Grade adjusted compensation for slip or slide condition

A method for measuring motion of a locomotive vehicle, comprising:

• computing a current grade traversed by the locomotive vehicle prior to detection of a slip or slide condition based on a first measurement signal from the decelerometer, the decelerometer including a level-sensitive device configured to measure acceleration or deceleration of the locomotive vehicle as a function of a tilt from a level position,
• detecting a slip or slide condition based on a measurement signal from the speed sensor, the speed sensor configured to measure wheel speed of the locomotive vehicle,
• upon detection of the slip or slide condition, obtaining a second measurement signal from the decelerometer,
• filtering out the current grade from the second measurement signal of the decelerometer, and
• determining an actual acceleration or deceleration of the locomotive vehicle during the slip or slide condition from the filtered second measurement signal from the decelerometer.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a processor, cause the processor to:

• compute a current grade traversed by a locomotive vehicle prior to detection of a slip or slide condition based on a first measurement signal from a decelerometer, the decelerometer including a level-sensitive device configured to measure acceleration or deceleration of the locomotive vehicle as a function of a tilt from a level position,
• detect a slip or slide condition based on a measurement signal from a speed sensor, the speed sensor configured to measure wheel speed of the locomotive vehicle,
• upon detection of the slip or slide condition, obtain a second measurement signal from the decelerometer,
• filter out the current grade from the second measurement signal of the decelerometer, and
• determine an actual acceleration or deceleration of the locomotive vehicle during the slip or slide condition from the filtered second measurement signal from the decelerometer.