Inertial measurement unit management with reduced rotational drift
A system, comprising a clock generating a timing signal, a magnetometer coupled to the clock and configured to receive the timing signal and to generate first heading data and a gyroscope coupled to the clock and configured to receive the timing signal and to generate second heading data. The system further includes a first adder coupled to the magnetometer and gyroscope and configured to determine a difference signal as a function of the first heading data and the second heading data and a constrain data system coupled to the first adder and configured to apply a limit to the difference signal. A combine delta system is coupled to the constrain data system and configured to combine two or more of the constrained data values to generate a combined delta signal, and a second adder coupled to the gyroscope and the combine delta system and configured to add the combined delta signal to the second heading data.
1. A system, comprising:
a clock generating a timing signal;
a magnetometer coupled to the clock and configured to receive the timing signal and to generate first heading data;
a gyroscope coupled to the clock and configured to receive the timing signal and to generate second heading data;
a first adder coupled to the magnetometer and gyroscope and configured to determine a difference signal as a function of the first heading data and the second heading data;
a combine delta system coupled to the first adder and configured to combine two or more of the difference signals to generate a combined delta signal; and
a second adder coupled to the gyroscope and the combine delta system and configured to add the combined delta signal to the second heading data.
2. The system of claim 1 wherein the magnetometer comprises a plurality of magnetometers configured to generate the first heading data.
3. The system of claim 1 wherein the gyroscope comprises a plurality of gyroscopes configured to generate the second heading data.
4. The system of claim 1 further comprising a constrain data system configured to apply a limit that is associated with a predetermined application.
5. The system of claim 1 wherein the first heading data comprises a plurality of discrete heading data values, each associated with a first specific time increment of the timing signal.
6. The system of claim 5 wherein the second heading data comprises a plurality of discrete heading data values, each associated with a second specific time increment of the timing signal.
7. The system of claim 6 wherein the first specific time increment is within a predetermined value of the second specific time increment.
8. A method, comprising:
generating a timing signal with a clock;
receiving the timing signal at a magnetometer and generating first heading data;
receiving the timing signal at a gyroscope and generating second heading data;
determining a difference signal using a first adder as a function of the first heading data and the second heading data;
combining two or more of the difference signals using a combine delta system to generate a combined delta signal; and
adding the combined delta signal to the second heading data using a second adder.
9. The method of claim 8 wherein receiving the timing signal at the magnetometer and generating the first heading data comprises receiving the timing signal at a plurality of magnetometers and generating the first heading data using the plurality of magnetometers.
10. The method of claim 8 wherein receiving the timing signal at the gyroscope and generating the second heading data comprises receiving the timing signal at a plurality of gyroscope and generating the first heading data using the plurality of gyroscope.
11. The method of claim 8 further comprising applying the limit to the difference signal using a constrain data system and selecting the limit as a function of a predetermined application.
12. The method of claim 8 wherein generating the first heading data comprises generating a plurality of discrete heading data values, each associated with a first specific time increment of the timing signal.
13. The method of claim 12 wherein generating the second heading data comprises generating a plurality of discrete heading data values, each associated with a second specific time increment of the timing signal.
14. The method of claim 13 wherein the first specific time increment is within a predetermined value of the second specific time increment.
15. A system, comprising:
a clock generating a timing signal;
a magnetometer coupled to the clock and configured to receive the timing signal and to generate first heading data;
a gyroscope coupled to the clock and configured to receive the timing signal and to generate second heading data;
means for determining a difference signal as a function of the first heading data and the second heading data;
means for applying a limit to the difference signal;
means for combining two or more of the constrained data values to generate a combined delta signal; and
means for adding the combined delta signal to the second heading data.
16. The system of claim 15 wherein the magnetometer comprises a plurality of magnetometers configured to generate the first heading data.
17. The system of claim 15 wherein the gyroscope comprises a plurality of gyroscopes configured to generate the second heading data.
18. The system of claim 15 wherein the constrain data system applies a limit that is associated with a predetermined application.
19. The system of claim 15 wherein the first heading data comprises a plurality of discrete heading data values, each associated with a first specific time increment of the timing signal.
20. The system of claim 19 wherein the second heading data comprises a plurality of discrete heading data values, each associated with a second specific time increment of the timing signal.