WO2002059627A1 - Systeme et procede d'etalonnage d'un ensemble accelerometre - Google Patents

Systeme et procede d'etalonnage d'un ensemble accelerometre Download PDF

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Publication number
WO2002059627A1
WO2002059627A1 PCT/US2001/043310 US0143310W WO02059627A1 WO 2002059627 A1 WO2002059627 A1 WO 2002059627A1 US 0143310 W US0143310 W US 0143310W WO 02059627 A1 WO02059627 A1 WO 02059627A1
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WO
WIPO (PCT)
Prior art keywords
axis
rotation
accelerometer assembly
accelerometer
assembly
Prior art date
Application number
PCT/US2001/043310
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English (en)
Inventor
Thierry Valet
Original Assignee
Vega Vista
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Vega Vista filed Critical Vega Vista
Publication of WO2002059627A1 publication Critical patent/WO2002059627A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

Definitions

  • the present invention relates generally to the field of calibration of instruments, and more specifically to systems and methods for calibrating accelerometer assemblies in which not
  • Accelerometers are used in a variety of industries. For example, they may be used as
  • An accelerometer generates an output signal which has an amplitude which is related to the acceleration that is applied to the accelerometer. It is often necessary to calibrate the accelerometer, that is, to determine the amplitude of its output signal as a function of the
  • An accelerometer assembly that has a plurality of sensors will deliver several output signals that will relate in a definite manner to the acceleration applied to each of the individual
  • the assembly outputs is generally not precisely known due to variations between different sensors, temperature drift of these characteristics, and imprecision in packaging and assembly
  • the present invention solves the problems noted above by providing a system and method for calibrating an accelerometer assembly. It is an object of the present invention to provide a new and better way to calibrate an accelerometer assembly, allowing the determination of intrinsic transfer function characteristics of each of the individual accelerometers.
  • the intrinsic function characteristics include offset, sensitivity and non-linearity as functions of temperature.
  • the present invention also allows the determination of certain geometric characteristics, such as position and orientation of each of the individual accelerometers.
  • the present invention provides a system for accelerometer assembly calibration that accurately determines the transfer function that relates the accelerometer assembly output signals to the acceleration applied to each sensor. Simultaneously with the determination of the transfer function, the present invention also provides a way to determine the position and orientation of each accelerometer relative to a common mechanical reference.
  • the accelerometer assembly calibration system includes a means for rotating an accelerometer assembly at a constant but adjustable angular velocity around a first fixed axis.
  • the system further includes a means for rotating and holding the accelerometer assembly to at least one other axis, with the other axis being sensibly fixed and distinct in position and orientation from the first axis.
  • the system also includes means for varying and holding the speed of the accelerometer assembly constant during the calibration procedure.
  • the system also includes a computer system with multiple functions, including managing the operation of the temperature control and managing the operation of rotating the accelerometer.
  • the computer system includes a storage medium that is used for storing output signals that are created by the accelerometer assembly.
  • the computer system further includes a processing means that is used to process output signals created by the accelerometer assembly.
  • the processor can be an application specific integrated circuit (ASIC) or any other type of processor that can perform the functions necessary to effect the purposes of the invention.
  • ASIC application specific integrated circuit
  • the output signals are used to assist the calibration system in determining multiple measurable parameters. These parameters include the angular velocity of the accelerometer's rotation around its axis, the angular position of the accelerometer assembly in relation to the accelerometer's rotation around the second axis by reference to an appropriate index of reference, and the third parameter being the temperature of the accelerometer assembly.
  • the computer system's control over these parameters allows the system to determine both intrinsic response parameters for each accelerometer and the geometry of the assembly without the need for a reference instrument.
  • FIG. 1 is a schematic illustration of the geometry of a general accelerometer assembly
  • FIG. 2 is a schematic illustration of a given accelerometer transfer function
  • FIG. 3 is a schematic illustration of the geometry of the physical system of a preferred embodiment of the present invention.
  • the present invention uses known parameters such as angular velocity to determine these coefficients. Using these known parameters, unknown parameters such as offset, sensitivity and nonlinearity can be determined.
  • FIG. 1 illustrated is a schematic of the geometry of a general accelerometer assembly.
  • the position of an individual accelerometer (i) is illustrated by vector d(i).
