Patent ID: 9524268
Filing Date: 2016-12-20
CPC Classification: G01C,G06F

Claim Text:
1. A method of determining orientation parameters of a rigid body, comprising: assocating at least two multi-axis accelerometers with the body, wherein the body comprises a base end, a distal end, and a line of symmetry of the body between the base end and the distal end, wherein two first multi-axis accelerometers are disposed at a first point along the line of symmetry between the base end and the distal end, wherein each first multi-axis accelerometer is disposed at equal distances from the line of symmetry, and wherein the line of symmetry and both first multi-axis accelerometers lie in a first plane; associating a gyroscope with the body, wherein the gyroscope is spaced apart from the two multi-axis accelerometers; gathering measured data from the two first multi-axis accelerometers and the gyroscope; applying analysis free of calculus to the measured data to determine a first inclination angle of the line of symmetry from a dynamic equilibrium axis, wherein the dynamic equilibrium axis is parallel to a direction of a total acceleration at a point of contact on the body, wherein the total acceleration is a vector sum of a first acceleration and a second acceleration acting on the body.