US 12,228,408 B2
Sensor data fusion system with noise reduction and fault protection
Rongsheng Li, Corona, CA (US); Chang J. Yoo, Long Beach, CA (US); Tung-Ching Tsao, Torrance, CA (US); Andrey Tolstov, Anaheim, CA (US); and Cody L. Gruebele, Corona, CA (US)
Assigned to The Boeing Company, Arlington, VA (US)
Filed by The Boeing Company, Chicago, IL (US)
Filed on Sep. 16, 2021, as Appl. No. 17/477,246.
Claims priority of provisional application 63/110,525, filed on Nov. 6, 2020.
Prior Publication US 2022/0147045 A1, May 12, 2022
Int. Cl. G01C 21/16 (2006.01)
CPC G01C 21/16 (2013.01) 21 Claims
OG exemplary drawing
 
1. A sensor data fusion system comprising:
a first accelerometer having low noise and high bias;
a second accelerometer having high noise and low bias;
a first subtracter connected to receive a signal from the first accelerometer and a signal from the second accelerometer and configured to output a first difference signal representing a difference between the signals from the first and second accelerometers;
a first filter connected to receive the first difference signal from the first subtracter and configured to output a signal representing an estimated relative bias of the first and second accelerometers;
a second subtracter connected to receive the signal from the first accelerometer and the signal from the first filter and configured to output a second difference signal representing a difference between the signals from the first accelerometer and the first filter;
a third accelerometer having low noise and high bias;
a third subtracter connected to receive signals from the second and third accelerometers and configured to output a third difference signal representing a difference between the signals from the second and third accelerometers;
a second filter connected to receive the third difference signal output by the third subtracter and configured to output a signal representing an estimated relative bias of the second and third accelerometers; and
a fourth subtracter connected to receive the signal from the third accelerometer and the signal from the second filter and configured to output a fourth difference signal representing a difference between the signals from the third accelerometer and second filter.