IPC분류정보
국가/구분 |
United States(US) Patent
등록
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국제특허분류(IPC7판) |
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출원번호 |
US-0622703
(2009-11-20)
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등록번호 |
US-8781737
(2014-07-15)
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발명자
/ 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
0 인용 특허 :
6 |
초록
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The subject matter disclosed herein relates to a system and method for determining a spatial alignment of an inertial measurement unit (IMU). By way of example, a method is described in which a first vehicle-based direction is identified, and the first vehicle-based direction is associated with a fi
The subject matter disclosed herein relates to a system and method for determining a spatial alignment of an inertial measurement unit (IMU). By way of example, a method is described in which a first vehicle-based direction is identified, and the first vehicle-based direction is associated with a first direction that is transformable to an earth-based coordinate frame. A spatial alignment of the IMU is determined based at least partially on the first direction.
대표청구항
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1. A device for determining the spatial alignment of an inertial measurement unit (IMU) positioned in or on a vehicle comprising: means for obtaining vehicle-related movement data for the vehicle (110) including velocity data measured by or derived from measurements obtained by one or more satellite
1. A device for determining the spatial alignment of an inertial measurement unit (IMU) positioned in or on a vehicle comprising: means for obtaining vehicle-related movement data for the vehicle (110) including velocity data measured by or derived from measurements obtained by one or more satellite positioning systems (SPSs), the velocity data including an SPS-based acceleration;means for obtaining at least a first IMU-derived acceleration and a second IMU-derived acceleration, each of the IMU-derived accelerations being measured by or derived from measurements obtained by the IMU and corresponding to a respective acceleration of the vehicle, the IMU being located on or in the vehicle;means for performing one or more operations on the vehicle-related movement data and one or more of the IMU-derived accelerations to determine a respective correlation between the SPS-based acceleration and one or more of the IMU-derived accelerations,means for identifying a direction of one of the IMU-derived accelerations having a higher correlation with the SPS-based acceleration as a first vehicle direction;means for determining a first Earth-based direction in an Earth-based coordinate system based on the first vehicle direction; andmeans for determining a spatial alignment of the IMU with respect to the Earth-based coordinate system based on the first Earth-based direction. 2. The device of claim 1, wherein the IMU-derived accelerations further include a third IMU-derived acceleration, and wherein the first, second and third IMU-derived accelerations are substantially orthogonal. 3. The device of claim 2, further comprising means for identifying the weakest two of the three IMU-derived accelerations as the first IMU-derived acceleration and the second IMU-derived acceleration. 4. The device of claim 3, comprising means for identifying the strongest one of the three MU-derived accelerations as acceleration due to gravity. 5. The device of claim 1, wherein the vehicle-related movement data further includes rotational data obtained or derived from one or more gyroscopes each arranged to measure a respective rotation of the IMU. 6. The device of claim 5, further comprising means for performing one or more second correlation operations between the rotational data and one or both of the first and second IMU-derived accelerations. 7. The device of claim 6, further comprising means for identifying the direction of the one of the first and second accelerations having the greatest correlation with the rotational data as a second vehicle direction, wherein determining the first Earth-based direction is also based at least in part on the second vehicle direction. 8. The device of claim 7, wherein the first vehicle direction corresponds to a “forward-backward” movement direction of the vehicle in an IMU-based coordinate system. 9. The device of claim 8, wherein the second vehicle direction corresponds to a “right-left” movement direction of the vehicle in the IMU-based coordinate system. 10. The device of claim 7, wherein the means for determining the first Earth-based direction in the Earth-based coordinate system includes: means for determining a first vehicle-based direction based at least in part on one or both of the first vehicle direction and the second vehicle direction; andmeans for determining the first Earth-based direction in the Earth-based coordinate system based on the first vehicle-based direction. 11. The device of claim 10, wherein the first vehicle-based direction corresponds to a “course-over-ground” movement direction of the vehicle in a first RCU (Right, Course-over-ground, Up)-based coordinate system. 12. The device of claim 11, further comprising means for determining a second vehicle-based direction based on at least one of the first and second vehicle directions, the second vehicle-based direction corresponding to a “right” movement direction of the vehicle in the first RCU-based coordinate system. 13. The device of claim 12, further comprising means for transforming the second vehicle-based direction into a second Earth-based direction in the Earth-based coordinate system, wherein determining the spatial alignment of the IMU with respect to the Earth- based coordinate system is also based on the second Earth-based direction. 14. The device of claim 1, wherein the velocity data corresponds to movement of the vehicle in a first SPS-based coordinate system. 15. The device of claim 1, wherein the SPS- and IMU-derived accelerations are linear accelerations. 16. The device of claim 1, wherein the vehicle-related movement data further includes geodetic data obtained from one or more SPSs, the geodetic data corresponding to a position of the vehicle in a first geodetic coordinate system. 17. The device of claim 16, further comprising means for determining a first transformation matrix based on the geodetic data, the first transformation matrix being usable to convert between an RCU-based coordinate system and an Earth-based coordinate system. 