CPC B60W 40/101 (2013.01) [B60W 40/11 (2013.01); B60W 40/112 (2013.01); B60W 40/114 (2013.01); G01S 19/47 (2013.01); B60W 2520/28 (2013.01)] | 20 Claims |
10. A system, comprising:
inertial sensing circuitry, which, in operation, generates motion data;
a global navigation system transceiver, which, in operation, generates positioning data; and
processing circuitry coupled to the inertial sensing circuitry and to the global navigation system transceiver, wherein the processing circuitry includes:
a filter, which, in operation, filters motion data;
a transformer coupled to the filter, wherein the transformer, in operation, transforms the filtered motion data in a frequency domain based on a first estimated vehicle velocity and an estimated wheel size, generating spectral power density signals;
a frequency detector coupled to the transformer, wherein the frequency detector, in operation, generates an estimated wheel angular frequency based on the generated spectral power density signals;
a size estimator coupled to the frequency detector and to the transformer, wherein the size estimator, in operation, generates the estimated wheel size based on the estimated wheel angular frequency and positioning data; and
a mixer coupled to the frequency detector and the size estimator, wherein the mixer, in operation, generates a second estimated vehicle velocity as a function of the estimated wheel angular frequency and the estimated wheel size.
|