IP Library › Granted Patent US 12693134
Granted Patent B2
US 12693134 · App. 18/507,762 · Granted Jul 28, 2026

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

Inventors: Kanwar Bharat Singh (Copley, OH); Vamsi Krishna Vegamoor (Akron, OH); Seyed Amin Sajadi Alamdari (Trier, DE); Sparsh Sharma (Luxembourg City, LU)
Assignee: The Goodyear Tire & Rubber Company
G01C21/3844B60W40/105B60W2520/105B60W2520/125
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Quick Facts
Patent No.
US 12693134
App. No.
18/507,762
Granted
Jul 28, 2026
Kind
B2
Abstract

A system for real-time determination of calibration of an inertial measurement unit includes an inertial measurement unit and a processor in electronic communication with the inertial measurement unit. A road mapping module receives a vehicle latitude and a vehicle longitude, and determines a virtual heading angle of a vehicle. A virtual acceleration module receives the virtual heading angle of the vehicle, and a measured vehicle speed and heading angle, and estimates a virtual lateral acceleration and a virtual longitudinal acceleration. A correlation module receives the virtual lateral acceleration, the virtual longitudinal acceleration, a calibrated measured lateral acceleration, and a calibrated measured longitudinal acceleration. The correlation module determines a correlation between the virtual lateral acceleration and the calibrated measured lateral acceleration, and between the virtual longitudinal acceleration and the calibrated measured longitudinal acceleration. A notice is generated by the correlation module indicating a result of the correlation.

Claims (26)

1 . 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.

2 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the notice is generated in real time as the vehicle is operating.

3 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the vehicle latitude and the vehicle longitude are obtained from a global positioning system unit.

4 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the road mapping module is in electronic communication with a map server.

5 . The system for real-time determination of calibration of an inertial measurement unit of claim 4 , wherein the road mapping module corrects a measured trajectory of the vehicle and generates an enhanced trajectory of the vehicle from digital maps of the map server.

6 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the measured vehicle speed and the measured heading angle are obtained from a global positioning system unit.

7 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the inertial measurement unit executes a calibration routine to generate the calibrated measured longitudinal acceleration and the calibrated measured lateral acceleration.

8 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the correlation module generates the longitudinal acceleration correlation coefficient from the correlation between the virtual longitudinal acceleration and the calibrated measured longitudinal acceleration.

9 . The system for real-time determination of calibration of an inertial measurement unit of claim 8 , wherein when a magnitude of the longitudinal acceleration correlation coefficient is high, the notice indicates measurements from the inertial measurement unit are accurate.

10 . The system for real-time determination of calibration of an inertial measurement unit of claim 9 , wherein a high magnitude of the longitudinal acceleration correlation coefficient includes a value of about one.

11 . The system for real-time determination of calibration of an inertial measurement unit of claim 8 , wherein when a magnitude of the longitudinal acceleration correlation coefficient is low, the notice indicates measurements from the inertial measurement unit are not accurate.

12 . The system for real-time determination of calibration of an inertial measurement unit of claim 11 , wherein a low magnitude of the longitudinal acceleration correlation coefficient includes a value of about zero.

13 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the correlation module generates the lateral acceleration correlation coefficient from the correlation between the virtual lateral acceleration and the calibrated measured lateral acceleration.

14 . The system for real-time determination of calibration of an inertial measurement unit of claim 13 , wherein when a magnitude of the lateral acceleration correlation coefficient is high, the notice indicates measurements from the inertial measurement unit are accurate.

15 . The system for real-time determination of calibration of an inertial measurement unit of claim 14 , wherein a high magnitude of the lateral acceleration correlation coefficient includes a value of about one.

16 . The system for real-time determination of calibration of an inertial measurement unit of claim 13 , wherein when a magnitude of the lateral acceleration correlation coefficient is low, the notice indicates measurements from the inertial measurement unit are not accurate.

17 . The system for real-time determination of calibration of an inertial measurement unit of claim 16 , wherein a low magnitude of the lateral acceleration correlation coefficient includes a value of about zero.

18 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the inertial measurement unit is included in a telematic control unit.

19 . The system for real-time determination of calibration of an inertial measurement unit of claim 1 , wherein the notice is transmitted from the processor to an electronic control system of the vehicle.