Patent
Compensation for mounting misalignment of a navigation device
| العنوان: | Compensation for mounting misalignment of a navigation device |
|---|---|
| Patent Number: | 8,086,405 |
| تاريخ النشر: | December 27, 2011 |
| Appl. No: | 11/823964 |
| Application Filed: | June 28, 2007 |
| مستخلص: | Compensating for the misalignment of a navigation device with respect to a vehicle is described. In one example, the compensation is made by applying a high pass filter to a measured acceleration of the vehicle to produce a motion acceleration signal, weighting the motion acceleration signal with a measured steering rate of the vehicle, and deriving misalignment parameters for the navigation device with respect to the vehicle using the weighted motion acceleration signal. |
| Inventors: | Han, Shaowei (Palo Alto, CA, US); Niu, Xiaoji (Shanghai, CN); Ma, Changlin (Cupertino, CA, US) |
| Assignees: | SiRF Technology Holdings, Inc. (San Jose, CA, US) |
| Claim: | 1. A method to determine a misalignment of a navigation device with respect to a vehicle comprising: applying a high pass filter to a measured acceleration of the vehicle to produce a motion acceleration signal; weighting the motion acceleration signal with a measured steering rate of the vehicle; and deriving, using a processor, misalignment parameters for the navigation device with respect to the vehicle using the weighted motion acceleration signal. |
| Claim: | 2. The method of claim 1 , further comprising: determining if the vehicle is moving; applying a low pass filter to the measured acceleration while the vehicle is moving to produce a gravity signal; and wherein deriving misalignment parameters comprises also using the gravity signal. |
| Claim: | 3. The method of claim 1 , wherein deriving misalignment parameters comprises applying a Kalman filtering system. |
| Claim: | 4. The method of claim 1 , wherein weighting comprises; generating a proportional weighting factor from the measured steering rate; and multiplying the motion acceleration signal with the proportional weighting factor to produce a centrifugal acceleration component of the motion acceleration signal. |
| Claim: | 5. The method of claim 1 , wherein weighting comprises; generating an inverse proportional weighting factor from the measured steering rate; and multiplying the motion acceleration signal with the inverse proportional weighting factor to produce a forward acceleration component of the motion acceleration signal. |
| Claim: | 6. The method of claim 2 , wherein weighting comprises using the measured steering rate to weight the motion acceleration signal so that a centrifugal acceleration and a forward acceleration are produced, and wherein deriving misalignment parameters comprises using a Kalman filtering system to produce three misalignment angles based on the gravity signal, the centrifugal acceleration signal and the forward acceleration signals. |
| Claim: | 7. The method of claim 1 , further comprising correcting raw sensor data using correction angles obtained from the derived misalignment parameters. |
| Claim: | 8. The method of claim 7 , further comprising determining new misalignment parameters after correcting the raw sensor data and correcting the raw sensor data again using the new misalignment parameters. |
| Claim: | 9. The method of claim 8 , further comprising determining the location of the vehicle after correcting. |
| Claim: | 10. The method of claim 9 wherein determining the location comprises determining the location using a satellite positioning system. |
| Claim: | 11. The method of claim 1 , further comprising using odometer signals from the vehicle to determine whether the motion acceleration signal corresponds to the vehicle being in motion. |
| Claim: | 12. The method of claim 1 , further comprising measuring the acceleration along three orthogonal axes using a three axis accelerometer to produce the measured acceleration. |
| Claim: | 13. The method of claim 1 , further comprising receiving a measured acceleration from an external sensor. |
| Claim: | 14. The method of claim 1 , further comprising measuring the steering rate using a vertical gyroscope. |
| Claim: | 15. The method of claim 1 , wherein the misalignment parameters comprise misalignment correction angles corresponding to the misalignment between the navigation device and the vehicle. |
| Current U.S. Class: | 701/216 |
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| Assistant Examiner: | Khatib, Rami |
| Primary Examiner: | Elchanti, Hussein A. |
| Attorney, Agent or Firm: | Pillsbury Winthrop Shaw Pittman LLP |
| رقم الانضمام: | edspgr.08086405 |
| قاعدة البيانات: | USPTO Patent Grants |
| الوصف غير متاح. |