US 11,747,142 B2
Inertial navigation system capable of dead reckoning in vehicles
Mahaveer Jain, Santa Clara, CA (US); Mahesh Chowdhary, San Jose, CA (US); Roberto Mura, Gallarate (IT); Nicola Matteo Palella, Rivolta d'Adda (IT); and Leonardo Colombo, Lecco (IT)
Assigned to STMICROELECTRONICS, INC., Coppell, TX (US); and STMICROELECTRONICS S.r.l., Agrate Brianza (IT)
Filed by STMICROELECTRONICS, INC., Coppell, TX (US); and STMICROELECTRONICS S.r.l., Agrate Brianza (IT)
Filed on Apr. 30, 2019, as Appl. No. 16/399,842.
Prior Publication US 2020/0348137 A1, Nov. 5, 2020
Int. Cl. G01C 21/16 (2006.01); G01C 21/20 (2006.01); G01S 19/49 (2010.01)
CPC G01C 21/165 (2013.01) [G01C 21/20 (2013.01); G01S 19/49 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method, comprising:
sensing motions of a vehicle and a device on the vehicle by a plurality of sensors in the device, the plurality of sensors including a first sensor and a second sensor different from the first sensor, the device being fixed with respect to the vehicle;
determining an acceleration of the device by analyzing sensor data of the first sensor, the acceleration of the device having a first acceleration component in a first direction and a second acceleration component in a second direction, the second direction being perpendicular to the first direction;
determining an acceleration of the vehicle by analyzing sensor data of the second sensor, the acceleration of the vehicle having a first horizontal acceleration direction and a second horizontal acceleration direction, the second horizontal acceleration direction being perpendicular to the first horizontal acceleration direction;
determining a motion status of the vehicle that includes whether the vehicle is in a status of moving in a straight line or in a status of making a turn;
extracting horizontal components of the acceleration of the device from the first acceleration component; and
calculating a misalignment angle between a horizontal component of the first acceleration component and the first horizontal acceleration direction by analyzing an amount of rotation between the horizontal component of the first acceleration component of the device and the first horizontal acceleration direction of the vehicle and based on the motion status of the vehicle, the calculating of the misalignment angle including:
applying a singular value decomposition to the horizontal components of the acceleration of the device;
applying an orthogonal transformation to the horizontal components of the acceleration of the device and the acceleration of the vehicle;
calculating predicted horizontal components of acceleration of the vehicle by analyzing the sensor data of the second sensor;
determining error between the horizontal components of the acceleration of the device and the predicted horizontal components of the acceleration of the vehicle; and
calculating the misalignment angle based on the singular value decomposition, the orthogonal transformation, and the error; and
positioning the vehicle using the sensor data of the first sensors based on the misalignment angle.