US 12,092,458 B2
System and process for correcting gyroscope drift for a motor vehicle
Brent Navin Roger Bacchus, Sterling Heights, MI (US); Rakesh Kumar, Mississauga (CA); and Curtis L. Hay, Washington Township, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Dec. 1, 2021, as Appl. No. 17/539,700.
Prior Publication US 2023/0168088 A1, Jun. 1, 2023
Int. Cl. G01C 19/00 (2013.01); G01S 13/931 (2020.01)
CPC G01C 19/00 (2013.01) [G01S 13/931 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A system of a motor vehicle, the system comprising:
a radar unit for generating a radar signal associated with a detected target positioned about the motor vehicle;
a tracker coupled to the radar unit and generating a tracker signal associated with a current radar heading and a current doppler for a stationary target based on the radar signal;
a wheel speed sensor for generating a wheel speed signal associated with a current velocity of the motor vehicle;
a temperature sensor for generating a temperature signal associated with an ambient temperature;
a gyroscope for generating a gyro signal associated with a measured yaw rate at a current time step; and
a computer comprising:
at least one processor coupled to the tracker, the wheel speed sensor, the temperature sensor, and the gyroscope; and
a non-transitory computer readable storage medium including instructions such that the at least one processor is programmed to;
receive the tracker signal from the tracker, the wheel speed signal from the wheel speed sensor, the temperature signal from the temperature sensor, and the gyro signal from the gyroscope at the current time step;
determine with a Kalman filter an innovation vector, based on a difference between the tracker signal, the wheel speed signal, the temperature signal, the gyro signal, and a plurality of associated predicted observations;
generate an adapted measurement covariance matrix, based on the innovation vector, and further based on a measurement covariance matrix;
update the Kalman filter based on the tracker signal, the wheel speed signal, the temperature signal, and the gyro signal;
predict at least one of the predicted radar heading, the predicted doppler, an estimated gyro scale factor of the gyroscope, a wheel speed sensor scale factor of the wheel speed sensor, and a gyro drift of the gyroscope based on the updated Kalman filter; and
determine a corrected yaw rate while the motor vehicle is in motion, with the corrected yaw rate based on at least the current radar heading, the current doppler effect, and the current velocity of the motor vehicle, and the measured yaw rate at the current time step.