GYROSCOPE DRIFT ESTIMATION AND COMPENSATION WITH ANGLE OF ARRIVAL OF ELECTROMAGNETIC WAVES

A method including: wirelessly transmitting and receiving data packets between first and second apparatuses; determining first and second angles of arrival at each apparatus for electromagnetic waves of the received data packets; providing first and second directions of arrival corresponding to the...

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Bibliographische Detailangaben
Hauptverfasser:	Coelho Alves, José Carlos, Moutinho Colunas, Márcio Filipe, Bento, Virgílio António Ferro, Simões Bastos Martins, Pedro Miguel, Moreira de Sousa, Pedro Miguel, Xavier Rodrigues, Pedro Filipe, Oliveira Santos, Pedro Henrique
Format:	Patent
Sprache:	eng
Schlagworte:	GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
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Beschreibung
Zusammenfassung:	A method including: wirelessly transmitting and receiving data packets between first and second apparatuses; determining first and second angles of arrival at each apparatus for electromagnetic waves of the received data packets; providing first and second directions of arrival corresponding to the angles of arrival; converting the first and second directions into a global frame; projecting the first and second converted directions onto a horizontal plane; and computing a first drift estimate for a gyroscope or IMU of the first apparatus relative to the second apparatus, and/or computing a second drift estimate for a gyroscope or IMU of the second apparatus relative to the first apparatus, the first drift estimate being based on a difference between the projected second direction and a mirrored projected first direction, and the second drift estimate being based on a difference between the projected first direction and a mirrored projected second direction.