WO2000017607A9 - Calibration of multi-axis accelerometer in vehicle navigation system - Google Patents
Calibration of multi-axis accelerometer in vehicle navigation systemInfo
- Publication number
- WO2000017607A9 WO2000017607A9 PCT/US1999/021573 US9921573W WO0017607A9 WO 2000017607 A9 WO2000017607 A9 WO 2000017607A9 US 9921573 W US9921573 W US 9921573W WO 0017607 A9 WO0017607 A9 WO 0017607A9
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- orientation
- navigation system
- sensor
- signals
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Definitions
- the present invention relates generally to vehicle navigation systems and more particularly to a system and method for calibrating accelerometers in the vehicle navigation system.
- Some known vehicle navigation systems include inertial sensors or accelerometers, possibly in combination with other sensors, to provide dead-reckoning.
- One known navigation system includes an accelerometer suite comprising three orthogonally mounted accelerometers. The accelerometer provides acceleration signals in three mutually orthogonal axes. A first accelerometer is aligned vertically, t ' .e., with gravity. A second accelerometer is aligned with the longitudinal axis of the vehicle to provide a signal indicating forward and rearward acceleration, from which speed can be dete ⁇ nined. A third accelerometer, mounted orthogonally to the other two, provides lateral acceleration information, which is used to indicate change in heading.
- the accelerometers In the known navigation system, the accelerometers must be precisely aligned with the associated axes of the vehicle in order to provide accurate information.
- the accelerometer is mounted in a known orientation in the vehicle.
- Hardware such as adjustment screws, is provided to fine tune the orientation of the three accelerometers to align the three accelerometers with the corresponding axes of the vehicle. Even after time-consuming adjustment, the accelerometers may not be properly aligned with the axes of the vehicle. The alignment may also change over time.
- the present invention permits a multi-axis accelerometer suite to be installed in the vehicle in any unknown orientation.
- the navigation system learns the orientation of the accelerometer suite and propagates the position of the vehicle based upon the acceleration signals from the accelerometer after learning its orientation.
- the navigation system determines the orientation of the accelerometer relative to the vehicle and generates a transformation matrix.
- the transformation matrix transforms signals from the accelerometer suite reference frame to the vehicle reference frame.
- the transformed acceleration signals are then used to provide dead reckoning. More particularly, a forward acceleration signal is used to determine the speed of the vehicle, while a lateral acceleration signal indicates change in the current heading of the vehicle.
- the accelerometer is installed into the vehicle in any orientation.
- the vehicle is then run through a series of simple, pre-determined actions which permit the navigation system to quickly determine the orientation of the accelerometer relative to the vehicle.
- the navigation system determines the orientation of the accelerometer relative to gravity. Since the only acceleration acting upon the accelerometer when the vehicle is still is gravity (at lg), the navigation system can quickly determine the orientation of the accelerometer relative to gravity.
- the vehicle undergoes a series of moderate forward accelerations, which indicate the orientation of the accelerometers relative to the longitudinal axis of the vehicle.
- any acceleration in the forward direction of the vehicle before significant velocity is achieved is almost completely in the longitudinal axis of the vehicle. In this manner, the orientation of the accelerometer relative to the longitudinal axis of the vehicle is determined.
- the lateral axis of the vehicle is then taken to be the cross product of the gravity and longitudinal axes of the vehicle.
- DC biases of the accelerometer, in each axis, are also determined.
- the orientation of the accelerometer is repeatedly checked, and updated, if necessary.
- Figure 1 is a schematic of the navigation system of the present invention installed in a vehicle
- Figure 2 is a perspective view of the vehicle and accelerometer of Figure 1, with the accelerometer installed in an unknown orientation in the vehicle;
- Figure 3 is a flow chart showing one recursion of the steps for determining the sensor orientation;
- Figure 4 is a flow chart showing the steps for taking a snapshot of a zero motion state
- Figure 5 is a flow chart illustrating the steps for taking a snapshot of forward acceleration
- Figure 6 is a flow chart illustrating the steps for checking a change in orientation
- Figure 7 is a flow chart illustrating the recursive orientation update
- Figure 8a is a graph illustrating signals from the multi-axis accelerometer of Figure 2; and Figure 8b is a graph corresponding to Figure 8a, illustrating the transformed acceleration signals.
- the navigation system 20 of the present invention is shown schematically in Figure 1.
- the navigation system 20 includes a CPU 22 having RAM 23 and connected to a display 24, such as a high resolution LCD or flat panel display.
- the CPU 22 is also connected to an input device 26 such as a mouse, keyboard, key pad, remote device or microphone.
- the display 24 can be a touch screen display.
- the navigation system 20 further includes a storage device 28, such as a hard drive 28 or CD ROM, connected to the CPU 22.
- the storage device 28 contains a database 29 including a map of all the roads in the area to be traveled by the vehicle 32 as well as the locations of potential destinations, such as addresses, hotels, restaurants, or previously stored locations.
- the software for the CPU 22, including the graphical user interface, route guidance, operating system, position-determining software, etc may also be stored in storage device 28 or alternatively in ROM or flash memory.
