METHOD AND APPARATUS FOR DETERMINING A RELATIVE ORIENTATION OF POINTS ON A RIGID BODY

摘要

An inertial measurement unit is affixed to a rigid body. The inertial measurement includes a gyroscope that measures a first angular velocity and an angular acceleration; a first accelerometer that measures a first acceleration; a communications unit that receives a measurement signal, the measurement signal including a second acceleration transmitted from a second accelerometer, the second accelerometer being affixed to the rigid body; and a controller that calculates a relative orientation of the inertial measurement unit and the second accelerometer, and a distance separating the inertial measurement unit and the second accelerometer.

主权项

1. An apparatus comprising:
a first sensor that measures a first angular velocity; a communications unit that receives a measurement signal, the measurement signal including a second angular velocity transmitted from another apparatus including a second sensor; and a controller that calculates a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame.