US Patent Number
Methods and systems are provided herein for measuring 3D apparatus (e.g., manual tool or tool accessory) orientation. Example implementations use an auto-nulling algorithm that incorporates a quaternion-based unscented Kalman filter. Example implementations use a miniature inertial measurement unit endowed with a tri-axis gyro and a tri-axis accelerometer. The auto-nulling algorithm serves as an in-line calibration procedure to compensate for the gyro drift, which has been verified to significantly improve the estimation accuracy in three-dimensions, especially in the heading estimation.
University of Kentucky Research Foundation, Lexington, KY (US)
Zhang, Yuming and Zhang, Weijie, "Measurement of Three-Dimensional Welding Torch Orientation for Manual Arc Welding Process" (2020). Electrical and Computer Engineering Faculty Patents. 22.