- the navigation system 20 preferably includes position and motion determining devices, such as a GPS receiver 34, a gyroscope 36, a compass 38, a wheel speed sensor 40 and a multi-axis accelerometer 42, all connected to the CPU 22 (connections not shown for simplicity). Such position and motion detem ⁇ iing devices are well known and are commercially available.
- the position and motion dete ⁇ nining devices determine the position of the vehicle 32 relative to the database of roads utilizing dead-reckoning, map- matching, etc. Further, as is known in navigation systems, the user can select a destination relative to the database of roads utilizing the input device 26 and the display 24. The navigation system 20 then calculates and displays a recommended route directing the driver of the vehicle 32 to the desired destination. Preferably, the navigation system 20 displays turn-by-turn instructions on display 24, guiding the driver to the desired destination.
- Figure 2 illustrates the multi-axis accelerometer 42 having axes x, y, z installed in the vehicle 32 having a longitudinal axis , a lateral axis b and a vertical axis c.
- the longitudinal axis a of the vehicle 32 is defined in the forward direction of the vehicle 32.
- the lateral axis b is orthogonal to both the longitudinal and vertical axes a, c and is defined to be in the right direction.
- the vertical axis c is orthogonal to the other axes a and b and is defined in the downward direction.
- the axes x, y, z of the accelerometer 42 are mutually orthogonal, but are in an orientation which may be completely unknown relative to the vehicle axes a, b, c.
- the navigation system 20 of the present invention automatically learns the orientation of the accelerometer 42 relative to the vehicle axes a, b, c and then utilizes signals from the accelerometer 42 to propagate the position of the vehicle 32. As will be described in more detail below, the navigation system 20 first determines the orientation of the accelerometer 42 relative to the vertical axis c of the vehicle 32 by comparing the orientation of the accelerometer 42 relative to gravity when the vehicle 32 is not moving.
- the navigation system 20 determines the orientation of the accelerometer 42 relative to the longitudinal axis a of the vehicle 32 during forward acceleration of the vehicle 32.
- the orientation of the accelerometer 42 relative to the lateral axis b of the vehicle 32 is then simply the cross-product of the longitudinal and vertical axes a and c.
- the navigation system 20 generates a transformation matrix by which the signals in the accelerometer axes x, y, z are multiplied to produce acceleration signals in the vehicle axes a, b, c to propagate position.
- the "learn sensor orientation" recursion counter is reset to zero in step 45.
- the accelerometer 42 can still determine whether the vehicle 32 is in a zero motion state, by monitoring the magnitudes or change in magnitudes of the signals in the three accelerometer axes x, y, z.. Preferably, this is done utilizing the method described in detail in co-pending United States Patent Application No.
- Zero Motion Detection System for Improved Vehicle Navigation System, assigned to the assignee of the present invention, and which is hereby incorporated by reference.
- ZMD Zero Motion Detection System
- a zero motion determination can still be made even when the orientation of the accelerometer 42 is completely unknown relative to the vehicle 32. If the sum of the acceleration signals in the three axes x, y, z are below a given threshold, a zero motion determination can be made. Alternatively, if changes in each or all of the axes x, y, z are below a certain threshold for a certain period of time, a zero motion determination can also be made.
- the navigation system 20 determines whether to learn sensor orientation via comparisons to signals from the GPS system in step 52. If not, the navigation system 54 takes a snapshot of the zero motion state in step 54, t ' .e., it stores instantaneous acceleration signals from the three axes x, y, z. In step 56, the navigation system determines whether these signals represent a valid snapshot, i.e., whether the vehicle is still in a zero motion state. If so, a snapshot during forward acceleration is taken in step 60 and the orientation of the accelerometer 42 is determined relative to the longitudinal axis a of the vehicle 32. In step 62, it is determined whether the snapshot was valid, in a manner which will be described below.
- step 66 the cosine or transformation matrix is computed, as is the AccFOM.
- step 70 recursive orientation updates from the acceleration information are performed and the navigation system 20 proceeds to step 72. It should be recognized that this process will be performed recursively to provide the more accurate determination of the orientation of the accelerometer 42 in the vehicle 32.
- FIG 4 is a detailed flow chart of step 54 from Figure 3.
- Snapshot ZMD starts in step 80.
- the navigation system identifies and stores approximately 16 to 32 sets of accelerometer signals from the x, y, z axes during the zero motion state.
- the navigation system 20 verifies that the signals from each accelerometer axes x, y, z have a range of signals less than a predetermined threshold, for example, three counts on an analog to digital converter. This is to ensure that the data is valid and that the zero motion state is still accurate.
- a predetermined threshold for example, three counts on an analog to digital converter. This is to ensure that the data is valid and that the zero motion state is still accurate.
- step 86 the mean of each data set (x, y, z) is computed to establish three ZMD sensor values: x s , y s , and Z .
- the navigation system then returns to the flow chart of Figure 3 in step 90. If the navigation system 20 determines in step 86 that any of the ranges for acceleration signals in any of the axes exceeds the threshold, the navigation system returns to the flow chart of Figure 3 in step 92 to step 56 in Figure 3 with an indication that the snapshot was not valid.
- FIG. 5 illustrates a more detailed flow chart of step 60 from Figure 3.
