ACCELEROMETER LEVELING
First Claim
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1. A method for compensating for a misalignment characteristic of one or more acceleration sensors fixed to a sprung mass of a vehicle, each acceleration sensor having a location on the vehicle and a desired orientation relative to the vehicle, the method comprising:
- for each acceleration sensor of the one or more acceleration sensors,receiving data characterizing misalignment of the acceleration sensor from the desired orientation of the acceleration sensor;
receiving a signal from the acceleration sensor representing an acceleration acting on the acceleration sensor, the signal including components representing acceleration in a direction other than the desired orientation of the acceleration sensor related to a misalignment of the acceleration sensor;
receiving signals representing inertial measurements from one or more inertial sensors in the vehicle; and
combining the signals from the inertial sensors and the signal from the acceleration sensor based on the data characterizing misalignment of the acceleration sensor to form a corrected acceleration signal substantially representing the acceleration in the desired orientation at the location of the acceleration sensor.
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Abstract
In an aspect, in general, a system and method compensate for a misalignment characteristic of one or more acceleration sensors fixed to a sprung mass of a vehicle, each acceleration sensor having a location on the vehicle and a desired orientation relative to the vehicle.
31 Citations
23 Claims
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1. A method for compensating for a misalignment characteristic of one or more acceleration sensors fixed to a sprung mass of a vehicle, each acceleration sensor having a location on the vehicle and a desired orientation relative to the vehicle, the method comprising:
for each acceleration sensor of the one or more acceleration sensors, receiving data characterizing misalignment of the acceleration sensor from the desired orientation of the acceleration sensor; receiving a signal from the acceleration sensor representing an acceleration acting on the acceleration sensor, the signal including components representing acceleration in a direction other than the desired orientation of the acceleration sensor related to a misalignment of the acceleration sensor; receiving signals representing inertial measurements from one or more inertial sensors in the vehicle; and combining the signals from the inertial sensors and the signal from the acceleration sensor based on the data characterizing misalignment of the acceleration sensor to form a corrected acceleration signal substantially representing the acceleration in the desired orientation at the location of the acceleration sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computer-readable medium having encoded thereon instructions for causing a data processing system to compensate for a misalignment characteristic of one or more acceleration sensors fixed to a sprung mass of a vehicle, each acceleration sensor having a location on the vehicle and a desired orientation relative to the vehicle, the compensating comprising:
for each acceleration sensor of the one or more acceleration sensors, receiving data characterizing misalignment of the acceleration sensor from the desired orientation of the acceleration sensor; receiving a signal from the acceleration sensor representing an acceleration acting on the acceleration sensor, the signal including components representing acceleration in a direction other than the desired orientation of the acceleration sensor related to a misalignment of the acceleration sensor; receiving signals representing inertial measurements from one or more inertial sensors in the vehicle; and combining the signals from the inertial sensors and the signal from the acceleration sensor based on the data characterizing misalignment of the acceleration sensor to form a corrected acceleration signal substantially representing the acceleration in the desired orientation at the location of the acceleration sensor.
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13. A system comprising:
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one or more acceleration sensors, each fixed to a location on a sprung mass of a vehicle and having a desired orientation relative to the vehicle; one or more inertial sensors for generating signals representing inertial measurements; a controller configured to receive data characterizing misalignment of the acceleration sensor from the desired orientation of the acceleration sensor, a signal from the acceleration sensor representing an acceleration acting on the acceleration sensor, the signal including components representing acceleration in a direction other than the desired orientation of the acceleration sensor related to a misalignment of the acceleration sensor.
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14. A system for compensating for a misalignment characteristic of one or more acceleration sensors fixed to a sprung mass of a vehicle, each acceleration sensor having a location on the vehicle and a desired orientation relative to the vehicle, the system comprising:
for each acceleration sensor of the one or more acceleration sensors a first input for receiving data characterizing misalignment of the acceleration sensor from the desired orientation of the acceleration sensor; a second input for receiving a signal from the acceleration sensor representing an acceleration acting on the acceleration sensor, the signal including components representing acceleration in a direction other than the desired orientation of the acceleration sensor related to a misalignment of the acceleration sensor; a third input for receiving signals representing inertial measurements from one or more inertial sensors in the vehicle; and a controller for combining the signals from the inertial sensors and the signal from the acceleration sensor based on the data characterizing misalignment of the acceleration sensor to form a corrected acceleration signal substantially representing the acceleration in the desired orientation at the location of the acceleration sensor. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23)
Specification