Method and device for detecting a substantially invariant axis of rotation

Christelle Godin , Stéphane Bonnet , Suzanne Lesecq (1) , Alain Barraud (1)

1 GIPSA-SA-IGA - GIPSA - Signal et Automatique pour le Diagnostic et la Surveillance

The method involves acquiring a physical measure along sensible three axes of a sensor e.g. sensible three axis magnetometer sensor. An invariant rotation axis is estimated in a space of the physical measure. The estimated axis is identified. A value of an indicator for indicating the variations of the rotation axis is calculated. The value of the indicator is compared with the predetermined threshold value. Independent claims are also included for the following: (1) a method for estimating movement of a mobile equipped at a sensor (2) a method for calibrating a sensor for determining the rotation matrix (3) a device for detecting a substantially invariant axis of rotation.

Mots clés: ACCELERATION; ANATOMY; ROTATION ANGLE; INERTIAL UNIT; MOTION SENSOR; ROBOTICS; TIME WINDOW; MATRIX METHOD; INVARIANT AXIS

Domaines: Automatique

Christelle Godin, Stéphane Bonnet, Suzanne Lesecq, Alain Barraud. Method and device for detecting a substantially invariant axis of rotation. United States, Patent n° : FR2915568 / US2008281555 / JP2009002934. Département Automatique. 2008. ⟨hal-00370535⟩