Calibrating multiple inertial measurement units
AssigneeZoox, Inc.
InventorsSiddharth Ratapani Navin, Derek Adams, Michael Carsten Bosse, Aleksandrs Ecins
Life of this patent
Estimating the term…
Abstract
Systems and methods for calibrating multiple inertial measurement units on a system include calibrating a first of the inertial measurement units relative to the system using a first calibration model, and calibrating the remaining inertial measurement unit(s) relative to the first inertial measurement unit using a second calibration model. The calibration of the remaining inertial measurement unit(s) to the first inertial measurement unit can be based on a rigid body model by aligning a rotational velocity of the first inertial measurement unit with a rotational velocity of the remaining inertial measurement unit(s).
Claims20
A vehicle comprising:
- a first inertial measurement unit;
- a second inertial measurement unit fixed relative to the first inertial measurement unit;
- a sensor mounted on the vehicle and configured to generate sensor data;
- one or more processors;
- and
- memory storing instructions executable by the one or more processors to cause the vehicle to perform acts comprising:
- receiving, from the first inertial measurement unit, a first angular velocity;
- receiving, from the sensor, sensor data;
- determining, based at least in part on a first technique, a first calibration of the first inertial measurement unit relative to the vehicle based at least in part on the first angular velocity and the sensor data;
- receiving, from the second inertial measurement unit, a second angular velocity;
- determining, based at least in part on a second technique, a relative rotation of the second inertial measurement unit relative to the first inertial measurement unit based at least in part on the first angular velocity and the second angular velocity;
- determining a second calibration of the second inertial measurement unit relative to the vehicle based at least in part on the relative rotation and a bias between the first inertial measurement unit and the second inertial measurement unit;
- and
- controlling, based at least in part on the first calibration or the second calibration, the vehicle based at least in part on data from the first inertial measurement unit or data from the second inertial measurement unit.
A method comprising:
- receiving, from a first inertial measurement unit coupled to a system, first rotational velocity information;
- calibrating, based at least in part on the first rotational velocity information and using a first technique, the first inertial measurement unit relative to the system;
- receiving, from a second inertial measurement unit fixed relative to the first inertial measurement unit, second rotational velocity information;
- and
- calibrating, using a second technique that determines a relative rotation of the second inertial measurement unit relative to the first inertial measurement unit, the second inertial measurement unit relative to the reference.
A system comprising:
- a first inertial measurement unit
- a second inertial measurement unit fixed relative to the first inertial measurement unit;
- one or more processors;
- and
- memory storing instructions executable by the one or more processors to cause the vehicle to perform acts comprising:
- receiving, from a first inertial measurement unit coupled to a system, a first rotational velocity information;
- calibrating, based at least in part on the first rotational velocity information and using a first technique, the first inertial measurement unit relative to the system;
- receiving, from a second inertial measurement unit fixed relative to the first inertial measurement unit, a second rotational velocity information;
- and
- calibrating, using a second technique that determines a relative rotation of the second inertial measurement unit relative to the first inertial measurement unit, the second inertial measurement unit relative to the reference.
Dependencies are inferred from the claim text.