CN101365925B - 用于估计固体的移动的方法 - Google Patents

用于估计固体的移动的方法 Download PDF

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Publication number
CN101365925B
CN101365925B CN2006800523807A CN200680052380A CN101365925B CN 101365925 B CN101365925 B CN 101365925B CN 2006800523807 A CN2006800523807 A CN 2006800523807A CN 200680052380 A CN200680052380 A CN 200680052380A CN 101365925 B CN101365925 B CN 101365925B
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CN
China
Prior art keywords
vector
variablees
solid
estimation
variable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2006800523807A
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English (en)
Chinese (zh)
Other versions
CN101365925A (zh
Inventor
Y·卡里图
C·古迪恩
A·巴罗
S·勒塞克
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institut Polytechnique de Grenoble
Universite Joseph Fourier Grenoble 1
US Atomic Energy Commission (AEC)
Original Assignee
Institut Polytechnique de Grenoble
Universite Joseph Fourier Grenoble 1
US Atomic Energy Commission (AEC)
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Application filed by Institut Polytechnique de Grenoble, Universite Joseph Fourier Grenoble 1, US Atomic Energy Commission (AEC) filed Critical Institut Polytechnique de Grenoble
Publication of CN101365925A publication Critical patent/CN101365925A/zh
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Publication of CN101365925B publication Critical patent/CN101365925B/zh
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02—Magnetic compasses
    • G01C17/28—Electromagnetic compasses
    • G01C17/30—Earth-inductor compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation

Landscapes

  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Measuring Magnetic Variables (AREA)
CN2006800523807A 2005-12-23 2006-12-21 用于估计固体的移动的方法 Expired - Fee Related CN101365925B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0513269A FR2895500B1 (fr) 2005-12-23 2005-12-23 Procede d'estimation d'un mouvement d'un solide.
FR0513269 2005-12-23
PCT/FR2006/002831 WO2007077346A2 (fr) 2005-12-23 2006-12-21 Procede d'estimation d'un mouvement d'un solide

Publications (2)

Publication Number Publication Date
CN101365925A CN101365925A (zh) 2009-02-11
CN101365925B true CN101365925B (zh) 2011-11-30

Family

ID=36698685

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2006800523807A Expired - Fee Related CN101365925B (zh) 2005-12-23 2006-12-21 用于估计固体的移动的方法

Country Status (7)

Country Link
US (1) US7711516B2 (https=)
EP (1) EP1969314B1 (https=)
JP (1) JP5185825B2 (https=)
KR (1) KR101359758B1 (https=)
CN (1) CN101365925B (https=)
FR (1) FR2895500B1 (https=)
WO (1) WO2007077346A2 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2895500B1 (fr) 2005-12-23 2008-03-28 Commissariat Energie Atomique Procede d'estimation d'un mouvement d'un solide.
FR2897680B1 (fr) * 2006-02-17 2008-12-05 Commissariat Energie Atomique Dispositif de capture de mouvement et procede associe
EP2028504B1 (en) * 2007-08-23 2016-04-13 STMicroelectronics Srl Method and device for calibrating a magnetic sensor
FR2933185B1 (fr) * 2008-06-27 2017-07-21 Movea Sa Systeme et procede de determination d'informations representatives du mouvement d'une chaine articulee
FR2934043B1 (fr) * 2008-07-18 2011-04-29 Movea Sa Procede d'estimation ameliore de l'orientation d'un objet et centrale d'attitude mettant en oeuvre un tel procede
US9395827B2 (en) * 2009-07-21 2016-07-19 Qualcomm Incorporated System for detecting orientation of magnetically coupled devices
FR2948759B1 (fr) * 2009-07-31 2011-08-12 Movea Procede d'estimation de l'orientation d'un solide en mouvement
WO2012072957A1 (fr) * 2010-12-01 2012-06-07 Commissariat à l'énergie atomique et aux énergies alternatives Procede et systeme d'estimation d'une trajectoire d'un element ou corps mobile
JP6171016B2 (ja) * 2012-09-14 2017-07-26 ワイドヴァンテージ インク 磁場センサを用いて使用者入力を判断する電気装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1215474A (zh) * 1997-01-31 1999-04-28 摩托罗拉公司 在加权最小二乘法位置解决方案中协方差矩阵估计的方法和设备
US20020100178A1 (en) * 2000-12-06 2002-08-01 Honeywell International Inc. Electronic compass and compensation of large magnetic errors for operation over all orientations

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6282496B1 (en) * 1999-10-29 2001-08-28 Visteon Technologies, Llc Method and apparatus for inertial guidance for an automobile navigation system
FR2838185B1 (fr) * 2002-04-05 2004-08-06 Commissariat Energie Atomique Dispositif de capture des mouvements de rotation d'un solide
FR2864225B1 (fr) * 2003-12-22 2006-07-21 Commissariat Energie Atomique Procede de mesure du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration
JP4552658B2 (ja) * 2005-01-13 2010-09-29 日立金属株式会社 ２軸磁気センサを用いた姿勢検知方法およびそのプログラム
FR2895500B1 (fr) 2005-12-23 2008-03-28 Commissariat Energie Atomique Procede d'estimation d'un mouvement d'un solide.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1215474A (zh) * 1997-01-31 1999-04-28 摩托罗拉公司 在加权最小二乘法位置解决方案中协方差矩阵估计的方法和设备
US20020100178A1 (en) * 2000-12-06 2002-08-01 Honeywell International Inc. Electronic compass and compensation of large magnetic errors for operation over all orientations

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
João Luís Marins, Xiaoping Yun, Eric R. Bachmann, Robert B. Mc.An Extended Kalman Filter for Quaternion-Based.《Proceedings of the 2001 IEEE/RSJ》.2001,2003-2011. *

Also Published As

Publication number Publication date
US7711516B2 (en) 2010-05-04
EP1969314A2 (fr) 2008-09-17
FR2895500B1 (fr) 2008-03-28
KR20080083182A (ko) 2008-09-16
KR101359758B1 (ko) 2014-02-06
CN101365925A (zh) 2009-02-11
EP1969314B1 (fr) 2014-06-25
FR2895500A1 (fr) 2007-06-29
US20080270068A1 (en) 2008-10-30
WO2007077346A2 (fr) 2007-07-12
JP5185825B2 (ja) 2013-04-17
JP2009520969A (ja) 2009-05-28
WO2007077346A3 (fr) 2007-08-23

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Granted publication date: 20111130

Termination date: 20191221