routine the following is defined: a sequence of N calibration measurements, with N greater than or equal to three, is to be carried out by the set of IMUs, and for each I-th of the N calibration measurements, with I consecutively from one to N, an I-th pose of the construction vehicle 1 is to be adopted, wherein the following is carried out in course of the calibration routine: after adoption of the I-th pose of the construction vehicle the I-th of the N calibration measurements is initiated by an onset of a trigger event specifically predefined for the I-th of the N calibration measurements, wherein the N calibration measurements comprise at least acceleration values of acceleration sensors of the set of IMUs, and calibration data relating to the respective mounting alignments of the set of IMUs on the construction vehicle 1 are determined or updated based on the N calibration measurements.

    INERTIAL NAVIGATION INITIAL-ALIGNMENT METHOD AND APPARATUS APPLIED TO OBLIQUE MEASUREMENT, AND DEVICE
    6.
    发明公开
    INERTIAL NAVIGATION INITIAL-ALIGNMENT METHOD AND APPARATUS APPLIED TO OBLIQUE MEASUREMENT, AND DEVICE 审中-实审

    公开(公告)号：EP4394326A1

    公开(公告)日：2024-07-03

    申请号：EP23790923.9

    申请日：2023-03-10

    申请人： Qianxun Spatial Intelligence Inc.

    发明人： LIU, Yang ,  ZHAO, Hongsong ,  XING, Juhong ,  WANG, Yongsong ,  QIU, Mobo

    IPC分类号： G01C25/00

    CPC分类号： G01C25/00

    摘要： An inertial navigation initial alignment method, apparatus (300) and device applicable to inclination measurement. The method includes: acquiring (101) a first specific force vector of an inertial navigation system of a receiver in a body coordinate system, and Doppler velocity information and position information; determining (102), according to the Doppler velocity information and the position information, a second specific force vector of the inertial navigation system of the receiver in a navigation coordinate system; determining (103) a first projection of the first specific force vector in an initial moment body inertial frame, and determining a second projection of the second specific force vector in an initial moment navigation inertial frame; performing (104) time integration on the first projection and the second projection respectively to obtain first projection integration velocities and second projection integration velocities; and determining (105), according to the first projection integration velocities and the second projection integration velocities of at least two different moments, a first relative relationship of the body coordinate system with respect to the navigation coordinate system. According to the inertial navigation initial alignment method applicable to inclination measurement, alignment accuracy and reliability of the initial alignment of the inertial navigation system can be improved.

    MEMS GYROSCOPE START-UP PROCESS AND CIRCUIT
    9.
    发明公开
    MEMS GYROSCOPE START-UP PROCESS AND CIRCUIT 审中-实审

    公开(公告)号：EP4269949A3

    公开(公告)日：2024-04-10

    申请号：EP23162780.3

    申请日：2023-03-20

    申请人： STMicroelectronics Inc. ,  STMicroelectronics S.r.l.

    发明人： HU, Yamu ,  SAHOO, Naren K ,  NALLAMOTHU, Pavan ,  FANG, Deyou ,  MCCLURE, David ,  GARBARINO, Marco

    IPC分类号： G01C25/00

    摘要： At start-up of a microelectromechanical system (MEMS) gyroscope, the drive signal is inhibited, and the phase, frequency and amplitude of any residual mechanical oscillation is sensed and processed to determine a process path for start-up. In the event that the sensed frequency of the residual mechanical oscillation is a spurious mode frequency and a quality factor of the residual mechanical oscillation is sufficient, an anti-phase signal is applied as the MEMS gyroscope drive signal in order to implement an active dampening of the residual mechanical oscillation. A kicking phase can then be performed to initiate oscillation. Also, in the event that the sensed frequency of the residual mechanical oscillation is a resonant mode frequency with sufficient drive energy, a quadrature phase signal with phase lock loop frequency control and amplitude controlled by the drive energy is applied as the MEMS gyroscope drive signal in order to induce controlled oscillation.