Systems and methods for aligning an inertial measurement unit in a vehicle

A vehicle, comprising:

• an inertial measurement unit (IMU);
• a sensor device configured to provide sensor data associated with an environment of the vehicle;
• and
• a controller configured to receive the sensor data, to process the sensor data to determine a ground plane and a vertical plane in the environment of the vehicle, and to determine at least one of a pitch and a roll alignment value based on the ground plane and the vertical plane, and to communicate the at least one of pitch and roll alignment value to the IMU,
• wherein the sensor data processing module is further configured to determine a ground alignment based on the ground plane, and determine a vertical alignment based on the vertical plane, and wherein the correction module is further configured to determine the at least one of the pitch and the roll alignment value based on the ground alignment and the vertical alignment.

A method of aligning an inertial measurement unit (IMU) of a vehicle, comprising:

• receiving, by a processor, sensor data indicating an environment surrounding the vehicle;
• determining, by the processor, from the sensor data a ground plane beneath the vehicle;
• determining, by the sensor device, a ground alignment from the ground plane;
• determining, by the processor, from the sensor data a vertical plane beside the vehicle;
• determining, by the processor, a vertical alignment from the vertical plane;
• determining, by the processor, an alignment value of the IMU based on the vertical alignment of the vertical plane and the ground alignment;
• and
• communicating, by the processor, the alignment value of the IMU to the IMU for aligning the IMU.