公开(公告)号：US07711516B2

公开(公告)日：2010-05-04

申请号：US12158631

申请日：2006-12-21

申请人： Yanis Caritu ,  Christelle Godin ,  Alain Barraud ,  Suzanne Lesecq

发明人： Yanis Caritu ,  Christelle Godin ,  Alain Barraud ,  Suzanne Lesecq

IPC分类号： G01C9/08 ,  G01C17/02

CPC分类号： G01C17/30 ,  G01C17/38 ,  G01C21/16

摘要： The method estimates movement of a solid mobile in a medium capable of generating disturbances defined by a three-variable vector, wherein the movement is defined by a six-variable vector and the solid is equipped with at least one sensor sensitive to acceleration having at least three sensitive axes and at least one sensor sensitive to the magnetic field having at least three sensitive axes. The method for estimating the movement of a solid includes a step of calculating a nine-variable vector consisting of the six-variable movement vector and of the three-variable disturbance vector and a step of weighting the nine-variable vector capable of transforming the nine-variable vector into a vector with not more than five variables to be estimated.

摘要翻译： 该方法估计在能够产生由三变量向量定义的干扰的介质中的固体移动体的运动，其中运动由六变量向量限定，并且固体配备有至少一个对加速度敏感的传感器，其至少具有至少 三个敏感轴和至少一个对具有至少三个敏感轴的磁场敏感的传感器。 用于估计实体的运动的方法包括计算由六变量运动矢量和三变量干扰矢量组成的九变量向量的步骤，以及对能够变换九变量的九变量向量进行加权的步骤 变量向量转换为不超过五个要估计的变量的向量。

公开(公告)号：US08577635B2

公开(公告)日：2013-11-05

申请号：US13074066

申请日：2011-03-29

申请人： Suzanne Lesecq

发明人： Suzanne Lesecq

IPC分类号： G06F19/00

CPC分类号： H03H21/003 ,  A61B5/062 ,  A61B2560/0223

摘要： A method for calibrating coefficients of an observer of a variable state of a physical system from measurements of physical quantities of the system, at different instants includes measuring a variable of the physical system at several instants, the variable being a function of a system state variable, and determining a vector of coefficients that minimizes a sum of the number of measurements of a square of a norm of a vector that is the difference between the measured variable and a function of the system state variable and the vector of coefficients. The minimization is subject to a constraint that the trajectory of the measured variable be within a corridor of uncertainty on either side of a trajectory of its estimate, at least for the measurement instants.

摘要翻译： 一种用于在不同时刻从物理系统的物理量的测量中校准物理系统的可变状态的观测者的系数的方法包括在几个时刻测量物理系统的变量，该变量是系统状态变量的函数 并且确定最小化作为测量变量与系统状态变量的函数与系数矢量之间的差的向量范数的平方的量度的和的系数向量。 最小化受限于测量变量的轨迹在其估计的轨迹的任一侧处于不确定度的走廊内，至少对于测量时刻。

公开(公告)号：US20130090882A1

公开(公告)日：2013-04-11

申请号：US13649433

申请日：2012-10-11

申请人： Cedric Berbra ,  Suzanne Lesecq

发明人： Cedric Berbra ,  Suzanne Lesecq

IPC分类号： G06F19/00 ,  G01D18/00

CPC分类号： G01C21/165 ,  G01C17/38 ,  G01C25/00 ,  G01P15/18 ,  G01P21/00

摘要： A method for identifying faulty measurement axes of a triaxis sensor fixed to a mobile object includes using triaxis sensor Cj fixed to the object, measuring vector bmj, using triaxis sensor Ci fixed to the object, measuring vector bmi, the fields being represented by normalized vectors ri and rj such that scalar and vector products of ri and rj are known at any point, building vector bej corresponding to an estimate of the measurement by Cj at the measurement point without bmj, obtaining residues based on bej and bmj and identifying faulty measurements of Cj having as a function of residues, wherein building bej comprises using scalar and vector products of ri and rj, and bmi so that a direction of bej relative to bmi matches a direction of rj relative to ri.

