公开(公告)号：US07930148B1

公开(公告)日：2011-04-19

申请号：US12251338

申请日：2008-10-14

申请人： Davy Figaro ,  Tyler Bryant ,  Anders Boeen

发明人： Davy Figaro ,  Tyler Bryant ,  Anders Boeen

IPC分类号： G06F15/00 ,  E21B47/02

CPC分类号： E21B47/022 ,  G01C17/38 ,  G01C25/005

摘要： Inclinometer and directional field sensor readings can have gain, offset, and non-orthogonality errors, as well as reference alignment rotation errors. When a series of readings are taken by a three axis sensor with a variety of different orientations, the resulting dataset looks like a perfect hypothetical sphere in the absence of any errors; with errors as mentioned above the dataset looks like an offset, rotated, ellipsoidal quadratic surface. This invention provides a simple method of removing the above errors from a tilt reference device. A disclosed algorithm is divided into two distinct components: the ellipsoidal quadratic surface component, which covers gain, offset, and axis misalignment; and the rotation component, which covers rotation relative to a set of reference axes. The solution presented here addresses both components combined, or separated and for inclinometers, magnetometers and rate sensors.

摘要翻译： 倾角仪和定向场传感器读数可以具有增益，偏移和非正交性误差以及参考对准旋转误差。 当通过具有各种不同取向的三轴传感器拍摄一系列读数时，在没有任何错误的情况下，得到的数据集看起来像一个完美的假设球体; 如上所述，数据集看起来像偏移，旋转椭圆二次曲面的错误。 本发明提供了一种从倾斜参考装置中去除上述错误的简单方法。 所公开的算法被分为两个不同的组件：椭圆二次表面分量，其覆盖增益，偏移和轴不对准; 以及旋转部件，其覆盖相对于一组参考轴线的旋转。 此处介绍的解决方案涉及组合或分离的组件，用于倾斜仪，磁力计和速率传感器。

公开(公告)号：US07826999B1

公开(公告)日：2010-11-02

申请号：US11856973

申请日：2007-09-18

申请人： Anders Boeen ,  Andrew T. Taylor ,  Davy J. Figaro

发明人： Anders Boeen ,  Andrew T. Taylor ,  Davy J. Figaro

IPC分类号： G01C17/02 ,  G06F17/40

CPC分类号： G01C25/005 ,  G01C17/02

摘要： The instant invention utilizes two, optionally orthogonal and optionally slightly tilted, horizontal magnetic sensors and, optionally, a 2 or 3 axis accelerometer or inclinometer to calculate a pitch, roll and tilt compensated heading. A vertical, Z, component is relatively constant compared to X and Y components, the Z component can be abstracted from the X and Y sensor when pitch and roll is applied based on Z offset measured with X or Y sensor at high tilt angles. Additional sensors tilted at various θ degrees can be added with a different angle α to X sensors when additional horizontal and magnetic coverage is desirable.

摘要翻译： 本发明利用两个，任选地是正交的和可选地稍微倾斜的水平磁传感器，并且可选地使用2或3轴加速度计或倾角计来计算俯仰，滚动和倾斜补偿航向。 垂直Z分量与X和Y分量相比是相对恒定的，当基于用X或Y传感器以高倾斜角度测量的Z偏移时，可以从X和Y传感器中抽取X分量。 额外的传感器倾斜在各种不同的角度; 当需要额外的水平和磁性覆盖时，可以以与X传感器不同的角度α加上度数。