Accelerometer leveling in an actively controlled vehicle suspension
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:
- mounting an inertial measurement unit (IMU) to the sprung mass of the vehicle;
calibrating the IMU;
operating the vehicle through a series of maneuvers;
recording from the IMU, while the vehicle is operating, x, y, and z axis acceleration data and three components of angular acceleration data;
recording from the one or more acceleration sensors, while the vehicle is operating, z axis acceleration data;
extrapolating by a controller the x, y, and z axis acceleration data obtained from the IMU to x, y, and z axis acceleration data at the locations of the one or more acceleration sensors, the extrapolation based on the recorded IMU angular acceleration data and the recorded NU x, y, and z axis acceleration data;
determining by the controller data characterizing a degree of misalignment of the one or more acceleration sensors based on the x, y, and z axis acceleration data extrapolated from the recorded IMU x, y, and z axis acceleration data, the recorded angular acceleration data, and the recorded z-axis acceleration data from the one or more acceleration sensors; and
forming for each of the one or more acceleration sensors a corrected acceleration signal based on the data characterizing the degree of misalignment of the one or more acceleration sensors.
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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.
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Citations
8 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:
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mounting an inertial measurement unit (IMU) to the sprung mass of the vehicle; calibrating the IMU; operating the vehicle through a series of maneuvers; recording from the IMU, while the vehicle is operating, x, y, and z axis acceleration data and three components of angular acceleration data; recording from the one or more acceleration sensors, while the vehicle is operating, z axis acceleration data; extrapolating by a controller the x, y, and z axis acceleration data obtained from the IMU to x, y, and z axis acceleration data at the locations of the one or more acceleration sensors, the extrapolation based on the recorded IMU angular acceleration data and the recorded NU x, y, and z axis acceleration data; determining by the controller data characterizing a degree of misalignment of the one or more acceleration sensors based on the x, y, and z axis acceleration data extrapolated from the recorded IMU x, y, and z axis acceleration data, the recorded angular acceleration data, and the recorded z-axis acceleration data from the one or more acceleration sensors; and forming for each of the one or more acceleration sensors a corrected acceleration signal based on the data characterizing the degree of misalignment of the one or more acceleration sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification