# US 11,906,542 B2 · System for checking an inertial measurement unit

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- Number: US 11,906,542 B2
- Document ID: US11906542B2
- Status: Granted
- Kind: B2
- Application number: 17/089,412
- Filed: 2020-11-04
- Published: 2021-05-06
- Granted: 2024-02-20
- Earliest claimed: 2019-11-05
- Assignees: Elektrobit Automotive GmbH
- Applicants: Elektrobit Automotive Gmbh
- Inventors: Martin Schauer; Manuel Kraus; Lucila Patino Studencki; Christian Siller; Christian Pfeuffer; Martin Nippe; Ghazaleh Baleghkalam; Sebastian Ohl
- Web page: https://patentgrep.com/patent/US11906542B2

## CPC

- G01P 21/00: Testing or calibrating of apparatus or devices covered by the preceding groups
- B60R 11/00: Arrangements for holding or mounting articles, not otherwise provided for
- G01C 19/00: Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C 21/16: by integrating acceleration or speed, i.e. inertial navigation
- G01C 25/005: {initial alignment, calibration or starting-up of inertial devices}
- G01P 1/00: Details of instruments
- G01P 13/00: Indicating or recording presence, absence, or direction, of movement (electric switches H01H; counting moving objects G06M7/00)
- G01P 15/08: with conversion into electric or magnetic values
- G01P 15/18: in two or more dimensions
- G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G})
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)

## Abstract

A system for checking an inertial measurement unit of a vehicle, in particular a land vehicle, during driving includes the inertial measurement unit having: a first acceleration sensor configured to measure a translational acceleration along a first sensor axis and/or a first rate-of-rotation sensor configured to measure a rate of rotation about the first sensor axis and also a second acceleration sensor configured to measure a translational acceleration along a second sensor axis and/or a second rate-of-rotation sensor configured to measure a rate of rotation about the second sensor axis. A sensing device senses a movement of the vehicle in a first vehicle direction and/or about the first vehicle direction. Both the first sensor axis and the second sensor axis are tilted with respect to the first vehicle direction.

## Claims

### Claim 1

A system for checking an inertial measurement unit (IMU) of a land vehicle (V) during driving, comprising:
the inertial measurement unit (IMU) having precisely three sensors comprising:
a first sensor comprising a first acceleration sensor configured to measure a translational acceleration along a first sensor axis and/or a first rate-of-rotation sensor configured to measure a rate of rotation about the first sensor axis,
a second sensor comprising a second acceleration sensor configured to measure a translational acceleration along a second sensor axis and/or a second rate-of-rotation sensor configured to measure a rate of rotation about the second sensor axis, and
a third rate-of-rotation sensor configured to measure a rate of rotation about a third sensor axis, the third sensor axis aligned along a vertical vehicle axis, and
a sensing device that senses a movement of the vehicle (V) in a first vehicle direction and/or about the first vehicle direction,
wherein both the first sensor axis and the second sensor axis are tilted with respect to the first vehicle direction wherein the first vehicle direction corresponds to a steering-free driving direction of the vehicle (V), an alignment of each of the acceleration sensors of the inertial measurement unit (IMU) respectively making the measurement of an acceleration component along the first vehicle direction possible,
wherein each of the first and second sensor axes is tilted by an angle of 55°, with respect to the first vehicle direction, and
wherein the first sensor axis and the second sensor axis and the third sensor axis measure components of the acceleration along the first vehicle direction, and the sensing device provides redundancy for calibration of the first sensor axis, the second sensor axis, and the third sensor axis.

### Claim 2 (depends on 1)

The system as claimed in claim 1, wherein the first and second sensor axes are in each case additionally tilted with respect to a second and/or third vehicle direction, the second and third vehicle directions being respectively aligned orthogonally with respect to the other vehicle directions.

### Claim 3 (depends on 1)

The system as claimed in claim 1, wherein the first and second sensor axes are respectively aligned orthogonally in relation to one another.

### Claim 4 (depends on 1)

The system as claimed in claim 1, wherein the sensing device for sensing the movement of the vehicle (V) is formed as an acceleration, speed and/or displacement sensor, as one or more selected from the group of: an odometer, a steering angle sensor, a magnetometer, a barometer and a satellite navigation module.

### Claim 5 (depends on 1)

An inertial measurement unit (IMU) configured for use in the system as claimed in claim 1, the internal measurement unit (IMU) comprising: a fastener with a fastening plane for fastening on the vehicle (V), wherein the first and second sensor axes of the inertial measurement unit (IMU) are in each case tilted by an angle with respect to the fastening plane.

### Claim 6 (depends on 1)

A method for checking the inertial measurement unit (IMU) as claimed in claim 1, of the land vehicle N) during driving, the method comprising:
sensing a movement of the vehicle (V) by a sensing device; and
calibrating the inertial measurement unit (IMU) on the basis of the movement sensed by the sensing device.

### Claim 7 (depends on 6)

The method as claimed in claim 6, wherein the method is repeated a number of times, or in a loop, during driving of the vehicle (V).

### Claim 8 (depends on 1)

The system as claimed in claim 1, wherein the sensing device provides continuous calibration of the first sensor axis, the second sensor axis, and the third sensor axis.