- the snapshot of forward acceleration begins in step 96 and first determines whether the sum of the acceleration signals from the axes x , z exceed a predeterrnined threshold in step 98. When it does, the navigation system 20 delays for approximately one second in step 100 and then records acceleration data for the x, y, z axes in step 102, which is presumably occurring during a hard forward acceleration. In step 104, the navigation system 20 computes the FOM for the forward acceleration snapshot. In step 106, if the FOM is greater than a predetermined threshold, then the snapshot forward acceleration subroutine returns in step 108 to step 62 in Figure 3 with an indication that the snapshot was valid. If the FOM is not greater than the predete ⁇ nined threshold, then the snapshot forward acceleration subroutine 60 returns in step 110 to step 62 in Figure 3 with an indication that the snapshot was not valid.
- the vector sum of all three acceleration signals in the x, y, z axes should be exactly 1 g; however, the accelerometer 42 will include the DC sensor biases in each axis x, y, z.
- the change in acceleration during the hard forward acceleration will provide signals without sensor biases, since it is a change in acceleration.
- the mean lateral acceleration will be zero.
- the vehicle 32 there can be no lateral acceleration without forward velocity. By taking a snapshot of the forward acceleration early in the acceleration from the zero motion state, there should be very little forward velocity and therefore negligible lateral acceleration.
- the vehicle 32 is preferably placed on a flat horizontal surface and undergoes a series of zero motion states and moderate to hard straightforward accelerations.
- step 66 the navigation system 20 generates a three by three transformation matrix (C ⁇ x C 33 ) based upon the steps above to transform the acceleration signals from the ⁇ :, y, z axes to the vehicles a, b, c axes.
- the accelerometer axes x, y, z relate to the vehicle's axes a, b, c as follows: Cii C ⁇ 2 C ⁇ 3 x jeC ⁇ + CI + a
- the navigation system utilizes the data from the ZMD and the forward accelerations to create the transformation matrix.
- the ZMD sensor values Xs, y s , z * are compared to an ideal vehicle ZMD matrix:
- the vector sum of all of three ZMD accelerometer signals should be exactly 1 g.
- the forward acceleration accelerometer values jcf, yt, Zf are then compared to an ideal vehicle forward acceleration matrix:
- the navigation system 20 can use the acceleration signals from the three axes x, y, z of the accelerometer 42 to propagate the position of the vehicle 32 such as by dead reckoning.
- the acceleration signals are continuously multiplied by the transformation matrix to provide the acceleration data for the longitudinal, lateral and vertical axes of the vehicle 32.
- the forward velocity of the vehicle 32 and displacement is determined by the longitudinal acceleration signal over time while the heading of the vehicle 32 is determined based upon the lateral acceleration and velocity of the vehicle 32.
- Acceleration data from the vertical axis c of the vehicle is used to indicate elevation or pitch of the vehicle 32.
- the orientation of the accelerometer 42 is continuously checked according to the flow chart shown in Figure 6.
- step 114 the navigation system maintains data from the most recent four ZMD and forward acceleration snapshots and computes the standard sum of square errors relative to the six values from the two unit vectors (g and forward acceleration).
- step 116 for each of the past ZMDs the sum of square errors is compared to a preset threshold. If they are all greater than the predetermined threshold in step 118, then the standard sum of square errors relative to their own average is computed using the six values from the two unit vectors (g and forward acceleration), for each of the past ZMDs.
- step 122 the sum of square errors is compared to a preset threshold.
- step 124 if all of the sum of square errors are less than a predetermined threshold, then the recursion parameters must be modified or reset in step 126, providing a partial or total re- learn of the orientation. If the sum of square errors are not all less than a predetermined threshold in 124, the orientation change subroutine is returned in step 128, then no orientation change is determined.
- Figure 7 illustrates a flow chart for the recursive orientation update 70 of Figure 3, which begins in step 130.
- step 132 the residuals for the ZMD forward acceleration data sets are used to update the orientation matrix in step 134.
- the gain associated with each of the axes x, y, z is updated or reduced in step 136.
- step 138 the residuals for the car frame acceleration biases are computed based upon 1 g of acceleration in the negative c direction.
- step 140 the inverse of the orientation matrix is used to rotate the new biases into the accelerometer suite frame.
- step 142 the bias gain for the axes x, y, z of the accelerometer 42 is updated and a subroutine returns in step 144.
- Figure 8A illustrates a graph of the acceleration signals from the axes x, y, z of the accelerometer 42. Again, since this is only an example, and since the accelerometer 42 can be installed into the vehicle 32 in any orientation whatsoever, Figure 8a is only an illustrative example, and may not coincide with the orientation shown in the other figures. Figure 8A illustrates signals from the accelerometer 42 installed in an unknown orientation during a series of seven ZMDs and forward accelerations.
- Forward acceleration snapshots 152 of the signals x, y, z and ZMD snapshots 154 are also indicated. Again, for the accelerometers used in this example, 1125 bits of gain on the A/D converter indicates 1 g acceleration. Thus, on Figure 8A, the vector sum of the signals x, y, z is in excess of 1125 bits during the ZMD snapshots 154 as a result of DC biases.
