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    • 6. 发明授权
    • Dynamic attitude measurement sensor and method
    • 动态姿态测量传感器及方法
    • US06421622B1
    • 2002-07-16
    • US09326738
    • 1999-06-04
    • Michael A. HortonJose A. RiosJin Song
    • Michael A. HortonJose A. RiosJin Song
    • G01P2100
    • G01C21/16
    • A method and system senses the attitude of an accelerating object. Attitude sensing is accomplished by measuring acceleration in three orthogonal axes and measuring angular rate about each such axis to compute attitude accurately relative to a vertical axis. The system includes accelerometers and angular rate sensors for sensing the acceleration and the angular rate, respectively, of the object. A processor updates a quarternion representation of attitude based upon the angular rate of the object and a corrective rate signal to obtain the attitude of the object. Temperature compensation and frequency compensation may also be performed to update the quarternion.
    • 一种方法和系统感测加速对象的姿态。 姿态感测通过测量三个正交轴中的加速度并测量围绕每个这样的轴的角速度来实现,以相对于垂直轴准确地计算姿态。 该系统包括分别用于感测物体的加速度和角速度的加速度计和角速度传感器。 处理器基于对象的角速率和校正速率信号更新态度的季节表示以获得对象的姿态。 也可以进行温度补偿和频率补偿来更新季度。