Calibration routine for IMU mounting alignments
AssigneeLeica Geosystems Technology A/S
InventorMicheal Goulet Kean
Life of this patent
Estimating the term…
Abstract
A computer program product comprising a program code, wherein the program code is configured for calibrating mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts of the construction vehicle, and provides an at least partially automatically executing calibration routine for the mounting alignments of the set of IMUs on the construction vehicle, wherein for the calibration routine the following is defined: a sequence of N calibration measurements, with N greater than or equal to three, is to be carried out by the set of IMUs, and for each I-th of the N calibration measurements, with I consecutively from one to N, an I-th pose of the construction vehicle is to be adopted.
Claims13
A non-transitory computer readable media storing instructions that in response to being executed by one or more processors, cause a computer system to perform operations, the operations comprising:
- calibrating, via a calibration routine, mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle, wherein the construction vehicle is selected from dozer, excavator, motor grader, drive loader, skid loader or compact track loader, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts of the construction vehicle, and
- providing an at least partially automatically executing calibration routine for the mounting alignments of the set of IMUs on the construction vehicle,
- wherein the calibration routine comprises:
- carrying out a sequence of N calibration measurements, with N greater than or equal to three, by the set of IMUs, and
- adopting for each I-th of the N calibration measurements, with I consecutively from one to N, an I-th pose of the construction vehicle,
- wherein for the first of the I-th poses:
- stopping and aligning the construction vehicle in a first direction on a substantially level ground at a first location, and
- adopting a first position of the different parts of the construction vehicle relative to one another, wherein a first alignment of the set of IMUs is defined by this first position of the different parts of the construction vehicle relative to one another,
- wherein for the second of the I-th poses:
- aligning the construction vehicle in a second direction, wherein the first and the second direction are rotated substantially 180° to each other,
- stopping the construction vehicle being aligned in the second direction at a second location, the first and second locations being substantially close and having a substantially equal inclination, and
- adopting the first position of the different parts of the construction vehicle relative to one another,
- wherein for the third of the I-th poses:
- the construction vehicle has to remain:
- aligned in the first direction at the first location, or
- aligned in the second direction at the second location, and
- a second position of the different parts of the construction vehicle relative to each other is to be adopted, wherein a second alignment of the set of IMUs is defined by this second position of the different parts of the construction vehicle relative to one another,
- wherein the following is carried out in course of the calibration routine:
- after adoption of the I-th pose of the construction vehicle, initiating the I-th of the N calibration measurements by an onset of a trigger event specifically predefined for the I-th of the N calibration measurements, wherein the N calibration measurements comprise at least acceleration values of acceleration sensors of the set of IMUs, and
- determining or updating calibration data relating to the respective mounting alignments of the set of IMUs on the construction vehicle based on the N calibration measurements.
A method for calibrating mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle, wherein the construction vehicle is selected from dozer, excavator, motor grader, drive loader, skid loader or compact track loader, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts of the construction vehicle, wherein the method includes an at least partially automatically executed calibration routine for the mounting alignments of the set of IMUs on the construction vehicle, wherein for the calibration routine comprising:
- carrying out a sequence of N calibration measurements, with N greater than or equal to three by the set of IMUs, and
- adopting for each I-th of the N calibration measurements, with I consecutively from one to N, an I-th pose of the construction vehicle,
- wherein for the first of the I-th poses:
- stopping and aligning the construction vehicle in a first direction on a substantially level ground at a first location, and
- adopting a first position of the different parts of the construction vehicle relative to one another, wherein a first alignment of the set of IMUs is defined by this first position of the different parts of the construction vehicle relative to one another,
- wherein for the second of the I-th poses:
- rotating the construction vehicle is to be aligned in a second direction, wherein the first and the second direction are rotated substantially 180° to each other,
- stopping the construction vehicle being aligned in the second direction at a second location, the first and second locations being substantially close and having a substantially equal inclination, and
- adopting the first position of the different parts of the construction vehicle relative to one another,
- wherein for the third of the I-th poses:
- the construction vehicle has to remain:
- aligned in the first direction, at the first location, or
- aligned in the second direction, at the second location, and
- adopting a second position of the different parts of the construction vehicle relative to each other, wherein a second alignment of the set of IMUs is defined by this second position of the different parts of the construction vehicle relative to one another,
- wherein the following is carried out in course of the calibration routine:
- initiating after adoption of the I-th pose of the construction vehicle the I-th of the N calibration measurements by an onset of a trigger event specifically predefined for the I-th of the N calibration measurements, wherein the N calibration measurements comprise at least acceleration values of acceleration sensors of the set of IMUs, and
- determining or updating calibration data relating to the respective mounting alignments of the set of IMUs on the construction vehicle based on the N calibration measurements.
A method for calibrating mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle, wherein the construction vehicle is selected from dozer, excavator, motor grader, drive loader, skid loader or compact track loader, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts of the construction vehicle, wherein the method comprises:
- carrying out a sequence of N calibration measurements with the set of IMUs, with N greater than or equal to three,
- adopting an I-th pose with the construction vehicle for each I-th of the N calibration measurements, with I consecutively from one to N,
- wherein the adoption of the first of the I-th poses comprises:
- stopping the construction vehicle aligned in a first direction on a substantially level ground at a first location, and
- adopting a first position of the different parts of the construction vehicle relative to one another, wherein a first alignment of the set of IMUs is defined by this first position of the different parts of the construction vehicle relative to one another,
- wherein the adoption of the second of the I-th poses comprises:
- aligning the construction vehicle in a second direction, wherein the first and the second direction are rotated substantially 180° to each other,
- stopping the construction vehicle being aligned in the second direction at a second location, the first and second locations being substantially close and having a substantially equal inclination, and
- adopting the first position of the different parts of the construction vehicle relative to one another, and
- wherein the adoption of the third of the I-th poses comprises:
- remaining the construction vehicle:
- aligned in the first direction, at the first location, or
- aligned in the second direction, at the second location, and
- adopting a second position of the different parts of the construction vehicle relative to each other, wherein a second alignment of the set of IMUs is defined by this second position of the different parts of the construction vehicle relative to one another,
- initiating the I-th of the N calibration measurements after adoption of the I-th pose of the construction vehicle by an onset of a trigger event specifically predefined for the I-th of the N calibration measurements, wherein the N calibration measurements comprise at least acceleration values of acceleration sensors of the set of IMUs, and
- determining or updating calibration data relating to the respective mounting alignments of the set of IMUs on the construction vehicle based on the N calibration measurements.
Dependencies are inferred from the claim text.