- Figure 8b indicates the transformed a, b, c data corresponding in time to the x, y, Z signals of Figure 8A.
- Figure 8b shows the transformed a, b, c data corresponding in time to the x, y, Z signals of Figure 8A.
- acceleration in the c axis is weU-determined fairly quickly.
- the other signals a, b are not resolved until after the first forward acceleration snapshot 152 at approximately 75 seconds. Even after the first one or two forward acceleration snapshot 152 it can be seen that the a and b axes are well-resolved.
- the more accurately transformed signals a, b, c after approximately 75 seconds show a fairly constant vertical acceleration of 1 g, with some fluctuation due to pitch changes during forward accelerations.
- the navigation system 20 of the present invention provides an easy to install multi-axis accelerometer with improved accuracy.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU63926/99A AU6392699A (en) | 1998-09-23 | 1999-09-17 | Calibration of multi-axis accelerometer in vehicle navigation system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/159,164 US6532419B1 (en) | 1998-09-23 | 1998-09-23 | Calibration of multi-axis accelerometer in vehicle navigation system |
US09/159,164 | 1998-09-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2000017607A1 WO2000017607A1 (en) | 2000-03-30 |
WO2000017607A9 true WO2000017607A9 (en) | 2002-08-22 |
Family
ID=22571349
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1999/021573 WO2000017607A1 (en) | 1998-09-23 | 1999-09-17 | Calibration of multi-axis accelerometer in vehicle navigation system |
Country Status (3)
Country | Link |
---|---|
US (1) | US6532419B1 (en) |
AU (1) | AU6392699A (en) |
WO (1) | WO2000017607A1 (en) |
Families Citing this family (92)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9075136B1 (en) | 1998-03-04 | 2015-07-07 | Gtj Ventures, Llc | Vehicle operator and/or occupant information apparatus and method |
CA2303060A1 (en) * | 1999-04-14 | 2000-10-14 | United States Gear Corporation | Towed vehicle brake controller |
US20020022924A1 (en) * | 2000-03-07 | 2002-02-21 | Begin John David | Propagation of position with multiaxis accelerometer |
AU2001287079A1 (en) * | 2000-09-01 | 2002-03-13 | Magellan Dis Inc. | Calibration of multi-axis accelerometer in vehicle navigation system using gps data |
GB0026982D0 (en) * | 2000-11-04 | 2000-12-20 | Koninkl Philips Electronics Nv | Spread spectrum receiver and related method |
US7424347B2 (en) * | 2001-07-19 | 2008-09-09 | Kelsey-Hayes Company | Motion sensors integrated within an electro-hydraulic control unit |
JP2003307524A (en) * | 2002-04-15 | 2003-10-31 | Pioneer Electronic Corp | Acceleration data correction device, its correction method, its correction program, recording medium for recording its correction program and navigation device |
US7311364B2 (en) * | 2003-10-09 | 2007-12-25 | Hayes Brake Controller Company, Llc | Electric trailer brake controller |
CA2484317C (en) * | 2003-10-09 | 2013-07-02 | Hayes Lemmerz International, Inc. | Electric trailer brake controller |
US8789896B2 (en) | 2004-10-08 | 2014-07-29 | Cequent Electrical Products | Brake control unit |
US8746812B2 (en) | 2004-10-08 | 2014-06-10 | Marcia Albright | Brake control unit |
FR2878954B1 (en) * | 2004-12-07 | 2007-03-30 | Sagem | HYBRID INERTIAL NAVIGATION SYSTEM BASED ON A CINEMATIC MODEL |
JP2006176084A (en) * | 2004-12-24 | 2006-07-06 | Advics:Kk | Detection value correction method for vehicle behavior sensor |
US7908080B2 (en) | 2004-12-31 | 2011-03-15 | Google Inc. | Transportation routing |
DE102005033237B4 (en) * | 2005-07-15 | 2007-09-20 | Siemens Ag | Method for determining and correcting misalignments and offsets of the sensors of an inertial measurement unit in a land vehicle |
DE102005054208B3 (en) * | 2005-11-14 | 2007-06-14 | Siemens Ag | Method for determining long-term offset drifts of acceleration sensors in motor vehicles |
US7711483B2 (en) * | 2005-11-15 | 2010-05-04 | Sirf Technology, Inc. | Dead reckoning system |
WO2007062102A1 (en) * | 2005-11-23 | 2007-05-31 | Equusys, Incorporated | Animal instrumentation |
US7841967B1 (en) | 2006-04-26 | 2010-11-30 | Dp Technologies, Inc. | Method and apparatus for providing fitness coaching using a mobile device |
US8902154B1 (en) | 2006-07-11 | 2014-12-02 | Dp Technologies, Inc. | Method and apparatus for utilizing motion user interface |
JP4816339B2 (en) * | 2006-08-31 | 2011-11-16 | ソニー株式会社 | Navigation device, navigation information calculation method, and navigation information calculation program |
