Inclinometer Using Acceleration

• US 8,532,899 B1
• Filed: 02/17/2012
• Issued: 09/10/2013
• Est. Priority Date: 06/11/2008
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Loomis, Peter Van Wyck
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US13/399,539
• Time in Patent Office: 571 Days
• Field of Search: 701/480, 701/494, 701/510, 702/154, 702/96, 702/95, 702/141, 702/150, 730/1.75
• US Class Current: 701/70
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 9/08 Means for compensating acceleration forces due to movement of instrument
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

An inclinometer using speed, acceleration and yaw angle rate to measure inclination angle. The accuracy of the inclination angle measurement may be improved by compensating for a position offset of an accelerometer; Kalman filtering with an external altitude measurement; and/or compensating for an accelerometer bias. The accelerometer bias may be calculated based on a last incline angle before a dormant time period and/or by Kalman filtering.

Claims

1. An inclinometer, comprising:

a yaw compensator configured to use an accelerometer position offset in a forward direction with respect to a rear axle and a yaw angle rate to determine a position offset error; and

an incline angle calculator configured to use said position offset error, a forward acceleration measurement, and a forward speed to calculate a forward incline angle.

2. The inclinometer of claim 1, wherein:

said accelerometer position offset is determined with respect to a turn radius line perpendicular to a vehicle through a turn center of the vehicle.

3. The inclinometer of claim 1, wherein:

said position offset error is determined according to said position offset times a square of said yaw angle rate.

4. The inclinometer of claim 1, further comprising:

a DR altitude calculator to determine an altitude change based on said acceleration measurement, said speed and said yaw angle rate; and

a Kalman filter operationally connected to filter said altitude change with external navigation information from at least one external positioning source to resolve said incline angle.

5. The inclinometer of claim 4, wherein:

said external navigation information is derived from at least one of map matching, GNSS signals, or baro-altitudes.

6. The inclinometer of claim 4, wherein:

the Kalman filter is configured to filter said altitude change to estimate an accelerometer bias and to use said accelerometer bias to resolve said incline angle.

7. The inclinometer of claim 1, wherein:

the yaw compensator is configured to use said yaw angle rate, said forward speed, and an accelerometer yaw alignment angle with respect to a forward direction to determine a yaw alignment angle error; and

the incline angle calculator is further configured to use said yaw alignment angle error to calculate said incline angle.

8. The inclinometer of claim 1, further comprising:

a restart bias detector to estimate an accelerometer bias at a restart of motion after a dormant time period, said estimate based on a last said incline angle before said dormant time period; and

wherein;

the incline angle calculator is further configured to use said accelerometer bias to calculate a succeeding said incline angle.

9. An inclinometer, comprising:

a restart bias detector to estimate an accelerometer bias at a restart of motion after a dormant time period, said estimate based on a last incline angle before said dormant time period; and

an incline angle calculator configured to use an acceleration measurement, said accelerometer bias, and a forward speed for calculating a succeeding incline angle.

10. The inclinometer of claim 9, further comprising:

a DR altitude calculator configured to use said acceleration measurement and said speed to calculate an altitude change; and

a Kalman filter to filter said altitude change with external navigation information from at least one external positioning source to make a better estimate of said accelerometer bias and use said accelerometer bias to resolve said succeeding incline angle.

11. A method for calculating an incline angle, comprising:

determining a position offset error based on an accelerometer position offset in a forward direction with respect to a rear axle and a yaw angle rate; and

calculating a forward incline angle based on said position offset error, a forward acceleration measurement, and a forward speed.

12. The method of claim 11, wherein:

said accelerometer position offset is determined with respect to a turn radius line perpendicular to a vehicle through a turn center of the vehicle.

13. The method of claim 11, further comprising:

determining said position offset error according to said position offset times a square of said yaw angle rate.

14. The method of claim 11, further comprising:

determining an altitude change based on said acceleration measurement, said speed, and said yaw angle rate; and

Kalman filtering said altitude change with external navigation information from at least one external positioning source for resolving said incline angle.

15. The method of claim 14, wherein:

said external navigation information is derived from at least one of map matching, GNSS signals, or baro-altitudes.

16. The method of claim 14, wherein:

the step of Kalman filtering includes filtering said altitude change for estimating an accelerometer bias and using said accelerometer bias for resolving said incline angle.

17. The method of claim 11, further comprising:

determining a yaw alignment angle error based on said yaw angle rate, said forward speed, and an accelerometer yaw alignment angle with respect to a forward direction; and

wherein;

the step of calculating includes using said yaw alignment angle error for calculating said incline angle.

18. The method of claim 11, further comprising:

estimating an accelerometer bias at a restart of motion after a dormant time period based on a last said incline angle before said dormant time period; and

wherein;

the step of calculating includes using said accelerometer bias for calculating a succeeding said incline angle.

19. A method for calculating an incline angle, comprising:

estimating an accelerometer bias at a restart of motion after a dormant time period, said estimating based on a last incline angle before said dormant time period; and

calculating a succeeding incline angle based on an acceleration measurement, said accelerometer bias, and a forward speed.

20. The method of claim 19, further comprising:

using said speed and said acceleration measurement for calculating an altitude change;

Kalman filtering said altitude change with external navigation information from at least one external positioning source for making a better estimate of said accelerometer bias and using said accelerometer bias for resolving said succeeding incline angle.