US-12624964-B2 - Systems and methods for calibration of an inertial measurement system of a vehicle

Abstract

Aspects of this technical solution can include a method of calibration of a positioning system of a vehicle. The method can include transmitting, from a first vehicle at a second vehicle by a communication interface coupled with the first vehicle and the second vehicle, first data indicating a direction of gravity relative to a physical orientation of the first vehicle. The method can include transmitting, from the first vehicle at the second vehicle by the communication interface, second data of the first vehicle indicating the physical orientation of the first vehicle, during movement of the first vehicle caused by the second vehicle. And the method can include receiving, at the first vehicle from the second vehicle during the movement of the first vehicle and based on the first data and the second data, third data corresponding to a calibration of the physical orientation of the first vehicle.

Inventors

• Joseph FOX-RABINOVITZ

Assignees

• TORC ROBOTICS, INC.

Dates

Publication Date

20260512

Application Date

20230616

Claims (18)

1. 1 . A method of calibration of a positioning system of a vehicle, the method comprising: transmitting, from a first vehicle to a second vehicle by a communication interface coupled with the first vehicle and the second vehicle, first data indicating a direction of gravity relative to a physical orientation of the first vehicle; transmitting, from the first vehicle to the second vehicle by the communication interface, second data of the first vehicle indicating the physical orientation of the first vehicle, during movement of the first vehicle caused by the second vehicle; receiving, at the first vehicle from the second vehicle by the communication interface in response to the movement of the first vehicle, third data generated at the second vehicle based on the first data and the second data, the third data corresponding to a calibration of the physical orientation of the first vehicle; receiving, during the movement of the first vehicle via the communication interface, electrical power from the second vehicle to an inertial measurement device of the first vehicle configured to measure the physical orientation of the first vehicle; and activating, during the movement of the first vehicle and in response to the transmitting the electrical power, the inertial measurement device.
2. 2 . The method of claim 1 , further comprising: receiving, at an inertial measurement device of the first vehicle from the second vehicle by the communication interface, the third data, the inertial measurement device configured to measure the physical orientation of the first vehicle.
3. 3 . The method of claim 1 , further comprising: generating the first data by an accelerometer of the first vehicle during a stationary state of the first vehicle preceding the movement of the first vehicle.
4. 4 . The method of claim 1 , further comprising: generating the second data by a gyroscope of the first vehicle during the movement of the first vehicle.
5. 5 . The method of claim 1 , the second vehicle configured to generate fourth data during the movement of the first vehicle based on fifth data of the first vehicle indicating a physical location of the first vehicle and sixth data of the first vehicle indicating a positioning of a location sensor of the first vehicle, the fourth data corresponding to a calibration of the physical location of the first vehicle.
6. 6 . The method of claim 5 , further comprising: transmitting, from the first vehicle to the second vehicle by the communication interface, the fifth data during the movement of the first vehicle.
7. 7 . The method of claim 5 , further comprising: transmitting, from the first vehicle to the second vehicle by the communication interface, the sixth data.
8. 8 . The method of claim 5 , the location sensor including a plurality of GPS antennas configured to detect a Global Positioning System (GPS) signal, the fifth data including one or more of a latitude, longitude, and altitude corresponding to the GPS signal, and the sixth data corresponding to a distance between a first GPS antenna and a second GPS antenna among the GPS antennas.
9. 9 . A system of calibration of a positioning system of a vehicle, the system comprising: a memory coupled with one or more processors configured to: transmit, from a first vehicle to a second vehicle by a communication interface coupled with the first vehicle and the second vehicle, first data indicating a direction of gravity relative to a physical orientation of the first vehicle; transmit, from the first vehicle to the second vehicle by the communication interface, second data of the first vehicle indicating the physical orientation of the first vehicle, during movement of the first vehicle caused by the second vehicle; receive, at the first vehicle from the second vehicle by the communication interface in response to the movement of the first vehicle, third data generated at the second vehicle based on the first data and the second data, the third data corresponding to a calibration of the physical orientation of the first vehicle; receive, during the movement of the first vehicle via the communication interface, electrical power from the second vehicle at an inertial measurement device of the first vehicle configured to measure the physical orientation of the first vehicle; and activate, during the movement of the first vehicle and in response to the transmitting the electrical power, the inertial measurement device.