18. The device of claim 17, further comprising means for determining a second transformation matrix based on the vehicle-related movement data, the second transformation matrix being usable to convert between an IMU-based coordinate system and an RCU-based coordinate system. 19. The device of claim 1, wherein the IMU is detachably secured either directly or indirectly to the vehicle during the measurements by the IMU such that a position and an alignment of the IMU is constant relative to the vehicle during the measurements by the IMU. 20. The device of claim 1, wherein one or both of the first IMU-derived acceleration and the second IMU-derived acceleration are derived using an eigenvector. 21. A computer readable storage medium having stored thereon instructions executable by one or more processors for determining the spatial alignment of an inertial measurement unit (IMU) positioned in or on a vehicle, the instructions when executed by the one or more processors operable to cause the one or more processors to: obtain vehicle-related movement data for the vehicle including velocity data measured by or derived from measurements obtained by one or more satellite positioning systems (SPSs), the velocity data including an SPS-based acceleration;obtain at least a first IMU-derived acceleration and a second IMU-derived acceleration, each of the IMU-derived accelerations being measured by or derived from measurements obtained by the IMU and corresponding to a respective acceleration of the vehicle, the IMU being located on or in the vehicle;perform one or more operations on the vehicle-related movement data and one or more of the IMU-derived accelerations to determine a respective correlation between the SPS-based acceleration and one or more of the IMU-derived accelerations,identify a direction of one of the first or second IMU-derived accelerations having a higher correlation with the SPS-based acceleration as a first vehicle direction;determine a first Earth-based direction in an Earth-based coordinate system based on the first vehicle direction; anddetermine a spatial alignment of the MU with respect to the Earth-based coordinate system based on the first Earth-based direction. 22. The computer readable storage medium of claim 21, wherein the IMU-derived accelerations further include a third MIU-derived acceleration, and wherein the first, second and third IMU-derived accelerations are substantially orthogonal. 23. The computer readable storage medium of claim 22, wherein the instructions when executed are further operable to cause the one or more processors to identify the weakest two of the three IMU-derived accelerations as the first IMU-derived acceleration and the second IMU-derived acceleration. 24. The computer readable storage medium of claim 23, wherein the instructions when executed are further operable to cause the one or more processors to identify the strongest one of the three WILT-derived accelerations as acceleration due to gravity. 25. The computer readable storage medium of claim 21, wherein the vehicle-related movement data further includes rotational data obtained or derived from one or more gyroscopes each arranged to measure a respective rotation of the IMU. 26. The computer readable storage medium of claim 25, wherein the instructions when executed are further operable to cause the one or more processors to perform one or more second correlation operations between the rotational data and one or both of the first and second IMU-derived accelerations. 27. The computer readable storage medium of claim 26, wherein the instructions when executed are further operable to cause the one or more processors to identify the direction of the one of the first and second accelerations having the greatest correlation with the rotational data as a second vehicle direction, wherein determining the first Earth-based direction is also based at least in part on the second vehicle direction. 28. The computer readable storage medium of claim 27, wherein the first vehicle direction corresponds to a “forward-backward” movement direction of the vehicle in an IMU-based coordinate system. 29. The computer readable storage medium of claim 28, wherein the second vehicle direction corresponds to a “right-left” movement direction of the vehicle in the IMU-based coordinate system. 30. The computer readable storage medium of claim 27, wherein determining the first Earth-based direction in the Earth-based coordinate system includes: determining a first vehicle-based direction based at least in part on one or both of the first vehicle direction and the second vehicle direction; anddetermining the first Earth-based direction in the Earth-based coordinate system based on the first vehicle-based direction. 31. The computer readable storage medium of claim 30, wherein the first vehicle-based direction corresponds to a “course-over-ground” movement direction of the vehicle in a first RCU (Right, Course-over-ground, Up)-based coordinate system. 32. The computer readable storage medium of claim 31, wherein the instructions when executed are further operable to cause the one or more processors to determine a second vehicle-based direction based on at least one of the first and second vehicle directions, the second vehicle-based direction corresponding to a “right” movement direction of the vehicle in the first RCU-based coordinate system. 33. The computer readable storage medium of claim 32, wherein the instructions when executed are further operable to cause the one or more processors to transform the second vehicle-based direction into a second Earth-based direction in the Earth-based coordinate system, wherein determining the spatial alignment of the MU with respect to the Earth- based coordinate system is also based on the second Earth-based direction. 34. The computer readable storage medium of claim 21, wherein the velocity data corresponds to movement of the vehicle in a first SPS-based coordinate system. 35. The computer readable storage medium of claim 21, wherein the SPS- and IMU-derived accelerations are linear accelerations. 36. The computer readable storage medium of claim 21, wherein the vehicle-related movement data further includes geodetic data obtained from one or more SPSs, the geodetic data corresponding to a position of the vehicle in a first geodetic coordinate system. 37. The computer readable storage medium of claim 36, wherein the instructions when executed are further operable to cause the one or more processors to determine a first transformation matrix based on the geodetic data, the first transformation matrix being usable to convert between an RCU-based coordinate system and an Earth-based coordinate system. 