AUTOMATIC ALIGNMENT OF A VEHICLE THREE-AXES ACCELEROMETER

• US 20150007632A1
• Filed: 07/05/2013
• Published: 01/08/2015
• Est. Priority Date: 07/05/2013
• Status: Active Grant

• Current Assignee: Verizon Patent and Licensing Incorporated (Verizon Communications Inc.)
• Original Assignee: HTI IP LLC (Verizon Communications Inc.)
• Inventors: Welch, Stephen Christopher, Barfield, James Ronald Jr.
• Granted Patent: US 9,128,116 B2
• Time in Patent Office: Days
• US Class Current: 73/1.37
• 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 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups

Abstract

The axes of an accelerometer, installed in a vehicle at an arbitrary orientation, may be realigned to the coordinate frame of the vehicle. In one implementation, a method may include determining, based on acceleration measurements from the accelerometer that likely corresponds to stopping, a dominant orientation of the accelerometer in relation to gravity, including calculating a first transformation angle and a second transformation angle as parameters to perform coordinate realignment of a coordinate frame of the accelerometer to a coordinate frame of the vehicle. The method may further include identifying, based on the acceleration measurements, an occurrence of acceleration events of the vehicle; determining, based on an analysis of the acceleration events, a third transformation angle; and storing the first, second, and third transformation angles.

Claims

1. A method, implemented by one or more devices, comprising:

receiving, by the one or more devices, acceleration measurements from a three axis accelerometer mounted in a vehicle;

determining, by the one or more devices and based on the acceleration measurements, a dominant orientation of the accelerometer in relation to gravity, the determination of the dominant orientation including calculating a first transformation angle and a second transformation angle as parameters to perform coordinate realignment of a coordinate frame of the accelerometer to a coordinate frame of the vehicle;

identifying, by the one or more devices and based on the acceleration measurements, an occurrence of acceleration events of the vehicle, each of the acceleration events including a plurality of acceleration measurements in which a magnitude of the plurality of acceleration measurements are greater than a threshold value;

determining, by the one or more devices and based on an analysis of the acceleration events, a third transformation angle as a parameter to perform coordinate realignment of the coordinate frame of the accelerometer to the coordinate frame of the vehicle; and

storing, by the one or more devices, the first, second, and third transformation angles.

2. The method of claim 1, further comprising:

calculating, based on one of the acceleration measurements and based on the first, second, and third transformation angles, a transformed value of the one of the acceleration measurements, the transformed value measuring acceleration relating to the coordinate frame of the vehicle; and

outputting the transformed value.

3. The method of claim 1, wherein determining the third transformation angle includes:

analyzing the acceleration events to determine acceleration events that correspond to acceleration stopping events of the vehicle, the third transformation angle being based on the acceleration stopping events.

4. The method of claim 3, wherein the determination of the third transformation angle further includes:

determining a set of calculated potential third transformation angles for a plurality of the acceleration events; and

identifying a mode of the set of the calculated potential third transformation angles to determine the third transformation angle.

5. The method of claim 4, wherein identifying the mode includes:

categorizing the set of calculated potential third transformation angles into a plurality of categories; and

identifying the mode from the third transformation angles that are included in a category, of the plurality of categories, that corresponds to a largest number of potential third transformation angles.

6. The method of claim 3, wherein analyzing the acceleration events to determine the acceleration events that correspond to acceleration stopping events of the vehicle further includes:

matching the acceleration events using a previously trained pattern recognition technique.

7. The method of claim 6, wherein the previously trained pattern matching technique is a pattern matching technique based on a symbolic representation of the acceleration events.

8. The method of claim 1, wherein the identified acceleration events include acceleration events that correspond to acceleration stopping events, acceleration starting events, or acceleration turning events.

9. The method of claim 1, wherein determining the dominant orientation of the accelerometer in relation to gravity includes establishing a first dominant axis of the accelerometer as defined by acceleration due to gravity being exerted greatest, a second dominant axis of the accelerometer as defined by the acceleration due to gravity being exerted next to greatest, and a third dominant axis of the accelerometer as defined by the acceleration due to gravity being least.

10. The method of claim 8, further comprising:

calculating the first transformation angle as a function of the first, second, and third dominant axes; and

calculating the second transformation angle as a function of the first and third dominant axes.

