US 9,810,549 B2
Systems, methods, and apparatus for calibration of and three-dimensional tracking of intermittent motion with an inertial measurement unit
Eric Allen Johnson, West Haven, UT (US); Mark A. Minor, Salt Lake City, UT (US); and Stacy J. Morris Bamberg, Salt Lake City, UT (US)
Assigned to University of Utah Research Foundation, Salt Lake City, UT (US)
Filed by Eric Allen Johnson, West Haven, UT (US); Mark A. Minor, Salt Lake City, UT (US); and Stacy J. Morris Bamberg, Salt Lake City, UT (US)
Filed on Jan. 6, 2012, as Appl. No. 13/345,431.
Claims priority of provisional application 61/460,681, filed on Jan. 6, 2011.
Claims priority of provisional application 61/460,682, filed on Jan. 6, 2011.
Prior Publication US 2012/0203487 A1, Aug. 9, 2012
Int. Cl. G01C 25/00 (2006.01); G01P 21/00 (2006.01)
CPC G01C 25/005 (2013.01) [G01P 21/00 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A system for calibrating an inertial measurement unit (IMU) that has one or more sensors, said system comprising:
a calibration fixture, said calibration fixture having a support surface and a first rail, the support surface having a planar surface and the first rail having a planar surface, the planar surface of the first rail being orthogonal to the planar surface of the support surface to provide physical limits to a relative movement of the IMU in a linear or rotational direction with respect to said calibration fixture, said calibration fixture being configured to allow for linear movement of the IMU along the first rail of said calibration fixture and within the physical limits of said calibration fixture, and said calibration fixture being configured to allow for angular positioning of the IMU at various angles relative to and within the physical limits of said calibration fixture; and
a computer system in functional communication with the IMU, the computer system comprising:
a processor; and
one or more physical non-transitory computer readable medium having computer executable instructions stored thereon that when executed by the processor, cause the computer system to perform the following:
receiving signals from the one or more sensors in response to linear or rotational movement of the IMU with respect to and within the physical limits of said calibration fixture,
calculating calibration values to compensate for signals from the one or more sensors from a calibration model.