摘要翻译： 用于识别固定到移动物体的三轴传感器的有缺陷的测量轴的方法包括使用固定到物体的三轴传感器Cj，测量向量bmj，使用固定到对象的三轴传感器Ci，测量向量bmi，由归一化矢量表示的场 ri和rj，使得ri和rj的标量和向量乘积在任何点都是已知的，构建向量bej对应于在没有bmj的测量点处的C j的测量估计，获得基于bej和bmj的残差，并且识别错误测量 Cj具有残差的函数，其中建筑物bej包括使用ri和rj的标量和向量积以及bmi，使得相对于bmi的bej的方向与rj相对于ri的方向匹配。

公开(公告)号：US20080281555A1

公开(公告)日：2008-11-13

申请号：US12108981

申请日：2008-04-24

申请人： Christelle Godin ,  Stephane Bonnet ,  Alain Barraud ,  Suzanne Lesecq

发明人： Christelle Godin ,  Stephane Bonnet ,  Alain Barraud ,  Suzanne Lesecq

IPC分类号： G01B7/31

CPC分类号： A61B5/1126 ,  A61B5/6824 ,  A61B2560/0223 ,  A61B2562/0219 ,  G01C21/16 ,  G01C25/00

摘要： A method for detecting a substantially invariant rotation axis of a motion of a mobile body equipped with at least one inertial or magnetic sensor with three sensitive axes that includes acquiring physical measurements with respect to the three sensitive axes of the sensor, the physical measurements including at least three samples at different times, estimating a substantially invariant rotation axis in the physical measurements space, and identifying the estimated axis as the substantially invariant rotation axis of the motion. In one aspect, the method is applicable for estimating the motion of a mobile body rotating about a substantially invariant axis.

摘要翻译： 一种用于检测配备有至少一个具有三个敏感轴的惯性或磁传感器的移动体的运动的基本上不变的旋转轴的方法，所述三个敏感轴包括相对于所述传感器的三个敏感轴获取物理测量，所述物理测量包括 估计不同时间的三个样本，估计物理测量空间中基本上不变的旋转轴，以及将估计的轴识别为运动的基本上不变的旋转轴。 一方面，该方法适用于估计围绕基本上不变轴旋转的移动体的运动。

公开(公告)号：US09357948B2

公开(公告)日：2016-06-07

申请号：US13991015

申请日：2011-12-01

申请人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

发明人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

IPC分类号： A61B5/00 ,  A61B5/11 ,  G01C21/16 ,  G01C21/20 ,  G01C22/00

CPC分类号： A61B5/11 ,  A61B5/112 ,  A61B5/6829 ,  G01C21/165 ,  G01C21/206 ,  G01C22/006

摘要： A method determining values of parameters representing a movement of an entity represented by an articulated chain, by a sensor assembly including at least one sensor for a parameter representing an orientation of a first segment of the articulated chain, the method including: reception of an orientation value measured and supplied by the orientation sensor; estimation of a value of at least one first parameter representing a movement of the first segment by processing the orientation value; and, based on a predetermined movement model of the articulated chain, as a time change model, including at least one relationship of time dependency between the at least one first parameter and at least one other parameter representing a movement of another segment of the articulated chain: estimation of a value of the at least one other parameter by application of the time change model to the estimated value of the at least one first parameter.

摘要翻译： 一种确定表示由铰接链表示的实体的运动的参数值的方法，所述传感器组件包括至少一个传感器，所述传感器用于表示所述铰接链的第一段的取向的参数，所述方法包括：接收定向 由定向传感器测量和提供的值; 通过处理所述取向值来估计代表所述第一段的移动的至少一个第一参数的值; 并且基于所述铰接链的预定移动模型，作为时变模型，包括所述至少一个第一参数与表示所述铰接链的另一段的运动的至少一个其它参数的至少一个时间依赖关系 ：通过将时间变化模型应用于至少一个第一参数的估计值来估计至少一个其他参数的值。

公开(公告)号：US20110238350A1

公开(公告)日：2011-09-29

申请号：US13074066

申请日：2011-03-29

申请人： Suzanne Lesecq

发明人： Suzanne Lesecq

IPC分类号： G06F19/00

CPC分类号： H03H21/003 ,  A61B5/062 ,  A61B2560/0223

摘要： This method for calibrating coefficients of an observer of a variable state comprises: the measurement (50) of a variable zk of the physical system at N different instants, this variable zk being a function of the state variable xk, the determining (54) of a vector p of coefficients which minimizes the following criterion in complying with a predetermined set Δ of constraints: { f  ( p ) = ∑ k = 1 N    z k - φ  ( x ^ k , p )  2 } where: {circumflex over (x)}k is the estimation of the variable xk built by the observer calibrated with the coefficients of the vector p at the instant k, φ is a known function which links the estimation {circumflex over (x)}k to an estimation {circumflex over (z)}k of the variable zk, ∥ . . . ∥2 is a norm, and the constraint or the constraints of the set Δ dictate that the trajectory of the variable zk should be included in a corridor of uncertainty situated on either side of the trajectory of the estimation {circumflex over (z)}k at least for the majority of the instants k.

摘要翻译： 用于校准可变状态的观测器的系数的该方法包括：在N个不同时刻的物理系统的变量zk的测量（50），该变量zk是状态变量xk的函数，确定（54） 系数的向量p，其使符合预定集合＆Dgr的以下标准最小化; 的约束：{f（p）=Σk = 1 Nz k - ＆phgr; （x ^ k，p）2}其中：{circumflex over（x）} k是由在时刻k，＆phgr的向量p的系数校准的观察者建立的变量xk的估计。 是一个已知的函数，它将估计（在（x）} k上的回归值与变量zk，∥的估计{回旋（z）} k连接起来。 。 。 ‖2是一个规范，并且集合＆Dgr的约束或约束; 规定变量zk的轨迹应该被包括在位于估计轨迹的任一侧（至少在（z）} k上的至少对于大多数时刻k的不确定性走廊。

公开(公告)号：US10352959B2

公开(公告)日：2019-07-16

申请号：US13991018

申请日：2011-12-01

申请人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

发明人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

IPC分类号： G01P15/08 ,  G01C21/00 ,  G01C21/20

摘要： A method for estimating a path of a moving element or body using a sensor assembly includes: receiving acceleration values provided by an accelerometer; receiving angular velocity values provided by a gyrometer; processing the values provided for estimating at least one angular position value using the angular velocity values and at least two Cartesian position values defining a path of the moving element or body using acceleration values and the at least one previously estimated angular position value; estimating rotation parameters, by inverting a rotational realignment model of the estimated path subject to prior knowledge of the path; retroactively correcting the at least one estimated angular position value, by applying a rotation on this value using estimated rotation parameters, so as to provide at least one corrected angular position value.

公开(公告)号：US20130338961A1

公开(公告)日：2013-12-19

申请号：US13991018

申请日：2011-12-01

申请人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

发明人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

IPC分类号： G01P15/08

CPC分类号： G01P15/0891 ,  G01C21/005 ,  G01C21/206

摘要： A method for estimating a path of a moving element or body using a sensor assembly includes: receiving acceleration values provided by an accelerometer; receiving angular velocity values provided by a gyrometer; processing the values provided for estimating at least one angular position value using the angular velocity values and at least two Cartesian position values defining a path of the moving element or body using acceleration values and the at least one previously estimated angular position value; estimating rotation parameters, by inverting a rotational realignment model of the estimated path subject to prior knowledge of the path; retroactively correcting the at least one estimated angular position value, by applying a rotation on this value using estimated rotation parameters, so as to provide at least one corrected angular position value.

