US 12,405,112 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 Jul. 14, 2023, as Appl. No. 18/352,969.
Application 18/352,969 is a continuation of application No. 16/399,842, filed on Apr. 30, 2019, granted, now 11,747,142.
Prior Publication US 2023/0358541 A1, Nov. 9, 2023
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)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
generating, by a gyroscope of a device, gyroscope data;
generating, by an accelerometer of the device, accelerometer data;
generating, by a global positioning system sensor of the device, global positioning data;
determining a motion status of a vehicle based on the gyroscope data and the accelerometer data;
determining, using a first estimation method, a first estimated misalignment angle between a reference frame of the vehicle and a reference frame of the device based on the gyroscope data, the accelerometer data, and the motion status, the first estimation method including applying a singular value decomposition to the acceleration data;
determining, using a second estimation method, a second estimated misalignment angle between the reference frame of the vehicle and the reference frame of the device based on the gyroscope data, the accelerometer data, the global positioning data, and the motion status, the second estimation method including applying an orthogonal transformation to the acceleration data and the global positioning data;
determining, using a third estimation method, a third estimated misalignment angle between the reference frame of the vehicle and the reference frame of the device based on the gyroscope data, the accelerometer data, the global positioning data, and the motion status, the third estimation method including minimizing an error between the accelerometer data and predicted accelerometer data;
determining a misalignment angle between the reference frame of the vehicle and the reference frame of the device based on the first, second, and third estimated misalignment angles; and
setting a location of the vehicle based on the misalignment angle.