METHOD FOR CALIBRATING INERTIAL SENSOR INSTALLED IN ARBITRARY POSITION ON BOARD VEHICLE AND SENSOR SYSTEM OF DYNAMICS OF VEHICLE ABLE TO BE INSTALLED ON BOARD IN ARBITRARY POSITION
First Claim
1. A method for calibrating an inertial-sensor device installed in an arbitrary position on board a vehicle and adapted to detect at least one entity indicative of dynamics of the vehicle along at least one direction of a local reference-coordinate system, said method comprising steps of:
- acquiring by the inertial-sensor device at predetermined measuring times real-measured data indicative of the vehicle dynamics in the local reference-coordinate system;
acquiring by a calibrating detector different from the inertial-sensor device, at sampling times coinciding with the measuring times, reference-measured data indicative of the vehicle dynamics in a vehicle-coordinate system; and
generating a coordinate-transformation matrix adapted to correlate the entity measured in the local reference-coordinate system with a corresponding entity in the vehicle-coordinate system, wherein all elements of the coordinate-transformation matrix are computed by comparing the real-measured data acquired by the initial-sensor device with corresponding the reference-measured data obtained in a plurality of different driving conditions, the real-measured data include a quantity of items of data substantially equal to a quantity of the elements of the coordinate-transformation matrix, and a value of each of the elements of the coordinate-transformation matrix is adjusted by forcing a constraint of orthogonality to obtain an orthogonal-transformation matrix that is closest to the coordinate-transformation matrix obtained based on the measured data.
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Abstract
A method calibrates an inertial-sensor device installed in an arbitrary position on board a vehicle and adapted to detect at least one entity indicative of vehicle dynamics along at least one direction of a local reference-coordinate system. The method includes steps of: acquiring by the inertial-sensor device at predetermined measuring times real-measured data indicative of the vehicle dynamics in the local reference-coordinate system; acquiring by a calibrating detector different from the inertial-sensor device, at sampling times coinciding with the measuring times, reference-measured data indicative of the vehicle dynamics in a vehicle-coordinate system; and generating a coordinate-transformation matrix adapted to correlate the entity measured in the local reference-coordinate system with a corresponding entity in the vehicle-coordinate system. Also, a sensor system of dynamics of the vehicle is able to be installed on board in an arbitrary position.
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Citations
15 Claims
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1. A method for calibrating an inertial-sensor device installed in an arbitrary position on board a vehicle and adapted to detect at least one entity indicative of dynamics of the vehicle along at least one direction of a local reference-coordinate system, said method comprising steps of:
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acquiring by the inertial-sensor device at predetermined measuring times real-measured data indicative of the vehicle dynamics in the local reference-coordinate system; acquiring by a calibrating detector different from the inertial-sensor device, at sampling times coinciding with the measuring times, reference-measured data indicative of the vehicle dynamics in a vehicle-coordinate system; and generating a coordinate-transformation matrix adapted to correlate the entity measured in the local reference-coordinate system with a corresponding entity in the vehicle-coordinate system, wherein all elements of the coordinate-transformation matrix are computed by comparing the real-measured data acquired by the initial-sensor device with corresponding the reference-measured data obtained in a plurality of different driving conditions, the real-measured data include a quantity of items of data substantially equal to a quantity of the elements of the coordinate-transformation matrix, and a value of each of the elements of the coordinate-transformation matrix is adjusted by forcing a constraint of orthogonality to obtain an orthogonal-transformation matrix that is closest to the coordinate-transformation matrix obtained based on the measured data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A sensor system of dynamics of a vehicle capable of being installed at an arbitrary position on board the vehicle, said sensor system comprising:
an inertial-sensor device adapted to detect at least one entity indicative of the vehicle dynamics along at least one direction of a local reference-coordinate system including a processor arranged for acquiring data detected by said inertial-sensor device in said local reference-coordinate system and converting said data in a vehicle reference system through a coordinate-transformation matrix computed by a calibration method.
Specification