System for real-time determination of calibration of an inertial measurement unit

A system for real-time determination of calibration of an inertial measurement unit, the system comprising:

• an inertial measurement unit mounted on at least one of a vehicle, a tire supporting the vehicle, and a wheel on which the tire is mounted;
• a processor in electronic communication with the inertial measurement unit;
• a road mapping module in electronic communication with the processor, the road mapping module receiving a vehicle latitude and a vehicle longitude and determining a virtual heading angle of the vehicle;
• a virtual acceleration module in electronic communication with the processor, the virtual acceleration module receiving the virtual heading angle of the vehicle from the road mapping module and receiving a measured vehicle speed and a measured heading angle, the virtual acceleration module estimating a virtual lateral acceleration and a virtual longitudinal acceleration;
• a correlation module in electronic communication with the processor, the correlation module receiving the virtual lateral acceleration and the virtual longitudinal acceleration from the virtual acceleration module and receiving a calibrated measured lateral acceleration and a calibrated measured longitudinal acceleration from the inertial measurement unit, the correlation module determining a lateral acceleration correlation between the virtual lateral acceleration and the calibrated measured lateral acceleration and a longitudinal acceleration correlation between the virtual longitudinal acceleration and the calibrated measured longitudinal acceleration;
• the correlation module generating from the longitudinal acceleration correlation a longitudinal acceleration coefficient as a longitudinal quality indicator, and generating from the lateral acceleration correlation a lateral acceleration coefficient as a lateral quality indicator, the longitudinal acceleration coefficient and the lateral acceleration coefficient indicating a quality of alignment of an axis of the inertial measurement unit with an axis of the vehicle;
• and
• a notice being generated by the correlation module, the notice indicating a result of the correlation.