SYSTEMS AND METHODS FOR PROVIDING AUTOMATIC DETECTION OF INERTIAL SENSOR DEPLOYMENT ENVIRONMENTS

摘要

Systems and methods for providing automatic detection of inertial sensor deployment environments are provided. In one embodiment, an environment detection system for a device having an inertial measurement unit that outputs a sequence of angular rate measurements comprises: an algorithm selector; and a plurality of environment detection paths each receiving the sequence of angular rate measurements, and each generating angular oscillation predictions using an environment model optimized for a specific operating environment. The environment model for each of the environment detection paths is optimized for a different operating environment. Each of the environment detection paths outputs a weighting factor that is a function of a probability that its environment model is a true model of a current operating environment given the sequence of angular rate measurements; and wherein the algorithm selector generates an output based on a function of the weighting factor from each of the environment detection paths.

主权项

1. An inertial sensing device, the device comprising:
an inertial measurement unit, wherein the inertial measurement unit outputs a sequence of angular rate measurements; and an environment detection system, the environment detection system comprising:
an algorithm selector; anda plurality of environment detection paths each receiving the sequence of angular rate measurements from the inertial measurement unit, each of the environment detection paths simultaneously executing an environmental model, a propagator-estimator, and a weighting factor calculator;wherein a first environment detection path of the plurality of environment detection paths comprises a first environment model that mimics environmental oscillations associated with a first environment, a first propagator-estimator that calculates a first estimate of a true angular rate given that the first environment model is a true model of a current operating environment, and a first weighting factor calculator that calculates a first weighting factor expressing a probability that the first environment model is the true model of a current operating environment given the sequence of angular rate measurements;wherein a second environment detection path of the plurality of environment detection paths comprises a second environment model that mimics environmental oscillations associated with a second environment different from the first environment, a second propagator-estimator that calculates a second estimate of a true angular rate given that the second environment model is the true model of the current operating environment, and a second weighting factor calculator that calculates a second weighting factor expressing a probability that the second environment model is the true model of the current operating environment given the sequence of angular rate measurements;wherein the algorithm selector generates an output based on a function of the first weighting factor and the second weighting factor.