US7457719B1 (en) | 2006-11-21 | 2008-11-25 | Fullpower Technologies, Inc. | Rotational insensitivity using gravity-based adjustment |
US7653508B1 (en) | 2006-12-22 | 2010-01-26 | Dp Technologies, Inc. | Human activity monitoring device |
US8620353B1 (en) | 2007-01-26 | 2013-12-31 | Dp Technologies, Inc. | Automatic sharing and publication of multimedia from a mobile device |
US8949070B1 (en) | 2007-02-08 | 2015-02-03 | Dp Technologies, Inc. | Human activity monitoring device with activity identification |
US7753861B1 (en) | 2007-04-04 | 2010-07-13 | Dp Technologies, Inc. | Chest strap having human activity monitoring device |
US20080296968A1 (en) * | 2007-05-30 | 2008-12-04 | Hayes Brake Controller Company, Llc | Electric trailer brake controller with an adjustable accelerometer mounting |
US8315797B2 (en) * | 2007-06-15 | 2012-11-20 | Navigation Solutions, Llc | Navigation system with swivel sensor mount |
US8086405B2 (en) * | 2007-06-28 | 2011-12-27 | Sirf Technology Holdings, Inc. | Compensation for mounting misalignment of a navigation device |
US8555282B1 (en) | 2007-07-27 | 2013-10-08 | Dp Technologies, Inc. | Optimizing preemptive operating system with motion sensing |
US20090254274A1 (en) * | 2007-07-27 | 2009-10-08 | Kulik Victor | Navigation system for providing celestial and terrestrial information |
US7647196B2 (en) * | 2007-08-08 | 2010-01-12 | Dp Technologies, Inc. | Human activity monitoring device with distance calculation |
US20090099812A1 (en) * | 2007-10-11 | 2009-04-16 | Philippe Kahn | Method and Apparatus for Position-Context Based Actions |
GB2454224B (en) * | 2007-11-01 | 2013-01-23 | Haldex Brake Products Ltd | Vehicle stability control apparatus |
KR101157756B1 (en) * | 2007-12-10 | 2012-06-25 | 지멘스 에스에이에스 | Device for measuring the movement of a self-guiding vehicle |
US8423255B2 (en) * | 2008-01-30 | 2013-04-16 | Microsoft Corporation | System for sensing road and traffic conditions |
US8320578B2 (en) * | 2008-04-30 | 2012-11-27 | Dp Technologies, Inc. | Headset |
US8285344B2 (en) * | 2008-05-21 | 2012-10-09 | DP Technlogies, Inc. | Method and apparatus for adjusting audio for a user environment |
US8996332B2 (en) | 2008-06-24 | 2015-03-31 | Dp Technologies, Inc. | Program setting adjustments based on activity identification |
US8187182B2 (en) * | 2008-08-29 | 2012-05-29 | Dp Technologies, Inc. | Sensor fusion for activity identification |
US8872646B2 (en) * | 2008-10-08 | 2014-10-28 | Dp Technologies, Inc. | Method and system for waking up a device due to motion |
WO2010084448A1 (en) | 2009-01-20 | 2010-07-29 | Philips Intellectual Property & Standards Gmbh | Method for adjusting a self mixing laser sensor system for measuring the velocity of a vehicle |
ITRM20090059A1 (en) * | 2009-02-11 | 2009-05-13 | Motta Francesco La | CIRCUIT FOR AUTO-ALIGNMENT OF THE RADIATED BEAM FROM AN ANTI-COLLISION RADAR |
US8180546B2 (en) * | 2009-02-27 | 2012-05-15 | Hayes Brake Controller Company, Llc | Electronic brake controller |
US9529437B2 (en) * | 2009-05-26 | 2016-12-27 | Dp Technologies, Inc. | Method and apparatus for a motion state aware device |
US9658079B2 (en) * | 2009-07-10 | 2017-05-23 | Tomtom Telematics B.V. | Accelerometer system and method |
US8248301B2 (en) * | 2009-07-31 | 2012-08-21 | CSR Technology Holdings Inc. | Method and apparatus for using GPS satellite state computations in GLONASS measurement processing |
US20110087413A1 (en) * | 2009-10-13 | 2011-04-14 | D-Brake, Llc | Tow brake |
US8566032B2 (en) * | 2009-10-30 | 2013-10-22 | CSR Technology Holdings Inc. | Methods and applications for altitude measurement and fusion of user context detection with elevation motion for personal navigation systems |
US9068844B2 (en) | 2010-01-08 | 2015-06-30 | Dp Technologies, Inc. | Method and apparatus for an integrated personal navigation system |
US20110196636A1 (en) * | 2010-02-03 | 2011-08-11 | Baker Hughes Incorporated | Measurement method for a component of the gravity vector |
US20130066567A1 (en) * | 2010-05-20 | 2013-03-14 | Anatoly Alekseevich Speranskiy | Method and 3D Detector for Measuring a Vector of Mechanical Oscillations |
US8858046B2 (en) * | 2010-06-28 | 2014-10-14 | Koito Manufacturing Co., Ltd. | Control apparatus for vehicle lamp, vehicle lighting system, and vehicle lamp |
US8843290B2 (en) | 2010-07-22 | 2014-09-23 | Qualcomm Incorporated | Apparatus and methods for calibrating dynamic parameters of a vehicle navigation system |
JP6094026B2 (en) * | 2011-03-02 | 2017-03-15 | セイコーエプソン株式会社 | Posture determination method, position calculation method, and posture determination apparatus |
