System for real-time determination of calibration of an inertial measurement unit

Patent metadata

Field	Value
Publication number	US-2024192022-A1
Application number	US-202318507762-A
Country	US
Kind code	A1
Filing date	Nov 13, 2023
Priority date	Dec 7, 2022
Publication date	Jun 13, 2024
Grant date	—

Abstract

A system for real-time determination of calibration of an inertial measurement unit includes an inertial measurement unit and a processor in electronic communication with the inertial measurement unit. A road mapping module receives a vehicle latitude and a vehicle longitude, and determines a virtual heading angle of a vehicle. A virtual acceleration module receives the virtual heading angle of the vehicle, and a measured vehicle speed and heading angle, and estimates a virtual lateral acceleration and a virtual longitudinal acceleration. A correlation module receives the virtual lateral acceleration, the virtual longitudinal acceleration, a calibrated measured lateral acceleration, and a calibrated measured longitudinal acceleration. The correlation module determines a correlation between the virtual lateral acceleration and the calibrated measured lateral acceleration, and between the virtual longitudinal acceleration and the calibrated measured longitudinal acceleration. A notice is generated by the correlation module indicating a result of the correlation.

First claim

What is claimed is:

1 . A system for real-time determination of calibration of an inertial measurement unit, the system comprising:
an inertial measurement unit mounted on at least one of a vehicle, a tire supporting the vehicle, and a wheel on which the tire is mounted; a processor in electronic communication with the inertial measurement unit; a road mapping module in electronic communication with the processor, the road mapping module receiving a vehicle latitude and a vehicle longitude and determining a virtual heading angle of the vehicle; a virtual acceleration module in electronic communication with the processor, the virtual acceleration module receiving the virtual heading angle of the vehicle from the road mapping module and receiving a measured vehicle speed and a measured heading angle, the virtual acceleration module estimating a virtual lateral acceleration and a virtual longitudinal acceleration; a correlation module in electronic communication with the processor, the correlation module receiving the virtual lateral acceleration and the virtual longitudinal acceleration from the virtual acceleration module and receiving a calibrated measured lateral acceleration and a calibrated measured longitudinal acceleration from the inertial measurement unit, the correlation module determining a correlation between the virtual lateral acceleration and the calibrated measured lateral acceleration and between the virtual longitudinal acceleration and the calibrated measured longitudinal acceleration; and a notice being generated by the correlation module, the notice indicating a result of the correlation.

2 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the notice is generated in real time as the vehicle is operating.

3 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the vehicle latitude and the vehicle longitude are obtained from a global positioning system unit.

4 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the road mapping module is in electronic communication with a map server.

5 . The system for real-time determination of calibration of an inertial measurement unit of claim 4 , wherein the road mapping module corrects a measured trajectory of the vehicle and generates an enhanced trajectory of the vehicle from digital maps of the map server.

6 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the measured vehicle speed and the measured heading angle are obtained from a global positioning system unit.

7 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the inertial measurement unit executes a calibration routine to generate the calibrated measured longitudinal acceleration and the calibrated measured lateral acceleration.

8 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the correlation module generates a longitudinal acceleration correlation coefficient from the correlation between the virtual longitudinal acceleration and the calibrated measured longitudinal acceleration.

9 . The system for real-time determination of calibration of an inertial measurement unit of claim 8 , wherein when a magnitude of the longitudinal acceleration correlation coefficient is high, the notice indicates measurements from the inertial measurement unit are accurate.

10 . The system for real-time determination of calibration of an inertial measurement unit of claim 9 , wherein a high magnitude of the longitudinal acceleration correlation coefficient includes a value of about one.

11 . The system for real-time determination of calibration of an inertial measurement unit of claim 8 , wherein when a magnitude of the longitudinal acceleration correlation coefficient is low, the notice indicates measurements from the inertial measurement unit are not accurate.

12 . The system for real-time determination of calibration of an inertial measurement unit of claim 11 , wherein a low magnitude of the longitudinal acceleration correlation coefficient includes a value of about zero.

13 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the correlation module generates a lateral acceleration correlation coefficient from the correlation between the virtual lateral acceleration and the calibrated measured lateral acceleration.

14 . The system for real-time determination of calibration of an inertial measurement unit of claim 13 , wherein when a magnitude of the lateral acceleration correlation coefficient is high, the notice indicates measurements from the inertial measurement unit are accurate.

15 . The system for real-time determination of calibration of an inertial measurement unit of claim 14 , wherein a high magnitude of the lateral acceleration correlation coefficient includes a value of about one.

16 . The system for real-time determination of calibration of an inertial measurement unit of claim 13 , wherein when a magnitude of the lateral acceleration correlation coefficient is low, the notice indicates measurements from the inertial measurement unit are not accurate.

17 . The system for real-time determination of calibration of an inertial measurement unit of claim 16 , wherein a low magnitude of the lateral acceleration correlation coefficient includes a value of about zero.

18 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the inertial measurement unit is included in a telematic control unit.

19 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the notice is transmitted from the processor to an electronic control system of the vehicle.

Assignees

• Goodyear Tire & Rubber

Inventors

• Singh Kanwar Bharat
• Vegamoor Vamsi Krishna
• Sajadi Alamdari Seyed Amin
• Sharma Sparsh

Classifications

• B60W2520/125

  Lateral acceleration · CPC title

• B60W2520/105

  Longitudinal acceleration · CPC title

• B60W40/105

  Speed · CPC title

• G01C21/3844 Primary

  Data obtained from position sensors only, e.g. from inertial navigation · CPC title

• G01C21/188

  for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems · CPC title