A method of updating an all-attitude angle of an agricultural machine based on a nine-axis MEMS sensor includes the following steps: establishing an error model of a gyroscope, an electronic compass calibration ellipse model and a seven-dimensional EKF filtering model, and setting a parameter vector corresponding to a vehicle motional attitude (S1); acquiring data including an acceleration and an angular velocity of a motion of vehicle, and an geomagnetic field intensity in real time (S2); calculating an angle, a velocity, position information, and a course angle of the vehicle by established error model of the gyroscope and the electronic compass calibration ellipse model(S3); data-fusion processing the angle, the velocity, the position information and the course angle of the vehicle by the seven-dimensional EKF filtering model, and updating a motional attitude angle of the vehicle in real time. The steps of the method have a small error, high precision, and reliability.

A device for testing an inertial sensor for a vehicle, which includes at least two attachment points, having at least one first oscillation body to which the inertial sensor is fastenable/is fastened, and having at least one first excitation module assigned to the first oscillation body for accelerating the first oscillation body in at least one direction. At least one second oscillation body is spaced apart from the first oscillation body, to which at least one second excitation module is assigned for accelerating the second oscillation body, and that the inertial sensor is fastenable/is fastened with a first attachment point to the first oscillation body and with a second attachment point to the second oscillation body.

Techniques for, among other things, detecting faults associated with inertial measurement units (IMUs) of a vehicle when multiple IMUs are coupled to the vehicle are described herein. The techniques may include receiving first data from a first IMU of the vehicle and receiving second data from a second IMU of the vehicle. Based at least in part on the first data and the second data, a rotation of the first IMU relative to the second IMU may be calculated. The calculated rotation between the first IMU and the second IMU may be indicative of a fault associated with the first IMU or the second IMU. In response to detecting the fault, an action may be performed with respect to the first IMU or the second IMU to correct for the fault.

A method includes receiving a signal from a sensor. The signal includes a first in-phase component and a first quadrature component. The first in-phase and quadrature components are identified. A rate signal is applied to the sensor and the sensor generates a sensed rate signal. A second in-phase and quadrature components associated with the sensed rate signal are determined. A phase error based on the first and the second in-phase components, and the first and the second quadrature components is determined. The method may further include reducing error in measurements associated with the sensor by dynamically compensating for the determined phase error, e.g., by modifying a clock signal, by changing a demodulation phase of a demodulator used to identify the in-phase and the quadrature components.

Rate of penetration (ROP) measurement system (10) has sensor apparatus on a drill rig detecting drilling advancement. Sender (38, 200) transmits to a receiver (40, 204), optionally via a reflector (39, 208). An electronic sub (201) can include the sender (200), receiver (204) or reflector (208). Reflector (39, 208) reflects signals to the receiver (40, 204). Distance measurement or space mapping can use LIDAR/laser and MEMS mirror. Releasable attachment to the drill rig can be by magnet (112). Atmospheric or barometric pressure can be detected and pressure change can be used to determine distance moved. WOB, RPM, torque and time rate of progress can be measured and combined with distance moved measurements to assess wear on a drill bit. Near real time

ROP measurement can be calculated and displayed (17) and/or reported (21). Drilling efficiency and premature drill wear or change in rock can be determined.

Rate of penetration (ROP) measurement system (10) has sensor apparatus on a drill rig detecting drilling advancement. Sender (38, 200) transmits to a receiver (40, 204), optionally via a reflector (39, 208). An electronic sub (201) can include the sender (200), receiver (204) or reflector (208). Reflector (39, 208) reflects signals to the receiver (40, 204). Distance measurement or space mapping can use LIDAR/laser and MEMS mirror. Releasable attachment to the drill rig can be by magnet (112). Atmospheric or barometric pressure can be detected and pressure change can be used to determine distance moved. WOB, RPM, torque and time rate of progress can be measured and combined with distance moved measurements to assess wear on a drill bit. Near real time

ROP measurement can be calculated and displayed (17) and/or reported (21). Drilling efficiency and premature drill wear or change in rock can be determined.

Systems and methods may provide for obtaining first sensor data associated with a gyroscope and obtaining second sensor data associated with a magnetometer. Additionally, the first sensor data, the second sensor data and an extended Kalman filter may be used to calibrate the magnetometer. In one example, a sampling rate of the magnetometer is increased before obtaining the second sensor data and the sampling rate of the magnetometer is decreased after calibration of the magnetometer.

Determining calibration values for atmospheric sensors that provide measured pressures used for estimating altitudes of mobile devices. Particular systems and methods determine if any uncalibrated reference-level pressure estimates associated with an unstable pressure sensor should not be used when calibrating the unstable pressure sensor, and calibrate the unstable pressure sensor using all of the uncalibrated reference-level pressure estimates except any uncalibrated reference-level pressure estimate that should not be used when calibrating the unstable pressure sensor.

The sensor rod assembly includes a rod and a plurality of sensor arrays disposed on the rod. Each sensor array includes a plurality of sensor units, where each sensor unit includes a plurality of sensor devices. The sensor rod assembly includes detection circuitry coupled to the plurality of sensor devices. The detection circuitry is disposed on the rod. The detection circuitry includes a plurality of detection circuits. A particular detection circuit receives an output of a particular sensor device. The sensor rod assembly includes a user interface and a controller. The controller includes one or more processors configured to receive one or more detection signals from the detection circuitry, and determine a position of a laser beam incident on the plurality of sensor arrays based on the received one or more detection signals from the detection circuitry.

A sensor rod assembly includes a master stick and an extension stick, where the master stick and the at least one extension stick are couplable together via at least one of a physical coupling, an electrical coupling, or a communicative coupling. The sensor rod assembly includes a controller with one or more processors, where the one or more processors are communicatively coupled to at least one set of detection circuitry and a user interface, where the one or more processors are configured to execute a set of program instructions configured to cause the one or more processors to receive one or more detection signals from at least one of the master stick or the extension stick and configured to cause the one or more processors to determine an elevation of a laser light based on the received one or more detection signals.