  • the orientation of an individual accelerometer is illustrated by unit vector u(i).
  • the global reference frame to which each sensor is to be attached is represented by (O', x', y', z'), which includes an O' x' axis, an O' y' axis and an O' z' axis.
  • the drawing includes the reference frame to which each sensor is supposed to be rigidly attached.
  • Many types of accelerometers are currently available including those from companies such as ANALOG DEVICES.
  • FIG. 2 illustrated is a schematic of a general (non-linear) transfer function for a given accelerometer. Only the case of vector accelerometers is considered, sensitive to one projected component of the total acceleration. Accordingly, the sensor (i) is assumed, by definition of u(i) , to be responsive only to the projection a(i) of the total
  • the total acceleration ⁇ (i) at the location M(i) of the accelerometer (i) is defined as the
  • C° is the accelerometer (i) static offset, in m.s "2
  • the output U 2 are internal to the operation of the accelerometer.
  • the output U 3 is the only one that is actually measured.
  • R; ° represents the static offset, while R, 7 represents the sensitivity or slope
  • the system allows the creation of a controlled
  • a second controllable rotary stage (M2) defines a second axis of rotation perpendicular to and intersecting with (Al).
  • the intersection point is O, the origin of the global frame (O', x',
  • PS physical system
  • A2 a second axis of rotation perpendicular to and intersecting with (Al), the intersection point being chosen, without any loss of generality, as O the origin of the global frame (O, x, y, z).
  • attachment means can be as simple as a screw, a vacuum holding or a clamp.
  • the distance h when increased, increases the amplitude of the radial acceleration. In this manner, the two- dimensional frame (O ⁇ x ⁇ y') always remains perpendicular to the axis A2, with the orientation
  • the temperature of the accelerometer assembly at any determined value within a range of interest.
  • the range may be dependent upon the intended application of the accelerometer, among other things.
  • the physical system includes the accelerometer itself, the controllable motor, the rotary stage and the temporary attachment device are enclosed within the temperature-controlled chamber.
  • the motor Ml acts on the axis Al in such a way that the rate of change of the angle theta is set at a constant value omega, while the angle phi is set and maintained at a constant value by the stage (M2), defining a state of rotation at constant angular velocity for the accelerometer assembly under calibration.
  • the value of omega can be measured among other means by using an optical encoder (OA) attached to the axis Al.
  • OA optical encoder
  • the multi-function computer system used to control and operate the calibration system using an appropriate signal acquisition hardware, will store in a file, for a given measurement duration T, an ensemble of digital samples of the sensor assembly outputs and Optical Encoder output.
  • T the measurement duration
  • sample m defined as (Theta , U 3 (l),...U 3 (N)) m ⁇ consists of N+1 digital samples measured at time
  • ⁇ t is the sampling period, i.e. the time interval between two successive
  • N is the number of sensors in the sensor assembly being calibrated.
  • the first quantity Theta is the measurements of the angle Theta at the measurement time m * ⁇ t, while U 3 (i) is the measurement of the electrical signal output of sensor (i) at the measurement time m * ⁇ t.
  • the output signal is U 3 (i)[t] of the sensor (i), being a function of the time t, as an infinite
  • Nmax depending of the sensor characteristics.
  • the sampling period ⁇ t i.e., delta t
  • the multi-function computer system used to control and operate the calibration system, or eventually a separate digital computer will perform a digital Fourier transform of the data stored in the file defined by Equation 5, after appropriate translation in time so that the new origin of time of the sample series is such that it corresponds to an instant where Theta was equal to 0.
  • a digital Fourier transform algorithm that can easily be performed using for example a Fast Fourier Transform algorithm, one will obtain an
  • a(i) g. ⁇ (i) - ⁇ x( ⁇ xd(i))j . u( Equation 7 Where g , ⁇ ( ⁇ ) , d(z) and ⁇ are time dependent vectors expressed in the intermediate reference
  • ⁇ is a time independent vector, which expressed in the intermediate reference frame is given by:
  • vA the unit vector along the (O, x) axis.
  • Equation 7 expressing the various vectors involved in Equation 7 in the intermediate reference frame coordinate system, substituting the obtained expression for a(i)[t] in Equation 4, as well as Equation 6 expression for TJ 3 ' )M > the following system of equations are obtained:
  • Equation 9-13 is a system of five (5) equations in the nine (9) following unknowns:
  • Equation 9 provide four (4) independent relations that allow to
  • Equation 13 determine d x - , d y'; d z > and R, °.Finally, Equation 13, assuming all the other unknowns have been determined, allow to determine B t 2 in a least square sense using all the available data.
  • the Bj j components have been determined, i.e., offset, sensitivity, and nonlinearity, these components can be used to reach the projection and output signal.
  • the output signal can then be used to obtain an accurate depiction of the acceleration applied to the accelerometer and the position and orientation of the accelerometer.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