US9374659B1 (en) | 2011-09-13 | 2016-06-21 | Dp Technologies, Inc. | Method and apparatus to utilize location data to enhance safety |
US9217757B2 (en) * | 2011-09-20 | 2015-12-22 | Calamp Corp. | Systems and methods for 3-axis accelerometer calibration |
WO2013049819A1 (en) * | 2011-09-30 | 2013-04-04 | Ims Solutions, Inc. | A method of correcting the orientation of a freely installed accelerometer in a vehicle |
CN102589568B (en) * | 2012-01-14 | 2014-06-11 | 哈尔滨工程大学 | Method for quickly measuring three-axis gyro constant drift of vehicle strapdown inertial navigation system |
US9406222B2 (en) | 2012-10-18 | 2016-08-02 | Calamp Corp. | Systems and methods for location reporting of detected events in vehicle operation |
US10107831B2 (en) | 2012-11-21 | 2018-10-23 | Calamp Corp | Systems and methods for efficient characterization of acceleration events |
US9459277B2 (en) | 2013-02-19 | 2016-10-04 | Calamp Corp. | Systems and methods for 3-axis accelerometer calibration with vertical sample buffers |
US10466269B2 (en) * | 2013-02-19 | 2019-11-05 | Calamp Corp. | Systems and methods for low latency 3-axis accelerometer calibration |
US8712599B1 (en) * | 2013-02-22 | 2014-04-29 | Analog Devices Technology | Vehicle inertial sensor systems |
US9228836B2 (en) | 2013-03-15 | 2016-01-05 | Cambridge Mobile Telematics | Inference of vehicular trajectory characteristics with personal mobile devices |
JP6083279B2 (en) | 2013-03-25 | 2017-02-22 | セイコーエプソン株式会社 | Movement status information calculation method and movement status information calculation device |
US9459121B2 (en) | 2013-05-21 | 2016-10-04 | DigiPas USA, LLC | Angle measuring device and methods for calibration |
CN105723240B (en) * | 2013-09-16 | 2019-09-17 | 应美盛股份有限公司 | The method and apparatus of the dislocation between equipment and ship are determined with acceleration/deceleration |
GB2518676B (en) | 2013-09-28 | 2019-04-10 | Quartix Ltd | Telematics system and associated method |
WO2015123604A1 (en) | 2014-02-17 | 2015-08-20 | Tourmaline Labs, Inc. | Systems and methods for estimating movements of a vehicle using a mobile device |
US10274509B1 (en) * | 2014-04-09 | 2019-04-30 | Inertialwave | Inertial motion tracking device |
JP5990553B2 (en) * | 2014-04-22 | 2016-09-14 | 株式会社日立製作所 | Program for portable terminal, portable terminal, vehicle driving characteristic diagnosis system, vehicle acceleration calculation method |
CN103969469A (en) * | 2014-05-09 | 2014-08-06 | 深圳市美赛达科技股份有限公司 | Calibrating system and method applied to vehicle monitoring terminal |
US9644977B2 (en) | 2015-05-22 | 2017-05-09 | Calamp Corp. | Systems and methods for determining vehicle operational status |
US10214166B2 (en) | 2015-06-11 | 2019-02-26 | Calamp Corp. | Systems and methods for impact detection with noise attenuation of a sensor signal |
DE102015115282A1 (en) * | 2015-09-10 | 2017-03-16 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method and device for determining an orientation of a sensor unit |
US10055909B2 (en) | 2016-07-08 | 2018-08-21 | Calamp Corp. | Systems and methods for crash determination |
US10395438B2 (en) | 2016-08-19 | 2019-08-27 | Calamp Corp. | Systems and methods for crash determination with noise filtering |
AU2017326530A1 (en) | 2016-09-16 | 2019-05-02 | Horizon Global Americas Inc. | Driver and diagnostic system for a brake controller |
US10219117B2 (en) | 2016-10-12 | 2019-02-26 | Calamp Corp. | Systems and methods for radio access interfaces |
DE102016221827A1 (en) * | 2016-11-08 | 2018-05-09 | Robert Bosch Gmbh | A method for calibrating a first coordinate system of a three-axis acceleration sensor, which is fixedly arranged in a vehicle, to a second coordinate system of the vehicle and apparatus for calibration |
US10363910B2 (en) | 2016-12-07 | 2019-07-30 | Horizon Global Americas Inc. | Automated gain and boost for a brake controller |
US10473750B2 (en) | 2016-12-08 | 2019-11-12 | Calamp Corp. | Systems and methods for tracking multiple collocated assets |
US9958473B1 (en) | 2017-05-01 | 2018-05-01 | Smartdrive Systems, Inc. | Calibrating sensor unit orientation for use in a vehicle monitoring system |
US10599421B2 (en) | 2017-07-14 | 2020-03-24 | Calamp Corp. | Systems and methods for failsafe firmware upgrades |
US20190141156A1 (en) | 2017-11-06 | 2019-05-09 | Calamp Corp. | Systems and Methods for Dynamic Telematics Messaging |
US11206171B2 (en) | 2017-11-07 | 2021-12-21 | Calamp Corp. | Systems and methods for dynamic device programming |
GB201814966D0 (en) * | 2018-09-14 | 2018-10-31 | Tomtom Telematics Bv | System and method for determining accelerometer orientation |
