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Method for determining and correcting incorrect orientations and offsets of the sensors of an inertial measurement unit in a land vehicle

  • US 8,065,104 B2
  • Filed: 05/11/2006
  • Issued: 11/22/2011
  • Est. Priority Date: 07/15/2005
  • Status: Expired due to Fees
First Claim
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1. A method for determining incorrect orientations of sensors of a sensor cluster in a vehicle, wherein the sensor cluster has either three linear acceleration sensors and/or three rotational speed sensors;

  • the method comprising;

    installing the sensor cluster in a vehicle;

    determining the position of a sensor cluster with respect to the longitudinal direction of a vehicle;

    wherein the distance between the sensor cluster and a rear axle of the vehicle is determined by averaging the longitudinal acceleration of the vehicle, which is not measured on the rear axle;

    predetermining desired installation directions of the sensors in relation to coordinate axes of a fixed vehicle Cartesian coordinate system;

    determining actual installation directions of the sensors, which can deviate from the desired installation directions due to incorrect orientations, by comparing values measured by the sensors in different conditions with values known for these different conditions in the fixed vehicle Cartesian coordinate system, whereinat least values determined by other sensors arranged in the vehicle are selected as known values in the fixed vehicle Cartesian coordinate system.

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