11. The method of claim 1, wherein the vehicle includes an automobile, train, plane, or motorcycle.

12. The method of claim 1, wherein determining the dominant orientation of the accelerometer in relation to gravity includes:

representing an estimate of gravity as a square root of the sum of squares of a running mean of values corresponding to the three axes of the accelerometer.

13. A system comprising:

a three axis accelerometer; and

an analysis component to;

receive acceleration measurements from the accelerometer;

determine, based on the acceleration measurements, a dominant orientation of the accelerometer in relation to gravity, the determination of the dominant orientation including calculating a first transformation angle and a second transformation angle as parameters to perform coordinate realignment of a coordinate frame of the accelerometer to a coordinate frame of a vehicle in which the accelerometer is placed;

identify occurrences of acceleration events of the vehicle;

calculate, based on select ones of the acceleration events, a third transformation angle as a parameter to perform coordinate realignment of the coordinate frame of the accelerometer to the coordinate frame of the vehicle;

calculate, based on one of the acceleration measurements and based on the first, second, and third transformation angles, a transformed value of the one of the acceleration measurements, the transformed value measuring acceleration relative to the coordinate frame of the vehicle; and

output the transformed value.

14. The system of claim 13, wherein the selected ones of the acceleration events are determined based on an application of pattern recognition techniques to the identified occurrences of the acceleration events of the vehicle.

15. The system of claim 14, wherein, in applying the pattern recognition techniques, the analysis component is further to:

convert the acceleration measurements into a symbolic representation by dividing magnitude values corresponding to the acceleration measurements into a first plurality of ranges;

convert sampling times associated with the acceleration measurements into a second plurality of ranges; and

assign a symbolic representation corresponding to the first plurality of ranges and the second plurality of ranges.

16. The system of claim 15, wherein, in applying the pattern recognition techniques, the analysis component is further to:

store a predetermined indication of one or more patterns corresponding to acceleration events that correspond to a stopping event of the vehicle.

17. The system of claim 13, wherein determining the dominant orientation of the accelerometer in relation to gravity includes establishing a first dominant axis of the accelerometer as defined by acceleration due to gravity being exerted greatest, a second dominant axis of the accelerometer as defined by the acceleration due to gravity being exerted next to greatest, and a third dominant axis of the accelerometer as defined by the acceleration due to gravity being least.

18. The system of claim 17, wherein the analysis component is further to:

calculate a first transformation angle as a function of the first, second, and third dominant axes; and

calculate the second transformation angle as a function of the first and third dominant axes.

19. The system of claim 17, wherein the analysis component is further to:

determine a set of calculated potential third transformation angles for the acceleration events;

identify a mode of the set of the calculated potential third transformation angles;

determine the select ones of the acceleration events based on the mode.

20. A device comprising:

an accelerometer to generate acceleration measurements; and

an analysis component to;

determine, based on the acceleration measurements, a dominant orientation of the accelerometer in relation to gravity, the determination of the dominant orientation including calculating a first transformation angle and a second transformation angle as parameters to perform coordinate realignment of a coordinate frame of the accelerometer to a coordinate frame of a vehicle;

identify, based on the acceleration measurements, an occurrence of acceleration events of the vehicle, each of the acceleration events including a plurality of acceleration measurements;

determine, based on an analysis of the acceleration events, a third transformation angle as a parameter to perform coordinate realignment of the coordinate frame of the accelerometer to the coordinate frame of the vehicle; and

store the first, second, and third transformation angles.

21. The device of claim 20, wherein the analysis component is further to:

calculate, based on one of the acceleration measurements and based on the first, second, and third transformation angles, a transformed value of the one of the acceleration measurements, the transformed value measuring acceleration relating to the coordinate frame of the vehicle; and

output the transformed value.

22. The device of claim 20, wherein the analysis component, when determining the third transformation angle, is further to:

analyze the acceleration events to determine acceleration events that correspond to acceleration stopping events of the vehicle, the third transformation angle being based on the acceleration stopping events.

23. The device of claim 22, wherein the analysis component, when determining the third transformation angle further, is further to:

determine a set of calculated potential third transformation angles for a plurality of the acceleration events; and

identify a mode of the set of the calculated potential third transformation angles to determine the third transformation angle.

24. The device of claim 22, wherein when analyzing the acceleration events to determine the acceleration events that correspond to acceleration stopping events of the vehicle further, the analysis component is further to:

match the acceleration events using a previously trained pattern recognition technique.