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Ifp Energies Nouvelles

Ecole Polytechnique

Mathieu Hillion

David Vissiere

Pierre Rouchon

Hendrik Meier

Charles-Ivan Chesneau

Jonathan Chauvin

Christophe Prieur

David Caruso

Jean-Philippe Dugard

Marc Grelet

Eric Dorveaux

Laurent Geais

Augustin Jouy

Adrien Rigaud

Karine Beauchard-Leroy

Nadège Vissiere

A method for estimating the movement of an object moving in an ambient magnetic field. The method includes acquiring by a magnetic measuring device integral with the object at least one component of the magnetic field and/or at least one i-th derivative of the magnetic field, with n+1≥i≥1, n≥1, at the level of the magnetic measuring device. The method then estimates at least one component of the movement of the object using at least one component of the equation ∇B=f(Ω)·∇B+g(∇B)·V, where ∇B is an n-th derivative of the magnetic field, Ω is the instantaneous angular velocity, V is the instantaneous linear velocity, and fand gare predetermined functions.

Method for estimating the movement of an object moving in a magnetic field

The present invention relates to a method for calibrating a gyrometer equipping a vehicle. The method includes a step (a) of acquisition, by the gyrometer, of a measured angular velocity of the vehicle, and, by measuring measured values of at least one quantity representative of the angular velocity of the vehicle. It also includes a step (b) of determination, by a data processor, of values of at least one gyrometer calibration parameter minimising a difference between a first estimated angular velocity of the vehicle and a second estimated angular velocity of the vehicle, wherein the first estimated angular velocity is a function of the measured angular velocity and parameters for calibrating the gyrometer, and the second estimated angular velocity is a function of the measured values of said at least one quantity representative of the angular velocity of the vehicle.

Method for calibrating a gyrometer equipping a vehicle

The present invention relates to a method for calibrating a gyrometer () of an object () moving in an ambient magnetic field, the method being characterised in that it comprises the steps of:

Method for calibrating a gyrometer of an object

Magnetic field measurement by a set of magnetometers which are linked to a same moveable support and which have different orientations of eigendirections with respect to this support A processor determines, during a measurement in a given position and orientation of the support and of the set of magnetometers, for each magnetometer, of the orientation deviation between the eigendirections of the magnetometer and a candidate magnetic field, the magnetometer for which this deviation is minimal, the magnetic field measured by this sensor being selected as the magnetic field measured by the set of magnetometers. The magnetometers are distributed in space in order to cover a maximum of different orientations.

Method and device for magnetic field measurement by magnetometers

A method for calibrating a magnetometer. The magnetometer travels through (Si) a set of path positions, and acquires (S2) a plurality of measurements of the magnetic field. Trajectory information (S3) is provided representative of the location and the orientation of a point integral with the magnetometer. The measurements of the magnetic field are matched up (S4) with the trajectory information. A determination (S5) is made of calibration parameters of the magnetometer by the minimisation of a cost function involving, for a plurality of determination times, at least the calibration parameters, a measurement of the magnetic field, and a relationship linking the change in a magnetic field with the change in the location and in the orientation of the magnetometer derived from the trajectory information.

Method for calibrating a magnetometer

A method for estimating the movement of an object moving in an ambient magnetic field. The method acquires at least one component of the magnetic field and/or an i-th derivative of the magnetic field measures at least one item of information representative of the movement of the object; evaluates the stationary or otherwise character of the magnetic field; estimates at least one component of the movement of the object using at least one equation other than magnetic linking the component of the movement of the object and the at least one acquired item of information representative of the movement of the object depending on the result of the evaluation at least one magnetic equation linking the component of the movement of the object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field.

The invention relates to a method for determining a heading, in which a magnetic field is measured by at least one magnetometer and a magnetic heading is determined from said measurement and in which calculation means implement a processing calculating, for each measurement of magnetic heading, a value for characterising the heading thereby determined, characterised in that said characterisation value is a monotone function of a norm of the measured magnetic field gradient, said value being used in the determination of the heading.

Method and device for characterising a heading determined from the measurement of the magnetic field

A method for the determination of heading by magnetic sensors, in which a magnetic field is measured by magnetometers and using recursive processing calculating for a given sampling time. An estimation of a heading prediction which is a function of the heading is determined at the preceding sampling time. A resetting of the predicted heading is then estimated as a function of a magnetic heading determined from magnetometer measurements. During the resetting, the calculating estimates the amplitude of the resetting as a function of a model of the change in magnetic disturbances between two sampling times, and of an a priori estimation of the amplitude of the disturbances.

Determination of heading from the field measured by magnetic sensors

The present invention relates to a method for locating an object () integral with a triaxial magnetic sensor () moving in a magnetic field generated by a set of at least three triaxial magnetic generators () static in a common reference frame, the method being characterised in that it includes the steps of:

Method for locating an object moving in a magnetic field generated by a set of at least three magnetic generators

The present invention relates to a method for calibrating magnetometers () of an object () moving in an ambient magnetic field, the method being characterised in that it comprises the steps of:

Method for calibrating magnetometers of an object

The present invention relates to a method for estimating the relative orientation between a tibia () and a femur () of a lower limb () of a person (), the method being characterised in that it comprises the steps of:

Method for estimating the relative orientation between a tibia and a femur

The present invention relates to a method for estimating the movement of a walking pedestrian (), the method being characterised in that it comprises the following steps:

Method for estimating the movement of a pedestrian

The present invention relates to a method for calibrating a magnetometer () in which the magnetometer () is arranged inside the windings () of a generator (), a magnetic field being generated by the generator (), a series of measurements of the magnetic field with the magnetometer () being carried out by varying the position of the magnetometer () and/or the electric currents in the windings () between each measurement, the electric currents applied in the windings () also being measured, a parametric transfer model being generated from a parametric measurement model of the magnetometer including parameters for calibrating the magnetometer and a parametric model of the magnetic field, the parameters for calibrating the magnetometer () being calculated by an optimisation algorithm from the parametric transfer model and measurements of the magnetic field by the magnetometer and measurements of the currents in the windings.

The present invention relates to a method for estimating the movement of an object () moving in an environment (&#x3a3;) and an ambient magnetic field, the method being characterised in that it includes the steps of:

Method for estimating the movement of an object moving in an environment and a magnetic field

The invention is a method of controlling the combustion of a diesel engine comprising determining setpoint values for physical parameters linked with the intake of gaseous oxidizer in the combustion chamber, and a setpoint value &#x3b8;for the crank angle at which fuel has to be injected into the combustion chamber. While the engine control system controls actuators in such a way that the values of the physical parameters are equal to the setpoint values, setpoint value &#x3b8;is corrected before the physical parameters reach their setpoint values, by accounting for the differences between the real values of the physical parameters and the setpoint values of these parameters. Finally, the engine control system controls fuel injection into the combustion chamber when the crank angle is equal to this corrected setpoint value &#x3b8;in order to keep combustion optimal.

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Vernon, France

Mathieu Hillion