US 12,235,109 B2
Absolute heading estimation with constrained motion
Jussi Collin, Akaa (FI)
Assigned to Nordic Inertial Oy, Akaa (FI)
Appl. No. 18/004,859
Filed by NORDIC INERTIAL OY, Akaa (FI)
PCT Filed Jul. 2, 2021, PCT No. PCT/EP2021/068286
§ 371(c)(1), (2) Date Jan. 9, 2023,
PCT Pub. No. WO2022/008361, PCT Pub. Date Jan. 13, 2022.
Claims priority of application No. 10 2020 118 321 (DE), filed on Jul. 10, 2020.
Prior Publication US 2023/0349699 A1, Nov. 2, 2023
Int. Cl. G01C 21/16 (2006.01); E02F 9/26 (2006.01)
CPC G01C 21/183 (2020.08) [E02F 9/264 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for determining at least one parameter selected from a group consisting of a declination of an object, an orientation of the object and a position of the object, the method comprising:
pivoting a gyroscope, the gyroscope mounted to the object, at a pivoting angular velocity (wcarousel) about a swivel axis, wherein the object is a vehicle or a part of the vehicle, the vehicle comprising a first vehicle part and a second vehicle part, the first vehicle part is pivotable about the swivel axis relative to the second vehicle part, and the gyroscope is mechanically mounted to the first vehicle part;
measuring an undetermined pivoting of the object about an axis with the gyroscope, wherein the axis with the gyroscope is different from the swivel axis;
determining a component of a rotation of Earth acting on the gyroscope using the undetermined pivoting and the pivoting angular velocity (wcarousel);
determining at least one parameter set selected from a group of parameter sets consisting of:
a first parameter set comprising a declination value indicating a declination of the object, with respect to true north, from the component of the rotation of the Earth acting on the gyroscope; and
a second parameter set comprising an orientation value indicating an orientation of the object with respect to an initial orientation of the object, a position value indicating a position of the object with respect to an initial position of the object, wherein the orientation of the object and the position of the object are determined by the undetermined pivoting, the pivoting angular velocity (wcarousel) and a distance travelled by the object, and at least one compensation value compensating for an influence of the component of the rotation of the Earth on the orientation of the object and the position of the object; and
determining the pivoting angular velocity (wcarousel) of the gyroscope about the swivel axis with a second sensor, wherein the second sensor is distinct from the gyroscope.