La présente invention concerne un système et un procédé d'étalonnage d'un ensemble accéléromètre. Dans un mode de réalisation de l'invention, ce système comprend un moteur commandable qui fait tourner un ensemble accéléromètre autour d'un premier axe de rotation (A1), un étage de rotation destiné à faire tourner et à supporter cet ensemble accéléromètre dans au moins un autre axe de rotation (A2) et une façon de faire varier la température et de la maintenir constante. Ce système comprend aussi un système informatique destiné à gérer le fonctionnement de la commande de température et le fonctionnement de la génération du mouvement. Ce système informatique stocke et traite aussi les signaux de sortie créés par l'ensemble accéléromètre de façon que certains paramètres liés à cet ensemble accéléromètre puissent être déterminés. Ces paramètres comprennent la vitesse angulaire de rotation autour du premier axe, la position angulaire de cet ensemble accéléromètre en relation avec sa rotation autour du second axe, le troisième paramètre étant la température de cet ensemble accéléromètre. Cet ensemble accéléromètre peut être étalonné à l'aide de ces paramètres.
PCT/US2001/043310 2000-11-21 2001-11-21 Systeme et procede d'etalonnage d'un ensemble accelerometre WO2002059627A1 (fr)

Applications Claiming Priority (2)

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US25235600P 2000-11-21 2000-11-21
US60/252,356 2000-11-21

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WO2002059627A1 true WO2002059627A1 (fr) 2002-08-01

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008139503A1 (fr) 2007-05-15 2008-11-20 Sequoia It S.R.L. Accéléromètre à large bande reconnaissant automatiquement son étalonnage
WO2009032601A1 (fr) * 2007-08-28 2009-03-12 Schlumberger Canada Limited Étalonnage d'un accéléromètre sur un câble sismique
CN102253243A (zh) * 2011-06-08 2011-11-23 中北大学 旋转轴相位差标定系统
US8768621B2 (en) 2008-11-26 2014-07-01 Nederlandse Organisatie Voor Toegepast—Natuurwetenschappelijk Onderzoek Tno Signal processing module, navigation device with the signal processing module, vehicle provided with a navigation device and method of providing navigation data
CN110501520A (zh) * 2019-08-29 2019-11-26 北京云庐科技有限公司 一种三轴加速度传感器的轴加速度获取方法及装置
EP3572819A1 (fr) * 2018-05-25 2019-11-27 Brüel & Kjaer Sound & Vibration Measurement A/S Procédé de détermination de configurations spatiales d'une pluralité de transducteurs par rapport à un objet cible

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3350916A (en) * 1961-06-01 1967-11-07 Bosch Arma Corp Accelerometer calibration on inertial platforms

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3350916A (en) * 1961-06-01 1967-11-07 Bosch Arma Corp Accelerometer calibration on inertial platforms

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008139503A1 (fr) 2007-05-15 2008-11-20 Sequoia It S.R.L. Accéléromètre à large bande reconnaissant automatiquement son étalonnage
WO2009032601A1 (fr) * 2007-08-28 2009-03-12 Schlumberger Canada Limited Étalonnage d'un accéléromètre sur un câble sismique
US8768621B2 (en) 2008-11-26 2014-07-01 Nederlandse Organisatie Voor Toegepast—Natuurwetenschappelijk Onderzoek Tno Signal processing module, navigation device with the signal processing module, vehicle provided with a navigation device and method of providing navigation data
CN102253243A (zh) * 2011-06-08 2011-11-23 中北大学 旋转轴相位差标定系统
WO2019224277A1 (fr) * 2018-05-25 2019-11-28 Brüel & Kjær Sound & Vibration Measurement A/S Procédé de détermination de configurations spatiales d'une pluralité de transducteurs par rapport à un objet cible
EP3572819A1 (fr) * 2018-05-25 2019-11-27 Brüel & Kjaer Sound & Vibration Measurement A/S Procédé de détermination de configurations spatiales d'une pluralité de transducteurs par rapport à un objet cible
CN112771385A (zh) * 2018-05-25 2021-05-07 霍廷格布鲁尔及凯尔公司 确定多个换能器相对于目标物体的空间配置的方法
JP2021524583A (ja) * 2018-05-25 2021-09-13 ホティンガー ブリュエル アンド ケアー アクティーゼルスカブ ターゲット物体との関係において複数のトランスデューサの空間的構成を決定する方法
US11150747B2 (en) 2018-05-25 2021-10-19 Hottinger Brüel & Kjær A/S Method of determining spatial configurations of a plurality of transducers relative to a target object
CN112771385B (zh) * 2018-05-25 2023-06-13 霍廷格布鲁尔及凯尔公司 确定多个换能器相对于目标物体的空间配置的方法
JP7346462B2 (ja) 2018-05-25 2023-09-19 ホティンガー ブリュエル アンド ケアー アクティーゼルスカブ ターゲット物体との関係において複数のトランスデューサの空間的構成を決定する方法
CN110501520A (zh) * 2019-08-29 2019-11-26 北京云庐科技有限公司 一种三轴加速度传感器的轴加速度获取方法及装置
CN110501520B (zh) * 2019-08-29 2021-06-29 北京云庐科技有限公司 一种三轴加速度传感器的轴加速度获取方法及装置

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