A method of calibrating one or more sensors (e.g. a gyroscope and/or accelerometer) of an inertial measurement unit (IMU) 28 in a portable module 20. The module is docked to a dock 14 and calibration carried out after determining that the portable module has been docked. The dock may be attached to a static structure such as a wall or a moving object such as a vehicle. The calibration may be automatically stopped if the dock starts to move. The dock may also charge the battery 24 of the portable module. The module may include a docking determining module 26. Also disclosed is a method of initialising an inertial measurement unit in a portable module. The module is docked to a dock and the initial position and heading of the IMU is set to a position and orientation based on that of the dock. The dock is fixed within a vehicle, and the IMU may be initialised to the initial absolute position and heading of the vehicle. The initial position and heading may be registered when it has been determined that the portable module has been undocked. The methods may relate to a personnel location system, e.g. firefighters (figure 1, 1) with the dock being situated within a fire engine (figure 1, 16).
Method and system for calibrating one or more sensors of an inertial measurement unit and/or initialising an intertial measurement unit
19.10.2016
Patent
Elektronische Ressource
Englisch
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