Spatial alignment determination for an inertial measurement unit (IMU)

摘要

The subject matter disclosed herein relates to a system and method for determining a spatial alignment of an inertial measurement unit (IMU). By way of example, a method is described in which a first vehicle-based direction is identified, and the first vehicle-based direction is associated with a first direction that is transformable to an earth-based coordinate frame. A spatial alignment of the IMU is determined based at least partially on the first direction.

主权项

1. A device for determining the spatial alignment of an inertial measurement unit (IMU) positioned in or on a vehicle comprising:
means for obtaining vehicle-related movement data for the vehicle (110) including velocity data measured by or derived from measurements obtained by one or more satellite positioning systems (SPSs), the velocity data including an SPS-based acceleration; means for obtaining at least a first IMU-derived acceleration and a second IMU-derived acceleration, each of the IMU-derived accelerations being measured by or derived from measurements obtained by the IMU and corresponding to a respective acceleration of the vehicle, the IMU being located on or in the vehicle; means for performing one or more operations on the vehicle-related movement data and one or more of the IMU-derived accelerations to determine a respective correlation between the SPS-based acceleration and one or more of the IMU-derived accelerations, means for identifying a direction of one of the IMU-derived accelerations having a higher correlation with the SPS-based acceleration as a first vehicle direction; means for determining a first Earth-based direction in an Earth-based coordinate system based on the first vehicle direction; and means for determining a spatial alignment of the IMU with respect to the Earth-based coordinate system based on the first Earth-based direction.