The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 23, 2002
Filed:
Feb. 03, 2000
Applicant:
Inventor:
Jeffrey D. Rowe, Huntsville, AL (US);
Assignee:
Independence Technology, L.L.C., Warren, NJ (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G01C 1/900 ;
U.S. Cl.
CPC ...
G01C 1/900 ;
Abstract
The attitude of a tiltable body is tracked and controlled on the basis of signals outputted from gyros and tilt sensors. The signals outputted from the gyros are transformed and integrated to produce estimated position information in the form of a modified quaternion in which the yaw component is constrained to a zero value. Modified quaternion information in the same form is also generated from signals outputted from the tilt sensor and is used to detect and correct an error component in the estimated position information. Gyro drift is also corrected based on the output of the tilt sensor.