Method, system and computer program for determining the orientation of an apparatus

• US 10,317,424 B2
• Filed: 10/30/2015
• Issued: 06/11/2019
• Est. Priority Date: 05/02/2013
• Status: Active Grant

• Current Assignee: Redtail Telematics Limited
• Original Assignee: Redtail Telematics Limited
• Inventors: Jones, Kevin, Massam, Peter
• Primary Examiner(s): Breene, John E
• Assistant Examiner(s): Morgan, Jeffrey C
• Application Number:
  US14/928,187
• Publication Number:
  US 20160047836A1
• Time in Patent Office: 1,320 Days
• Field of Search: None
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G01P 15/18 in two or more dimensions
• CPC Class Codes: G01P 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: G07C 5/085 using electronic data carriers

Abstract

A method, system and computer program for determining the orientation of an apparatus relative to a vehicle in which the apparatus is installed is disclosed. Acceleration data of the apparatus along three mutually orthogonal axes at a first time interval is recorded (100). Speed and heading data of the apparatus at a second time interval is recorded (100). A first vector which corresponds to the direction of gravity is determined (102) using the acceleration data. One or more periods of acceleration in a substantially straight line are identified (104) using the speed and heading data. Acceleration data corresponding to the identified one or more periods of acceleration in a substantially straight line is selected (106). A second vector which is orthogonal to the first vector and which corresponds to a forward direction of the vehicle is determined (110) using the selected acceleration data.

Claims

1. A method of determining the orientation, relative to a vehicle, of a monitoring apparatus attached to the vehicle, the method comprising:

periodically recording, by the monitoring apparatus, acceleration data of the monitoring apparatus along three mutually orthogonal axes at a first time interval;

periodically recording, by the monitoring apparatus, speed and heading data of the apparatus at a second time interval;

transmitting, by the monitoring apparatus, the acceleration data and the speed and heading data to a server;

receiving, by the server, the acceleration data and the speed and heading data;

determining, by the server, a first vector which corresponds to the direction of gravity using the acceleration data;

identifying, by the server, one or more periods of acceleration in a substantially straight line using the speed and heading data;

selecting, by the server, acceleration data corresponding to the identified one or more periods of acceleration in a substantially straight line;

determining, by the server, a second vector which is orthogonal to the first vector and which corresponds to a forward direction of the vehicle using the selected acceleration data;

transmitting, by the server, the first vector and the second vector to the monitoring apparatus;

storing, by the monitoring apparatus, the first vector and the second vector in a memory of the monitoring apparatus; and

converting, by the monitoring apparatus, subsequent acceleration data into a vehicle frame of reference using the first vector and the second vector.

2. The method of claim 1, wherein the determining the second vector comprises:

projecting, by the server, the selected acceleration data onto a plane normal to the first vector; and

using, by the server, principal components analysis to determine a principal component vector of the projected selected acceleration data, wherein the second vector is the principal component vector.

3. The method of claim 2, comprising calculating, by the server, a quality value as an indicator of the accuracy of the second vector, wherein the calculation of the quality value uses the dot product of the second vector with the projected values of the selected acceleration data on the plane normal to the first vector.

4. The method of claim 1, wherein the speed and heading data is from a satellite positioning system receiver.

5. The method of claim 4, comprising:

applying, by the server, a time offset to the one or more periods of acceleration in a substantially straight line before the selecting acceleration data corresponding to the one or more periods of acceleration in a substantially straight line.

6. The method of claim 1, wherein the recording acceleration data and the recording speed and heading data is carried out until the vehicle has travelled at least 1 km before the determining a first vector and a second vector.

7. A system comprising:

a server comprising memory, a network interface and a processor, wherein the processor is configured to;

receive and store acceleration data of a monitoring apparatus along three mutually orthogonal axes periodically at a first time interval, the monitoring apparatus being attached to a vehicle and remote from the server;

receive and store speed and heading data of the monitoring apparatus periodically at a second time interval;

determine a first vector which corresponds to the direction of gravity relative to the vehicle using the acceleration data;

identify one or more periods of acceleration in a substantially straight line using the speed and heading data;

select acceleration data corresponding to the identified one or more periods of acceleration in a substantially straight line;

determine a second vector which is orthogonal to the first vector and which corresponds to a forward direction of the vehicle using the selected acceleration data;

transmit the first vector and the second vector to the monitoring apparatus; and

cause the monitoring apparatus to use the first vector and the second vector to convert subsequent acceleration data into a vehicle frame of reference.

8. The system of claim 7, wherein the processor is configured to determine the second vector by:

projecting the selected acceleration data onto a plane normal to the first vector; and

using principal components analysis to determine a principal component vector of the projected selected acceleration data, wherein the second vector is the principal component vector.

9. The system of claim 8, wherein the processor is configured to calculate a quality value as an indicator of the accuracy of the second vector, wherein the calculation of the quality value uses the dot product of the second vector with the projected values of the selected acceleration data on the plane normal to the first vector.

10. The system of claim 7, wherein the processor is configured to record acceleration data and to record speed and heading data until the vehicle has travelled at least 1 km before determining the first or second vector.

11. The system of claim 7, further comprising a monitoring apparatus attached to a vehicle and wherein the monitoring apparatus comprises:

an accelerometer interface for the acceleration data; and

a positioning and heading interface for the speed and heading data.

12. The system of claim 11, wherein the monitoring apparatus comprises a satellite positioning receiver connected to the positioning interface.

13. A non-transitory computer-readable storage medium comprising computer-executable instructions which, when executed by a processor, cause a computing device to perform a method of determining the orientation, relative to a vehicle, of a monitoring apparatus remote from the computing device and attached to a vehicle, the method comprising:

periodically recording received acceleration data of the monitoring apparatus along three mutually orthogonal axes at a first time interval;

periodically recording received speed and heading data of the monitoring apparatus at a second time interval;

determining a first vector which corresponds to the direction of gravity using the acceleration data;

identifying one or more periods of acceleration in a substantially straight line using the speed and heading data;

selecting acceleration data corresponding to the identified one or more periods of acceleration in a substantially straight line;

determining a second vector which is orthogonal to the first vector and which corresponds to a forward direction of the vehicle using the selected acceleration data

transmitting the first vector and the second vector to the monitoring apparatus; and

causing the monitoring apparatus to use the first vector and the second vector to convert subsequent acceleration data into a vehicle frame of reference.

14. The non-transitory computer-readable storage medium of claim 13, comprising computer-executable instructions which, when executed by the processor cause the computing device to determine the second vector using a method comprising:

projecting the selected acceleration data onto a plane normal to the first vector; and

using principal components analysis to determine a principal component vector of the projected selected acceleration data, wherein the second vector is the principal component vector.

15. The non-transitory computer-readable storage medium of claim 14, comprising computer-executable instructions which, when executed by the processor cause the computing device to calculate a quality value as an indicator of the accuracy of the second vector, wherein the calculation of the quality value uses the dot product of the second vector with the projected values of the selected acceleration data on the plane normal to the first vector.

16. The non-transitory computer-readable storage medium of claim 13, wherein the speed and heading data is from a satellite positioning system receiver.