GPS-based in-vehicle sensor calibration algorithm
First Claim
1. A system for determining the heading of a vehicle, said system comprising:
- a GPS receiver providing GPS signals indicating the position of the vehicle;
a yaw-rate sensor for providing yaw-rate signals indicating the yaw-rate of the vehicle;
an acceleration estimation processor for determining the acceleration of the vehicle and providing acceleration signals;
a GPS validation processor receiving the GPS signals, wheel speed or rotation signals and the acceleration signals, and determining whether the GPS signals are valid; and
a bias and scale calibration processor responsive to the yaw-rate sensor signals and the GPS signals, said calibration processor providing bias and scale calibration factors for the yaw-rate sensor signals using the GPS signals if the validation processor determines that the GPS signals are valid.
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Accused Products
Abstract
A system and method for calibrating the bias and scale factors of a heading rate sensor, such as a yaw-rate sensor, using GPS signals. The system receives wheel speed or rotation signals, a vehicle odometer reading, GPS signals and yaw-rate signals. The system includes a wheel-slip detection processor that determines whether there is wheel-slip based on the wheel speed signals and the GPS signals. The system also includes a wheel-based acceleration processor that estimates vehicle acceleration. The system also includes a differential odometry processor that determines vehicle heading based on wheel speed. The system also includes a GPS reference data validation processor that determines whether the GPS signals are valid using the estimated vehicle acceleration and wheel speeds. The valid GPS signals are then used to calibrate the yaw-rate sensor signals, which can be used for vehicle heading purposes.
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Citations
20 Claims
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1. A system for determining the heading of a vehicle, said system comprising:
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a GPS receiver providing GPS signals indicating the position of the vehicle; a yaw-rate sensor for providing yaw-rate signals indicating the yaw-rate of the vehicle; an acceleration estimation processor for determining the acceleration of the vehicle and providing acceleration signals; a GPS validation processor receiving the GPS signals, wheel speed or rotation signals and the acceleration signals, and determining whether the GPS signals are valid; and a bias and scale calibration processor responsive to the yaw-rate sensor signals and the GPS signals, said calibration processor providing bias and scale calibration factors for the yaw-rate sensor signals using the GPS signals if the validation processor determines that the GPS signals are valid. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for calibrating bias and scale of a sensor in a vehicle, said system comprising:
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a heading rate sensor providing sensor signals; a GPS receiver providing GPS signals indicating the position of the vehicle; a GPS validation processor receiving the GPS signals and determining whether the GPS signals are valid; and a bias and scale calibration processor responsive to the sensor signals from the heading rate sensor and the GPS signals, said calibration processor providing bias and scale calibration factors for the sensor signals from the heading rate sensor using the GPS signals if the validation processor determines that the GPS signals are valid. - View Dependent Claims (12)
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13. A system for determining the heading of a vehicle, said system comprising:
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a GPS receiver providing GPS signals indicating the position of the vehicle; a yaw-rate sensor for providing yaw-rate signals indicating the yaw-rate of the vehicle; a plurality of wheel speed/wheel rotation sensors for providing signals of the wheel speed or wheel rotation of wheels on the vehicle; a wheel-slip detection processor responsive to the wheel speed or wheel rotation signals and determining whether any of the wheels have wheel-slip; an acceleration estimation processor for determining the acceleration of the vehicle based on the wheel speed or wheel rotation signals; a GPS validation processor receiving the GPS signals and the acceleration signals, and determining whether the GPS signals are valid; a bias and scale calibration processor responsive to the yaw-rate sensor signals and the GPS signals, said calibration processor providing bias and scale calibration factors for the yaw-rate sensor signals using the GPS signals if the validation processor determines that the GPS signals are valid; and a heading estimation processor responsive to the bias and scale calibration factors from the calibration processor and the yaw-rate signals, said heading estimation processor using the calibration factors and the yaw-rate signals to provide vehicle heading. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification