Bias and misalignment compensation for 6-DOF IMU using GNSS/INS data
AssigneeGM Global Technology Operations LLC
InventorsRouhollah Jafari, Shuqing Zeng
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Abstract
A system and method for correcting bias and angle misalignment errors in the angle rate and acceleration outputs from a 6-DOF IMU mounted to a vehicle. The method includes providing velocity and estimation attitude data in an inertial frame from, for example, a GNSS/INS, and determining an ideal acceleration estimation and an ideal rate estimation in a vehicle frame using the velocity and attitude data. The method then determines the IMU bias error and misalignment error using the ideal acceleration and rate estimations and the angle rate and acceleration outputs in an IMU body frame from the IMU.
Claims20
A method for correcting bias and angle misalignment errors in angle rate and acceleration outputs from a six-degree of freedom (DOF) inertial measurement unit (IMU), said IMU being mounted on a platform, said method comprising:
- obtaining velocity and estimation attitude data in an inertial frame;
- determining an acceleration estimation and a rate estimation in a platform frame using the velocity and attitude data;
- and
- determining an IMU bias error and a misalignment error using the acceleration and rate estimations and the angle rate and acceleration outputs from the IMU.
A method for correcting bias and angle misalignment errors in angle rate and acceleration outputs from a six-degree of freedom (DOF) inertial measurement unit (IMU) mounted on a vehicle, said method comprising:
- providing velocity and estimation attitude data in an inertial frame from a global navigation satellite system (GNSS) and/or an inertial navigation system (INS);
- determining an acceleration estimation and a rate estimation in a vehicle frame using the velocity and attitude data that includes transforming velocity, roll angle, pitch angle and yaw angle of the vehicle in the inertial frame to the vehicle frame;
- and
- determining an IMU bias error and a misalignment error using the acceleration and rate estimations and the angle rate and acceleration outputs from the IMU that includes comparing the acceleration estimation and the rate estimation to the angle rate and acceleration outputs from the IMU and transforming the acceleration and angular rate estimations from the vehicle frame to an IMU body frame.
A system for correcting bias and angle misalignment errors in angle rate and acceleration outputs from a six-degree of freedom (DOF) inertial measurement unit (IMU), said IMU being mounted on a platform, said system comprising:
- means for providing velocity and estimation attitude data in an inertial frame;
- means for determining an ideal acceleration estimation and a rate estimation in a platform frame using the velocity and attitude data;
- and
- means for determining an IMU bias error and a misalignment error using the acceleration and rate estimations and the angle rate and acceleration outputs from the IMU.
Dependencies are inferred from the claim text.