38. The computer readable storage medium of claim 37, wherein the instructions when executed are further operable to cause the one or more processors to determine a second transformation matrix based on the vehicle-related movement data, the second transfommtion matrix being usable to convert between an IMU-based coordinate system and an RCU-based coordinate system. 39. The computer readable storage medium of claim 21, wherein the IMU is detachably secured either directly or indirectly to the vehicle during the measurements by the IMU such that a position and an alignment of the IMU is constant relative to the vehicle during the measurements by the IMU. 40. The computer readable storage medium of claim 21, wherein one or both of the first IMU-derived acceleration and the second IMIJ-derived acceleration are derived using an eigenvector. 41. A method for determining a spatial alignment of an inertial measurement unit (IMU) coupled with a mobile device, the IMU being positioned in or on a vehicle, the method comprising: obtaining, by one or more processors, vehicle-related movement data for the vehicle including velocity data measured by or derived from measurements obtained by one or more satellite positioning systems (SPSs), the velocity data including an SPS-based acceleration;obtaining, by the one or more processors, at least a first IMU-derived acceleration and a second IMU-derived acceleration, each of the IMU-derived accelerations being measured by or derived from measurements obtained by the and corresponding to a respective acceleration of the vehicle, the IMU being located on or in the vehicle;performing, by one or more correlation units, one or more operations on the vehicle-related movement data and one or more of the IMU-derived accelerations to determine a respective correlation between the SPS-based acceleration and one or more of the IMU-derived accelerations,identifying, by one or more direction identification units, a direction of one of the first or second IMU-derived accelerations having a higher correlation with the SPS-based acceleration as a first vehicle direction;determining, by one or more association units, a first Earth-based direction in an Earth-based coordinate system based on the first vehicle direction; anddetermining, by one or more determination units, a spatial alignment of the IMU with respect to the Earth-based coordinate system based on the first Earth-based direction. 42. The method of claim 41, wherein the IMU-derived accelerations further include a third IMU-derived acceleration, and wherein the first, second and third IMU-derived accelerations are substantially orthogonal. 43. The method of claim 42, further comprising identifying the weakest two of the three IMU-derived accelerations as the first IMU-derived acceleration and the second IMU-derived acceleration. 44. The method of claim 43, further comprising identifying the strongest one of the three IMU-derived accelerations as acceleration due to gravity. 45. The method of claim 41, wherein the vehicle-related movement data further includes rotational data obtained or derived from one or more gyroscopes each arranged to measure a respective rotation of the IMU. 46. The method of claim 45, further comprising performing one or more second correlation operations between the rotational data and one or both of the first and second IMU-derived accelerations. 47. The method of claim 46, further comprising identifying the direction of the one of the first and second accelerations having the greatest correlation with the rotational data as a second vehicle direction, wherein determining the first Earth-based direction is also based at least in part on the second vehicle direction. 48. The method of claim 47, wherein the first vehicle direction corresponds to a “forward-backward” movement direction of the vehicle in an IMU-based coordinate system. 49. The method of claim 48, wherein the second vehicle direction corresponds to a “right-left” movement direction of the vehicle in the IMU-based coordinate system. 50. The method of claim 47, wherein determining the first Earth-based direction in the Earth-based coordinate system includes: determining a first vehicle-based direction based at least in part on one or both of the first vehicle direction and the second vehicle direction; anddetermining the first Earth-based direction in the Earth-based coordinate system based on the first vehicle-based direction. 51. The method of claim 50, wherein the first vehicle-based direction corresponds to a “course-over-ground” movement direction of the vehicle in a first RCU (Right, Course-over-ground, Up)-based coordinate system. 52. The method of claim 51, further comprising determining a second vehicle-based direction based on at least one of the first and second vehicle directions, the second vehicle-based direction corresponding to a “right” movement direction of the vehicle in the first RCU-based coordinate system. 53. The method of claim 52, further comprising transforming the second vehicle-based direction into a second Earth-based direction in the Earth-based coordinate system, wherein determining the spatial alignment of the IMU with respect to the Earth- based coordinate system is also based on the second Earth-based direction. 54. The method of claim 41, wherein the velocity data corresponds to movement of the vehicle in a first SPS-based coordinate system. 55. The method of claim 41, wherein the SPS- and IMU-derived accelerations are linear accelerations. 56. The method of claim 41, wherein the vehicle-related movement data further includes geodetic data obtained from one or more SPSs, the geodetic data corresponding to a position of the vehicle in a first geodetic coordinate system. 57. The method of claim 56, further comprising determining a first transformation matrix based on the geodetic data, the first transformation matrix being usable to convert between an RCU-based coordinate system and an Earth-based coordinate system. 58. The method of claim 57, further comprising determining a second transformation matrix based on the vehicle-related movement data, the second transformation matrix being usable to convert between an IMU-based coordinate system and an RCU-based coordinate system. 59. The method of claim 41, wherein the IMU is detachably secured either directly or indirectly to the vehicle during the measurements by the such that a position and an alignment of the IMU is constant relative to the vehicle during the measurements by the IMU. 60. The method of claim 41, wherein one or both of the first IMU-derived acceleration and the second IMU-derived acceleration are derived using an eigenvector.
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