WO2020119841A1 (en) * | 2018-12-11 | 2020-06-18 | Chronos Vision Gmbh | Method and device for positioning determination by means of inertial navigation, and calibration system |
DE102019117089A1 (en) * | 2019-06-25 | 2020-12-31 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Method for calibrating the orientation of an acceleration sensor provided in a vehicle |
US11268813B2 (en) * | 2020-01-13 | 2022-03-08 | Honeywell International Inc. | Integrated inertial gravitational anomaly navigation system |
DE102022126970A1 (en) | 2022-10-14 | 2024-04-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Calibration of an acceleration sensor |
Family Cites Families (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3597598A (en) | 1964-12-14 | 1971-08-03 | North American Rockwell | Method and means for transforming the acceleration signals generated by accelerometers in a first coordinate system into acceleration signals in a second coordinate system |
US3442140A (en) | 1964-12-24 | 1969-05-06 | North American Rockwell | Drift rate compensation for acceleration sensitivity of an inertial navigation platform |
US3492465A (en) | 1965-12-13 | 1970-01-27 | Gen Electric | Redundant off-axis sensors |
US3588478A (en) | 1968-09-26 | 1971-06-28 | Dorn Thomas E | Dead reckoning navigation position computers |
US3702477A (en) | 1969-06-23 | 1972-11-07 | Univ Iowa State Res Found Inc | Inertial/doppler-satellite navigation system |
US3610900A (en) | 1969-11-24 | 1971-10-05 | Us Navy | Crosscoupling computer |
US3790766A (en) | 1971-03-05 | 1974-02-05 | Ferranti Ltd | Inertial navigation systems |
US3763358A (en) | 1971-10-21 | 1973-10-02 | D Cargille | Interweaved matrix updating coordinate converter |
US3803387A (en) | 1972-09-20 | 1974-04-09 | Us Navy | Alignment error detection system |
US4070674A (en) | 1973-10-17 | 1978-01-24 | The Singer Company | Doppler heading attitude reference system |
US3924824A (en) | 1973-10-17 | 1975-12-09 | Singer Co | Cross track strapdown inertial quidance system |
US4038527A (en) | 1975-10-21 | 1977-07-26 | The Singer Company | Simplified strapped down inertial navigation utilizing bang-bang gyro torquing |
DE2643524A1 (en) | 1976-09-28 | 1978-03-30 | Bosch Gmbh Robert | METHOD AND DEVICE FOR CONTACTLESS SPEED MEASUREMENT |
US4173784A (en) | 1977-08-29 | 1979-11-06 | The Singer Company | Inertial system having correction means for effects of gravitational anomalies |
US4262861A (en) | 1978-10-16 | 1981-04-21 | The Singer Company | Inertially decoupled strapdown system |
JPS589017A (en) | 1981-07-10 | 1983-01-19 | Niles Parts Co Ltd | Guiding and displaying device for travelling of automobile |
US4542647A (en) | 1983-02-22 | 1985-09-24 | Sundstrand Data Control, Inc. | Borehole inertial guidance system |
CA1235782A (en) | 1984-05-09 | 1988-04-26 | Kazuo Sato | Apparatus for calculating position of vehicle |
NL8402497A (en) | 1984-08-14 | 1986-03-03 | Philips Nv | VEHICLE NAVIGATION SYSTEM EQUIPPED WITH AN ADAPTIVE INSURANCE NAVIGATION SYSTEM BASED ON MEASUREMENT OF THE SPEED AND CROSS-GEAR ACCELERATION OF THE VEHICLE AND PROVIDED WITH A CORRECTION UNIT FOR CORRECTING THE MEASURED VALUES. |
US4870588A (en) | 1985-10-21 | 1989-09-26 | Sundstrand Data Control, Inc. | Signal processor for inertial measurement using coriolis force sensing accelerometer arrangements |
US4692765A (en) | 1985-12-05 | 1987-09-08 | Environmental Research Institute Of Michigan | Adaptive learning controller for synthetic aperture radar |
DE3621953A1 (en) | 1986-06-30 | 1988-01-14 | Bodenseewerk Geraetetech | INERTIA SENSOR ARRANGEMENT |
US4749157A (en) | 1986-08-18 | 1988-06-07 | Hughes Aircraft Company | Spacecraft accelerometer auto-alignment |
DE3670686D1 (en) | 1986-10-16 | 1990-05-31 | Litef Gmbh | METHOD FOR DETERMINING THE PRICE IN AIRCRAFT. |
US4800501A (en) | 1986-11-24 | 1989-01-24 | Ivan Kinsky | Vehicle land navigating device |
US5355316A (en) | 1989-03-24 | 1994-10-11 | Northrop Grumman Corporation | Position aided evader maneuvering re-entry vehicle navigator |
US5166882A (en) | 1989-03-31 | 1992-11-24 | The United States Of America As Represented By The Secretary Of The Navy | System for calibrating a gyro navigator |
US5172323A (en) | 1989-06-22 | 1992-12-15 | The United States Of America As Represented By The Secretary Of The Navy | Apparatus for determining the attitude of a vehicle |
US5001647A (en) * | 1989-08-31 | 1991-03-19 | General Electric Company | Inertial transformation matrix generator |
US5339684A (en) | 1991-12-10 | 1994-08-23 | Textron Inc. | Gravity aided inertial navigation system |
