A system for orienting a marine vessel is provided. The system includes marine propulsion devices, a gyroscopic stabilizer system, and a controller operably coupled to the marine propulsion devices and the gyroscopic stabilization system. The controller is configured to control operation of the marine propulsion devices to minimize a control torque output of the gyroscopic stabilizer system while maintaining the marine vessel in a selected global position and/or heading.

The present invention relates to a novel rotator for a standardized coarse azimuth-pointing system for a balloon-borne platform—either zero pressure or Super Pressure Balloons (SPB)—with a maximum suspended payload of 5,500 lbs. The 5.5K Rotator novel shaft design, bearings, motor, and housing, result in a weight of the rotator being decreased by 33% from existing legacy rotators. The present invention achieved a 24% parts reduction from existing legacy rotators, and has the advantages of lighter weight, reusability, cost-effectiveness, machinability, and ease of assembly.

The present invention relates to a novel rotator for a standardized coarse azimuth-pointing system for a balloon-borne platform—either zero pressure or Super Pressure Balloons (SPB)—with a maximum suspended payload of 5,500 lbs. The 5.5K Rotator novel shaft design, bearings, motor, and housing, result in a weight of the rotator being decreased by 33% from existing legacy rotators. The present invention achieved a 24% parts reduction from existing legacy rotators, and has the advantages of lighter weight, reusability, cost-effectiveness, machinability, and ease of assembly.

Systems and methods are disclosed for receiving and transmitting accelerometer data and/or usage data, and analyzing the data to detect movement or usage of the device within a vehicle. A device, such as a mobile device, may detect a device movement event or a device usage event associated with the device. Based on the detection of the device movement event or the device usage event, a time associated with the event may be stored. The device may determine whether another event associated with the device occurs within a threshold amount of time from the time associated with the event. Based on a determination of whether the other event occurs within the threshold amount of time, the device may determine an event session associated with the device. The event session may comprise an instantaneous event or a continuous event. Data indicative of the event session may be transmitted to a server.

Systems and methods are disclosed for receiving and transmitting accelerometer data and/or usage data, and analyzing the data to detect movement or usage of the device within a vehicle. A device, such as a mobile device, may detect a device movement event or a device usage event associated with the device. Based on the detection of the device movement event or the device usage event, a time associated with the event may be stored. The device may determine whether another event associated with the device occurs within a threshold amount of time from the time associated with the event. Based on a determination of whether the other event occurs within the threshold amount of time, the device may determine an event session associated with the device. The event session may comprise an instantaneous event or a continuous event. Data indicative of the event session may be transmitted to a server.

An inertia measurement device, which is used in combination with a satellite positioning receiver that outputs a positioning result at every T seconds in a positioning system equipped on a vehicle, when a Z-axis angular velocity sensor, a position error P[m] based on the detection signal of the Z-axis angular velocity sensor while the vehicle moves at a moving speed V[m/sec] for T seconds satisfies Pp ≥ P = (V/Bz) × (1 - cos (Bz×T) ) (where, a bias error of the Z-axis angular velocity sensor is Bz[deg/sec] and a predetermined allowable maximum position error during movement for T seconds is Pp[m]), and a bias error Bx and By of the Y-axis angular velocity sensor satisfies Bz < Bx and Bz < By.

An inertia measurement device, which is used in combination with a satellite positioning receiver that outputs a positioning result at every T seconds in a positioning system equipped on a vehicle, when a Z-axis angular velocity sensor, a position error P[m] based on the detection signal of the Z-axis angular velocity sensor while the vehicle moves at a moving speed V[m/sec] for T seconds satisfies Pp ≥ P = (V/Bz) × (1 - cos (Bz×T) ) (where, a bias error of the Z-axis angular velocity sensor is Bz[deg/sec] and a predetermined allowable maximum position error during movement for T seconds is Pp[m]), and a bias error Bx and By of the Y-axis angular velocity sensor satisfies Bz < Bx and Bz < By.

A method of determining the orientation of a device having disposed therein, in part, an inertia measurement unit, a phased array receiver, and a controller, includes, in part, detecting the difference between phases of an RF signal received by at least a pair of receive elements of the phased array receiver, determining the angle of incidence of the RF signal from the phase difference, using the angle of incidence to determine the projection of a vector on a plane of an array of transmitters transmitting the RF signal, and determining the yaw of the device from the projection of the vector. The vector is a three-dimensional vector representative of the orientation of the plane of the phased array receivers relative to the plane of the array of transmitters transmitting the RF signal.

Inertial measurement apparatus arranged to be carried by a carrier vehicle include a chassis, a turntable mounted on the chassis, a first inertial measurement unit mounted on the turntable and connected to an electronic control unit connected to a motor for controlling turning of the turntable, and a second inertial measurement unit secured to the chassis. The control unit turns the turntable through one revolution with periodic alternating motion from a fixed initial angular position of the turntable. The control unit calculates the acceleration of the carrier vehicle from measuring the first inertial measurement unit while the turntable is stationary and from measuring the second inertial measurement unit while the turntable is moving. The control unit reconstitutes an inertial reference frame for each inertial measurement unit and compares the two inertial reference frames to determine a difference and takes account of this difference when calculating the acceleration.

Disclosed is a self-adaptive horizontal attitude measurement method based on motion state monitoring. Based on a newly established state space model, a horizontal attitude angle is taken as a state variable, an angular velocity increment Δω.sup.b for compensating a random constant zero offset is taken as a control input of a system equation, and a specific force f.sup.b for compensating the random constant zero offset is taken as a measurement quantity. Meanwhile, judgment conditions for a maneuvering state of a carrier are improved, and maneuvering information of the carrier is judged by comprehensively utilizing acceleration information and angular velocity information output by a micro electro mechanical system inertial measurement unit (MEMS-IMU), whereby a measurement noise matrix of a filter can be automatically adjusted, thereby effectively reducing the influence of carrier maneuvering on the calculation of a horizontal attitude. The method has no special requirement on the maneuvering state of the carrier, and can ensure that the system has high attitude measurement precision in different motion states without an external information assistance.