# US 12,000,702 B2 · Dynamic gyroscope bias offset compensation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,000,702 B2 - Document ID: US12000702B2 - Status: Granted - Kind: B2 - Application number: 16/226,279 - Filed: 2018-12-19 - Published: 2020-06-25 - Granted: 2024-06-04 - Earliest claimed: 2018-12-19 - Assignees: Honeywell International Inc. - Applicants: Honeywell International Inc. - Inventors: Ahren Ceisel; Brian Marsh - Web page: https://patentgrep.com/patent/US12000702B2 ## CPC - E02F 9/264: {Sensors and their calibration for indicating the position of the work tool} - G01C 19/5776: Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719 - E02F 3/841: {Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine (construction of roads E01C19/008)} - E02F 9/26: Indicating devices {(E02F5/145 takes precedence)} - E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)} - G01C 25/00: Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - 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 Apparatus and associated methods relate to a vehicle attitude estimated as a function of predicted acceleration from the vehicle control system. In an illustrative example, a weighting module may dynamically combine IMU (Inertial Measurement Unit) with sensor motion data motion profile information from the vehicle control system. The weighting module may receive the predicted acceleration information via a data link with the vehicle control system. The dynamic weighting of inputs may be processed by an attitude estimator. An estimated attitude may be supplied to a display device, for example, to represent a real-time spatial orientation of the vehicle with respect to the gravity vector. ## Claims ### Claim 1 A method for improved control of a vehicle based on reliably determining whether the vehicle is in motion by an Inertial Measurement Unit (IMU) mounted on the vehicle, the method comprising: calculating, by a processor system of the IMU, a differential change in angular velocity for a gyroscope axis; comparing, by the processor system, the differential change to a predetermined differential velocity threshold; in response to determining that the differential change is less than the predetermined differential velocity threshold, calculating, by the processor system, a total variance of the angular velocity for the gyroscope axis over a time window, wherein the total variance is calculated using a sum of squares of differences between sequential gyroscope readings, wherein the sequential gyroscope readings are measured over a 50-millisecond time frame; in response to determining that the total variance is greater than a predetermined standard deviation threshold, determining, by the processor system, that the vehicle is in motion; setting, by the processor system, an in-motion flag based on the determination that the vehicle is in motion; controlling, by the processor system, a display device to display an indication of the determination that the vehicle is in motion; utilizing, by the processor system, the determination that the vehicle is in motion in calculating an attitude adjustment; determining, by the processor system, real-time spatial orientation of the vehicle based on the calculated attitude adjustment; controlling, by the processor system, the display device to display the real-time spatial orientation of the vehicle; and controlling, by the processor system, the vehicle based at least in part on the real-time spatial orientation. ### Claim 2 (depends on 1) The method of claim 1, further comprising: in response to determining that the differential change is less than the predetermined differential velocity threshold and the total variance is less than the predetermined standard deviation threshold, determining, by the processor system, that the vehicle is stationary. ### Claim 3 (depends on 1) The method of claim 1, wherein the differential change is calculated using differences between the sequential gyroscope readings. ### Claim 4 (depends on 1) The method of claim 1, wherein the vehicle comprises a road grader vehicle. ### Claim 5 (depends on 1) The method of claim 1, wherein the method comprises a timed interrupt routine. ### Claim 6 (depends on 1) The method of claim 1, wherein controlling the vehicle comprises causing an engine control unit (ECU) to operate the vehicle based at least in part on the real-time spatial orientation. ### Claim 7 A computer program product (CPP) for improved control of a vehicle based on reliably determining whether the vehicle is in motion the CPP comprising a non-transitory computer-readable medium having computer-readable code embodied thereon, the computer-readable code capable of causing a processor to execute steps of: calculating a differential change in angular velocity for a gyroscope axis; comparing the differential change to a predetermined differential velocity threshold; in response to determining that the differential change is less than the predetermined differential velocity threshold, calculating a total variance of the angular velocity for the gyroscope axis over a time window, wherein the total variance is calculated using a sum of squares of differences between sequential gyroscope readings; in response to determining that the total variance is greater than a predetermined standard deviation threshold, determining that the vehicle is in motion; setting an in-motion flag based on the determination that the vehicle is in motion; controlling a display device to display an indication of the determination that the vehicle is in motion; utilizing the determination that the vehicle is in motion in calculating an attitude adjustment; determining real-time spatial orientation of the vehicle based on the calculated attitude adjustment; controlling the display device to display the real-time spatial orientation of the vehicle controlling the vehicle based at least in part on the real-time spatial orientation. ### Claim 8 (depends on 7) The CPP of claim 7, wherein the steps further comprise: in response to determining that the differential change is less than the predetermined differential velocity threshold and the total variance is less than the predetermined standard deviation threshold, determining that the vehicle is stationary. ### Claim 9 (depends on 7) The CPP of claim 7, wherein the differential change is calculated using differences between the sequential gyroscope readings. ### Claim 10 (depends on 7) The CPP of claim 7, wherein controlling the vehicle comprises causing an engine control unit (ECU) to operate the vehicle based at least in part on the real-time spatial orientation. ### Claim 11 A computer system comprising: a processor; a memory operably coupled to the processor and including computer readable instructions that, when executed by the processor, cause the processor to perform operations to improve control of a vehicle based on reliably determine whether the vehicle is in motion, the operations comprising: calculating a differential change in angular velocity for a gyroscope axis; comparing the differential change to a predetermined differential velocity threshold; in response to determining that the differential change is less than the predetermined differential velocity threshold, calculating a total variance of the angular velocity for the gyroscope axis over a time window, wherein the total variance is calculated using a sum of squares of differences between sequential gyroscope readings; in response to determining that the total variance is greater than a predetermined standard deviation threshold, determining that the vehicle is in motion; setting an in-motion flag based on the determination that the vehicle is in motion; controlling a display device to display an indication of the determination that the vehicle is in motion; utilizing the determination that the vehicle is in motion in calculating an attitude adjustment; determining real-time spatial orientation of the vehicle based on the calculated attitude adjustment; controlling the display device to display the real-time spatial orientation of the vehicle; and controlling the vehicle based at least in part on the real-time spatial orientation. ### Claim 12 (depends on 11) The computer system of claim 11, wherein the operations further comprise: in response to determining that the differential change is less than the predetermined differential velocity threshold and the total variance is less than the predetermined standard deviation threshold, determining that the vehicle is stationary. ### Claim 13 (depends on 11) The computer system of claim 11, wherein the differential change is calculated using differences between the sequential gyroscope readings. ### Claim 14 (depends on 11) The computer system of claim 11, wherein the vehicle comprises a road grader vehicle. ### Claim 15 (depends on 11) The computer system of claim 11, wherein controlling the vehicle comprises causing an engine control unit (ECU) to operate the vehicle based at least in part on the real-time spatial orientation.