Commissariat a L'energie Atomique

Université Joseph Fourier

Institut National Polytechnique De Grenoble

Commissariat a L'energie Atomique Et Aux Energies Alternatives

Alain Barraud

Suzanne Lesecq

Christelle Godin

Yanis Caritu

Stèphane Bonnet

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.

Method and device for detecting a substantially invariant rotation axis

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.

Method for estimating movement of a solid

Growing community of inventors

Froges, France

Alain Barraud