GPS-based in-vehicle sensor calibration algorithm

Details GPS-based in-vehicle sensor calibration algorithm GPS-based in-vehicle sensor calibration algorithm

2011-06-07

2011-06-07

Tran, Khoi (Department: 3664)

Data processing: vehicles, navigation, and relative location

Navigation

Employing position determining equipment

C701S216000, C701S217000

Reexamination Certificate

active

07957897

ABSTRACT:
A system and method for calibrating the bias and scale factors of a heading rate sensor, such as a yaw-rate sensor, using GPS signals. The system receives wheel speed or rotation signals, a vehicle odometer reading, GPS signals and yaw-rate signals. The system includes a wheel-slip detection processor that determines whether there is wheel-slip based on the wheel speed signals and the GPS signals. The system also includes a wheel-based acceleration processor that estimates vehicle acceleration. The system also includes a differential odometry processor that determines vehicle heading based on wheel speed. The system also includes a GPS reference data validation processor that determines whether the GPS signals are valid using the estimated vehicle acceleration and wheel speeds. The valid GPS signals are then used to calibrate the yaw-rate sensor signals, which can be used for vehicle heading purposes.

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