US5301114A (en) | 1992-06-11 | 1994-04-05 | Allied-Signal Inc. | Inertial navigation system including self-contained performance validating arrangement |
US5450345A (en) | 1992-06-15 | 1995-09-12 | Honeywell Inc. | Terrain referenced navigation-Schuler cycle error reduction method and apparatus |
US5301130A (en) | 1992-10-22 | 1994-04-05 | Hughes Aircraft Company | Absoulte velocity sensor |
US5442560A (en) | 1993-07-29 | 1995-08-15 | Honeywell, Inc. | Integrated guidance system and method for providing guidance to a projectile on a trajectory |
JP3319101B2 (en) | 1993-12-09 | 2002-08-26 | 住友電気工業株式会社 | Gravity accelerometer for vehicles |
US5479161A (en) | 1994-03-25 | 1995-12-26 | Honeywell Inc. | Automatic calibration of redundant sensors |
US5570304A (en) | 1994-07-27 | 1996-10-29 | Litton Systems, Inc. | Method for thermal modeling and updating of bias errors in inertial navigation instrument outputs |
US5617317A (en) * | 1995-01-24 | 1997-04-01 | Honeywell Inc. | True north heading estimator utilizing GPS output information and inertial sensor system output information |
US5531115A (en) | 1995-06-29 | 1996-07-02 | Erdley; Harold F. | Self-calibrating three axis angular rate sensor |
WO1997024582A1 (en) | 1995-12-28 | 1997-07-10 | Magellan Dis Inc. | Improved vehicle navigation system and method using a multiple axes accelerometer |
US6308134B1 (en) * | 1996-12-27 | 2001-10-23 | Magellan Dis, Inc. | Vehicle navigation system and method using multiple axes accelerometer |
-
1998
- 1998-09-23 US US09/159,164 patent/US6532419B1/en not_active Expired - Lifetime
-
1999
- 1999-09-17 AU AU63926/99A patent/AU6392699A/en not_active Abandoned
- 1999-09-17 WO PCT/US1999/021573 patent/WO2000017607A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2000017607A1 (en) | 2000-03-30 |
AU6392699A (en) | 2000-04-10 |
US6532419B1 (en) | 2003-03-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6532419B1 (en) | Calibration of multi-axis accelerometer in vehicle navigation system | |
EP1315945B1 (en) | Calibration of multi-axis accelerometer in vehicle navigation system using gps data | |
US5493294A (en) | Apparatus for detecting the position of a vehicle | |
US5119301A (en) | Vehicle location detecting system | |
US6729176B2 (en) | Calibration of orthogonal sensor suite | |
EP0391647B1 (en) | Calibration apparatus of angular velocity sensor in self-contained navigational system | |
US5394333A (en) | Correcting GPS position in a hybrid naviation system | |
US5323152A (en) | Apparatus for detecting the position of a vehicle | |
JP3375268B2 (en) | Navigation device | |
US20020022924A1 (en) | Propagation of position with multiaxis accelerometer | |
EP0838660B1 (en) | Velocity calculating apparatus | |
US7640102B2 (en) | Self-tuning apparatus of vehicle speed pulse coefficient and method thereof | |
EP0527558A1 (en) | GPS navigation system with local speed direction sensing and PDOP accuracy evaluation | |
JPH06129868A (en) | Distance error correction method in navigation device | |
JP2000065849A (en) | Detection method of being stopped of automobile | |
JPH10307032A (en) | Navigator | |
JP2008032632A (en) | Calibration device of angular velocity sensor, and angular velocity value identifying device | |
JP2001522986A (en) | Vehicle navigation equipment | |
JP3402383B2 (en) | Vehicle current position detection device | |
JP2005164590A (en) | Navigation device | |
US20020165687A1 (en) | Method of and apparatus for detecting angular velocity, method of and apparatus for detecting angel, navigation system, program storage device, and computer data signal embodied in carrier wave | |
JP3440180B2 (en) | Navigation device | |
JP3451636B2 (en) | Speed sensor coefficient calculation device | |
JP3331865B2 (en) | Navigation device | |
JP3581392B2 (en) | Integral sensing device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref country code: AU Ref document number: 1999 63926 Kind code of ref document: A Format of ref document f/p: F |
|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG UZ VN YU ZA ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH GM KE LS MW SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8642 |
|
122 | Ep: pct application non-entry in european phase | ||
AK | Designated states |
Kind code of ref document: C2 Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG UZ VN YU ZA ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: C2 Designated state(s): GH GM KE LS MW SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG |
|
COP | Corrected version of pamphlet |
Free format text: PAGES 1/8-8/8, DRAWINGS, REPLACED BY NEW PAGES 1/7-7/7; DUE TO LATE TRANSMITTAL BY THE RECEIVING OFFICE |