摘要翻译： 使用传感器组件估计移动元件或主体的路径的方法包括：接收由加速度计提供的加速度值; 接收由陀螺仪提供的角速度值; 使用角速度值处理提供用于估计至少一个角位置值的值，以及至少两个笛卡尔位置值，其使用加速度值和至少一个先前估计的角位置值来限定移动元件或主体的路径; 通过反转经过路径的先前知识的估计路径的旋转重新对准模型来估计旋转参数; 通过使用估计的旋转参数对该值施加旋转来追溯地校正所述至少一个估计的角位置值，以便提供至少一个校正的角位置值。

公开(公告)号：US20130324890A1

公开(公告)日：2013-12-05

申请号：US13991015

申请日：2011-12-01

申请人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

发明人： Joe Youssef ,  Christelle Godin ,  Suzanne Lesecq

IPC分类号： A61B5/11

CPC分类号： A61B5/11 ,  A61B5/112 ,  A61B5/6829 ,  G01C21/165 ,  G01C21/206 ,  G01C22/006

摘要： A method determining values of parameters representing a movement of an entity represented by an articulated chain, by a sensor assembly including at least one sensor for a parameter representing an orientation of a first segment of the articulated chain, the method including: reception of an orientation value measured and supplied by the orientation sensor; estimation of a value of at least one first parameter representing a movement of the first segment by processing the orientation value; and, based on a predetermined movement model of the articulated chain, as a time change model, including at least one relationship of time dependency between the at least one first parameter and at least one other parameter representing a movement of another segment of the articulated chain: estimation of a value of the at least one other parameter by application of the time change model to the estimated value of the at least one first parameter.

摘要翻译： 一种确定表示由铰接链表示的实体的运动的参数值的方法，所述传感器组件包括至少一个传感器，所述传感器用于表示所述铰接链的第一段的取向的参数，所述方法包括：接收定向 由定向传感器测量和提供的值; 通过处理所述取向值来估计代表所述第一段的移动的至少一个第一参数的值; 并且基于所述铰接链的预定移动模型，作为时变模型，包括所述至少一个第一参数与表示所述铰接链的另一段的运动的至少一个其它参数的至少一个时间依赖关系 ：通过将时间变化模型应用于至少一个第一参数的估计值来估计至少一个其他参数的值。

公开(公告)号：US08907660B2

公开(公告)日：2014-12-09

申请号：US13518668

申请日：2010-12-20

申请人： Viviane Cattin ,  Suzanne Lesecq ,  Nathalie Sprynski

发明人： Viviane Cattin ,  Suzanne Lesecq ,  Nathalie Sprynski

IPC分类号： G01B7/14 ,  G01V3/08

CPC分类号： G01V3/081

摘要： Identifying measurement subset comprising a disturbed measurement disturbed by a magnetic disturber includes emitting and measuring magnetic fields using mono-axial source/mono-axial transducer pairs to obtain real measurements distinguished by position of a source used to emit the field, position of transducer used to measure the field, and field frequency, a source being tied to a mobile object and the transducer tied to a frame of reference in which a position of the mobile object is to be expressed (or vice versa), estimating position of the object in the reference frame based on an observer and involving only a first subset of the measurements, estimating the measurements based at least in part on the estimated position Pi and on a direct model linking the object's position to the measurements, and determining whether or not the first measurement subset comprises a disturbed measurement by comparing the estimated and real measurements.

摘要翻译： 识别由磁干扰器干扰的干扰测量的测量子集包括使用单轴源/单轴换能器对发射和测量磁场，以获得由用于发射场的源的位置，用于发射场的换能器的位置， 测量场和场频，源连接到移动对象，并且连接到参考帧的换能器，其中移动对象的位置将被表示（或反之亦然），估计对象的位置 基于观察者并且仅涉及测量的第一子集的参考帧，至少部分地基于估计位置Pi以及将对象的位置与测量结合在一起的直接模型来估计测量值，以及确定第一测量 子集包括通过比较估计和实际测量的干扰测量。