Method for motion estimation in a vehicle, corresponding device and computer program product

A system, comprising:

• inertial sensing circuitry;
• a global navigation system transceiver;
• and
• processing circuitry coupled to the inertial sensing circuitry and to the global navigation system transceiver, wherein the processing circuitry, in operation:
• generates processed motion data and a first estimated vehicle velocity based on motion data generated by the inertial sensing circuitry and positioning data generated by the global navigation system transceiver;
• generates a second estimated vehicle velocity based on the processed motion data and the first estimated vehicle velocity;
• and
• generates fused datasets indicative of position, velocity and attitude of a vehicle based on the processed motion data, the positioning data and the second estimated vehicle velocity, wherein the generating the second estimated vehicle velocity includes:
• filtering the processed motion data, generating filtered motion data;
• transforming the filtered motion data in a frequency domain based on the first estimated vehicle velocity, generating spectral power density signals;
• generating an estimated wheel angular frequency and an estimated wheel size based on the spectral power density signals;
• and
• generating the second estimated vehicle velocity as a function of the estimated wheel angular frequency and the estimated wheel size.

A non-transitory computer-readable medium having contents which configure processing circuitry of a wheeled vehicle to perform a method, the method comprising:

• generating processed motion data and a first estimated vehicle velocity of the wheeled vehicle based on motion data generated by inertial sensing circuitry of the wheeled vehicle and positioning data generated by global positioning circuitry of the wheeled vehicle;
• generating a second estimated vehicle velocity of the wheeled vehicle based on the processed motion data and the first estimated vehicle velocity;
• generating fused datasets indicative of position, velocity and attitude of the wheeled vehicle based on the processed motion data, the positioning data and the second estimated vehicle velocity;
• and
• generating control signals of the wheeled vehicle using the fused datasets, wherein the generating the second estimated vehicle velocity includes:
• filtering the processed motion data, generating filtered motion data;
• transforming the filtered motion data in a frequency domain based on the first estimated vehicle velocity, generating spectral power density signals;
• generating an estimated wheel angular frequency and an estimated wheel size based on the spectral power density signals;
• and
• generating the second estimated vehicle velocity as a function of the estimated wheel angular frequency and the estimated wheel size.

A device, comprising:

• an interface, which, in operation, couples to control circuitry of a wheeled vehicle;
• a memory;
• and
• processing circuitry coupled to the memory and the interface, wherein, in operation and using the memory, the processing circuitry:
• generates processed motion data and a first estimated vehicle velocity of the wheeled vehicle based on inertial sensor motion data and global navigation system positioning data;
• generates a second estimated vehicle velocity of the wheeled vehicle based on the processed motion data and the first estimated vehicle velocity;
• generates fused datasets indicative of position, velocity and attitude of the wheeled vehicle based on the processed motion data, the positioning data and the second estimated vehicle velocity;
• and
• provides the fused datasets to the control circuitry via the interface, wherein the generating the second estimated vehicle velocity includes:
• filtering the processed motion data, generating filtered motion data;
• transforming the filtered motion data in a frequency domain based on the first estimated vehicle velocity, generating spectral power density signals;
• generating an estimated wheel angular frequency and an estimated wheel size based on the spectral power density signals;
• and
• generating the second estimated vehicle velocity as a function of the estimated wheel angular frequency and the estimated wheel size.