| 摘要 |
<p>The invention concerns a system and method for sensing the inclination of a moving platform (007) with respect to gravity. An inertial measurement unit (001), mounted on the moving platform (007), located close to the platform's centre of gravity, sensing linear (011) and rotational motions (012) of the moving platform (007), an inclinometer (004), mounted on said moving platform (007) at a location spaced from the inertial measurement unit (001) by a distance r sensing the motion-caused gravitational acceleration g' using a 3D accelerometer, an acceleration estimation unit (014) for determining the motion-caused acceleration a' at said point where said inclinometer (004) is mounted by computing said measured linear motions (011) and said measured rotational motions (012) of the inertial measurement unit (001) with a platform model (013) for an motion-caused acceleration depending distance r' between said inertial measurement unit (001) and said inclinometer (007) an acceleration correction unit (015) determining a motion-compensated gravitational acceleration g by removing the motion-caused acceleration a' from the motion-caused gravitational acceleration g', an attitude computation unit (016) for computing the residual error (019) and determining the sum of said residual error (019) and said the motion-compensated gravitational acceleration g and transforming said sum to attitude values using trigonometric relations</p> |
