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US 2021/0341631 A1Published application
Dual inertial measurement units for inertial navigation system
AssigneesBaidu USA LLC, Baidu.Com Times Technology (Beijing) Co., Ltd.
InventorsQuanwei LIU, Zhuo YAO, Yan CUI
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Abstract
In one embodiment, a system includes a global navigation satellite system (GNSS) receiver unit, a first inertial measurement unit (IMU) and a second IMU. The system may further include a first micro-controller unit (MCU) coupled to the first IMU and the GNSS receiver unit to receive data from the first IMU and the GNSS receiver unit and a second MCU coupled to the second IMU and the GNSS receiver unit to receive data from the second IMU and the GNSS receiver unit.
Claims20
A method for operating an autonomous driving vehicle (ADV), the method comprising:
- receiving, by a first micro-controller unit (MCU), global navigation satellite system (GNSS) data from a GNSS receiver and first inertial measurement unit (IMU) data from a first IMU, the first IMU operating as a primary IMU;
- synchronizing, by the first MCU, the first IMU data with the GNSS data;
- receiving, by a second MCU, the GNSS data from the GNSS receiver and second IMU data from a second IMU, the second IMU operating as a redundant IMU;
- synchronizing, by the second MCU, the second IMU data with the GNSS data;
- and
- performing, by a localization module, a localization process to determine a location of the ADV based on the synchronized first IMU data and the GNSS data, or based on the synchronized second IMU data and the GNSS data in response to determining that the first IMU fails to operate properly.
3 more elements
An inertial navigation system, comprising:
- a global navigation satellite system (GNSS) receiver;
- a first inertial measurement unit (IMU) operating as a primary IMU;
- a second IMU operating as a redundant IMU;
- a first micro-controller unit (MCU) to receive GNSS data from the GNSS receiver and first IMU data from the first IMU and to synchronize the first IMU data with the GNSS data;
- and
- a second MCU to receive the GNSS data from the GNSS receiver and second IMU data from the second IMU and to synchronize the second IMU data with the GNSS data;
- and
- a host interface to transmit the GNSS data, the synchronized first IMU data and the synchronized second IMU data to a localization module, wherein the localization module is configured to perform a localization process to determine a location of an autonomous driving vehicle (ADV) based on the synchronized first IMU data and the GNSS data, or based on the synchronized second IMU data and the GNSS data in response to determining that the first IMU fails to operate properly.
5 more elements
An autonomous driving system, comprising:
- an inertial navigation system, including
- a global navigation satellite system (GNSS) receiver,
- a first inertial measurement unit (IMU) operating as a primary IMU,
- a second IMU operating as a redundant IMU,
- a first micro-controller unit (MCU) to receive GNSS data from the GNSS receiver and first IMU data from the first IMU and to synchronize the first IMU data with the GNSS data, and
- a second MCU to receive the GNSS data from the GNSS receiver and second IMU data from the second IMU and to synchronize the second IMU data with the GNSS data;
- and
- a perception and planning system coupled to the inertial navigation system, the perception and planning system including
- a localization module to receive the GNSS data, the synchronized first IMU data and the synchronized second IMU data from the first MCU and the second MCU, wherein the localization module is configured to perform a localization process to determine a location of an autonomous driving vehicle (ADV) based on the synchronized first IMU data and the GNSS data, or based on the synchronized second IMU data and the GNSS data in response to determining that the first IMU fails to operate properly,
- a perception module to perceive a driving environment surrounding the ADV, and
- a planning module to plan a trajectory to autonomous drive the ADV to navigate the driving environment.
8 more elements
Dependencies are inferred from the claim text.