A sensor unit with high reliability and stable detection accuracy against vibrations of an installation target object is to be provided. A sensor unit includes: a sensor module configured including a substrate with inertial sensors mounted thereon, and an inner case in which the substrate is installed; and an outer case accommodating the sensor module. A recessed part is formed in the inner case. The inertial sensors are arranged in an area overlapping with the recessed part as viewed in a plan view seen from the direction of thickness of the substrate, and a filling member is provided to fill a space formed by the substrate and the recessed part. The sensor module is joined to a bottom wall of the outer case via a joining member.

An inertial sensor includes a substrate and a structure disposed on the substrate. The structure includes a detection movable body which overlaps the substrate in a direction along a Z-axis and includes a movable detection electrode, a detection spring that supports the detection movable body, a drive portion that drives the detection movable body in a direction along an X-axis with respect to the substrate, a fixed detection electrode fixed to the substrate and facing the movable detection electrode, a first compensation electrode for applying an electrostatic attraction force having a first direction component different from the direction along the X-axis to the detection movable body, and a second compensation electrode for applying an electrostatic attraction force having a second direction component opposite to the first direction component to the detection movable body. One of the first compensation electrode and the second compensation electrode includes an adjustment portion that adjusts magnitude of the electrostatic attraction force.

An acceleration sensor functioning as a physical quantity sensor includes an acceleration sensor element including a substrate, a lid joined to the substrate to form a housing space in the inside, and an acceleration sensor element piece housed in the housing space and capable of detecting a physical quantity, and a circuit element bonded to, by an adhesive material, an upper surface on the opposite side of the acceleration sensor element piece side of the lid. A recess is provided along the outer edge of the lid in an outer edge region of the upper surface of the lid.

The present invention relates to systems and methods for providing location and guidance, and more particularly for providing location and guidance in environments where global position systems (GPS) are unavailable or unreliable (GPS denied and/or degraded environments). The present invention further relates to systems and methods for using inertial measurement units IMUs to provide location and guidance. More particularly, the present invention relates to the use of a series of low-accuracy or low-resolution IMUs, in combination, to provide high-accuracy or high-resolution location and guidance results. The present invention further relates to an electronics-control system for handing off control of the measurement and guidance of a body in flight between groups or subgroups of IMUs to alternate between high dynamic range/lower resolution and lower dynamic range/higher resolution measurement and guidance as the environment dictates.

An electronics assembly can include a circuit board comprising a stress sensitive device and a stiffening member operatively connected to the circuit board to stiffen the circuit board. The assembly can include a housing disposed around the circuit board and the stiffening member to contain circuit board and the stiffening member. The assembly can include one or more elastic and/or flexible bumpers disposed between the circuit board and the housing to provide shock absorption to the circuit board within the housing.

An inertial sensor includes a substrate and a structure disposed on the substrate. The structure includes a detection movable body which overlaps the substrate in a direction along a Z-axis and includes a movable detection electrode, a detection spring that supports the detection movable body, a drive portion that drives the detection movable body in a direction along an X-axis with respect to the substrate, a fixed detection electrode fixed to the substrate and facing the movable detection electrode, a first compensation electrode for applying an electrostatic attraction force having a first direction component different from the direction along the X-axis to the detection movable body, and a second compensation electrode for applying an electrostatic attraction force having a second direction component opposite to the first direction component to the detection movable body. One of the first compensation electrode and the second compensation electrode includes an adjustment portion that adjusts magnitude of the electrostatic attraction force.

Method for determining the orientation of the trajectory followed by a pedestrian, associated with a trajectory frame, with respect to a reference frame is provided. At least one motion sensor associated with the pedestrian generates data representative of the motion of the sensor housing on the basis of said sensor assembly in the reference frame. A first rotation transformation operator representative of the orientation of the reference frame with respect to the trajectory frame is calculated. The data representative of the motion after transformation by said first operator exhibits at least one characteristic of a set of characteristics which are representative of signals of walking or running motion of a pedestrian and are expressed in the pedestrian frame.

The present disclosure relates to a positioning apparatus and method and a self-moving device. The positioning apparatus includes a first positioning module (101), a sensor module (102), and a processing module (103). The position of the positioning apparatus is determined according to the positioning result of the first positioning module (101) and the positioning result determined by using the sensor module (102) to measure the acceleration and the angle parameter and based on a pedestrian dead reckoning algorithm, and determine the boundary of the self-moving device. A pedestrian dead reckoning technology independent of an external environment is introduced during boundary positioning, and the pedestrian dead reckoning technology and other positioning technologies are integrated to establish a virtual boundary, so that positioning precision is high, and a precise boundary is established. In addition, it is not necessary to arrange a physical boundary, so that operations of a user are less complex.

A method of location of a device includes a displacement law containing a corrective factor of a bias combined by an arithmetical operation with a measured variable, and particles, each particle being associated with a current value of the corrective factor. The current value of the corrective factor being constructed at each iteration on the basis of a previous current value of the corrective factor, computed during a previous iteration, to which is added a random variable drawn according to a predefined probability law. The current values of various particles are initialized, before the first iteration, to various initial values, and during each iteration, for each particle whose coordinates are updated with the aid of this displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle.

Provided is a calibration-free positioning method and system. The positioning method includes: setting a positioning period, acquiring a first coordinate of a positioned object in a base station coordinate system at the end of one positioning period, performing an inertial navigation within the one positioning period to obtain a first inertial navigation result; controlling, within a next positioning period, the positioned object to move to obtain a second coordinate in the base station coordinate system at the end of the next positioning period, performing an inertial navigation on the positioned object within the positioning period to obtain a second inertial navigation result, and calculating displacement vectors in the base station coordinate system and in the inertial navigation coordinate system; calculating a rotation quaternion; transforming, through the rotation quaternion, a coordinate obtained by the inertial navigation to the base station coordinate system, output a position of the positioned object after transforming.