US 12,223,124 B2
Inertially isolated spatial control
Michael E. Bowman, Satellite Beach, FL (US); William S. Bowman, Melbourne, FL (US); Daniel R. Hedman, Palm Bay, FL (US); Matthew D. Summer, Melbourne, FL (US); Andrew D. Falendysz, Grant, FL (US); Kevin Makovy, West Melbourne, FL (US); and Michael W. Holt, Smyrna, GA (US)
Assigned to Tomahawk Robotics, Inc., Melbourne, FL (US)
Filed by Tomahawk Robotics, Inc., Melbourne, FL (US)
Filed on May 3, 2023, as Appl. No. 18/311,370.
Application 18/311,370 is a continuation of application No. 17/720,130, filed on Apr. 13, 2022, granted, now 11,675,445.
Prior Publication US 2023/0333671 A1, Oct. 19, 2023
Int. Cl. G06F 3/0488 (2022.01); G05D 1/00 (2006.01); G06F 3/0346 (2013.01)
CPC G06F 3/0346 (2013.01) [G05D 1/0016 (2013.01); G05D 1/0038 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for detecting motion-induced errors received from inertial-type input devices, the system comprising:
one or more processors; and
a non-transitory computer-readable storage medium storing instructions which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
receiving, from a controller, first motion data, wherein the first motion data comprises a first acceleration and a first angular velocity;
determining that the first motion data corresponds to a candidate motion-induced command;
receiving, from an inertial sensor, second motion data, wherein the second motion data comprises a second acceleration and a second angular velocity;
determining, based on comparing the first acceleration from the controller with the second acceleration from the inertial sensor, and the first angular velocity from the controller with the second angular velocity from the inertial sensor, whether the first motion data matches the second motion data; and
based on determining that the first motion data does not match the second motion data:
generating a third acceleration based on subtracting the second acceleration from the first acceleration;
generating a third angular velocity based on subtracting the second angular velocity from the first angular velocity;
generating a motion-induced command based on the third acceleration and the third angular velocity; and
transmitting the motion-induced command to one or more vehicles.