Compensation for mounting misalignment of a navigation device
First Claim
Patent Images
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 misalignment parameters for the navigation device with respect to the vehicle using the weighted motion acceleration signal.
3 Assignments
0 Petitions
Accused Products
Abstract
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.
81 Citations
35 Claims
-
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 misalignment parameters for the navigation device with respect to the vehicle using the weighted motion acceleration signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
-
-
18. A navigation device comprising:
-
a high pass filter to generate a motion acceleration signal from a measured acceleration of a vehicle in which the navigation device is positioned; a multiplier to weight the motion acceleration signal with a measured steering rate of a vehicle in which the navigation device is positioned; and a filter to derive misalignment parameters for the navigation device with respect to the vehicle using the weighted motion acceleration signal. - View Dependent Claims (19, 20, 21, 22)
-
-
23. A machine-readable medium having instructions stored thereon that when operated on by the machine cause the machine to perform operations comprising:
-
applying a high pass filter to a measured acceleration of a vehicle to produce a motion acceleration signal; generating a proportional weighting factor from a measured steering rate of the vehicle; multiplying the motion acceleration signal with the proportional weighting factor to produce a centrifugal acceleration component of the motion acceleration signal. generating an inverse proportional weighting factor from the measured steering rate; multiplying the motion acceleration signal with the inverse proportional weighting factor to produce a forward acceleration component of the motion acceleration signal; applying a low pass filter to the measured acceleration to produce a gravity signal; and deriving misalignment parameters for use by a navigation device that represent a misalignment of the measured acceleration and the measured steering rate with respect to the vehicle using the centrifugal acceleration component, the forward acceleration component and the gravity signal. - View Dependent Claims (24)
-
-
25. A method comprising:
-
determining whether a vehicle is turning; if the vehicle is turning then determining a first set of attitude parameters of the vehicle using a portable navigation device; if the vehicle is not turning, then determining a second set of attitude parameters of the vehicle using the portable navigation device; determining correction parameters based on the determined attitude parameters to correct for misalignment between the portable navigation device and the vehicle. - View Dependent Claims (26, 27, 28, 29, 30)
-
-
31. A navigation device comprising:
-
a first interface to receive a steering rate of a vehicle that is carrying the navigation device; a second interface to receive accelerations of the vehicle; and an estimation module if the vehicle is turning, to then determine a first set of attitude parameters of the vehicle based on the received accelerations, if the vehicle is not turning, to then determine a second set of attitude parameters of the vehicle based on the received accelerations, and to determine correction parameters based on the determined attitude parameters to correct for misalignment between the portable navigation device and the vehicle. - View Dependent Claims (32, 33)
-
-
34. A machine-readable medium having instruction stored thereon that when operated on by the machine cause the machine to perform operations comprising:
-
determining whether a vehicle is turning; if the vehicle is turning, then determining a first set of attitude parameters of the vehicle using a portable navigation device; if the vehicle is not turning, then determining a second set of attitude parameters of the vehicle using the portable navigation device; determining correction parameters based on the determined attitude parameters to correct for misalignment between the portable navigation device and the vehicle. - View Dependent Claims (35)
-
Specification