10. 10 . The system of claim 9 , the processors further configured to: receive, at an inertial measurement device of the first vehicle from the second vehicle by the communication interface, the third data, the inertial measurement device configured to measure the physical orientation of the first vehicle.
11. 11 . The system of claim 9 , the processors further configured to: generate the first data by an accelerometer of the first vehicle during a stationary state of the first vehicle preceding the movement of the first vehicle.
12. 12 . The system of claim 9 , the processors further configured to: generate the second data by a gyroscope of the first vehicle during the movement of the first vehicle.
13. 13 . The system of claim 9 , the second vehicle configured to generate fourth data during the movement of the first vehicle based on fifth data of the first vehicle indicating a physical location of the first vehicle and sixth data of the first vehicle indicating a positioning of a location sensor of the first vehicle, the fourth data corresponding to a calibration of the physical location of the first vehicle.
14. 14 . The system of claim 13 , the processors further configured to: transmit, from the first vehicle to the second vehicle by the communication interface, the fifth data during the movement of the first vehicle.
15. 15 . The system of claim 13 , the processors further configured to: transmit, from the first vehicle to the second vehicle by the communication interface, the sixth data.
16. 16 . The system of claim 13 , the location sensor including a plurality of GPS antennas configured to detect a Global Positioning System (GPS) signal, the fifth data including one or more of a latitude, longitude, and altitude corresponding to the GPS signal, and the sixth data corresponding to a distance between a first GPS antenna and a second GPS antenna among the GPS antennas.
17. 17 . A system of calibration of a positioning system of a vehicle, the system comprising: a vehicle including a memory and one or more processors configured to: transmit, from the vehicle to an external vehicle by a communication interface coupled with the vehicle and the external vehicle, first data indicating a direction of gravity relative to a physical orientation of the vehicle; transmit, from the vehicle to the external vehicle by the communication interface, second data of the vehicle indicating the physical orientation of the vehicle, during movement of the vehicle caused by the external vehicle; receive, at the vehicle from the external vehicle by the communication interface in response to the movement of the vehicle, third data generated at the external vehicle based on the first data and the second data, the third data corresponding to a calibration of the physical orientation of the vehicle; receive, during the movement of the vehicle via the communication interface, electrical power from the external vehicle at an inertial measurement device of the vehicle configured to measure the physical orientation of the vehicle; and activate, during the movement of the vehicle and in response to the transmitting the electrical power, the inertial measurement device.
18. 18 . The system of claim 17 , the processors further configured to: receive, at an inertial measurement device of the vehicle from the external vehicle by the communication interface, the third data, the inertial measurement device configured to measure the physical orientation of the vehicle.

Description

TECHNICAL FIELD The present implementations relate generally to sensor systems, including but not limited to the calibration of an inertial measurement system of a vehicle. BACKGROUND The accuracy of measurements collected during operation of a vehicle can depend on the initial parameters or initial configuration for the devices used to collect the measurements. However, conventional systems cannot accurately configure vehicles without causing significant wear and tear. SUMMARY This technical solution is directed to the calibration of one or more sensors associated with a vehicle during movement of the vehicle, whether or not the vehicle is self-propelled. This technical solution enables an extrinsic calibration of vehicle sensors based on real-world data without driving the vehicle (e.g., without adding to the hours of operation for, or increasing the odometer mileage of, the vehicle). For example, this technical solution allows the calibration of a vehicle location sensor based on real-world location data collected by the location sensors of the vehicle while being transported and, therefore, without adding mileage to the vehicle. Thus, a technical solution for calibration of sensors, including physical position sensors, of a vehicle is provided. At least one aspect is directed to a method of calibration of an inertial navigation system of a vehicle. The method can include obtaining, from a first vehicle at a second vehicle by a communication interface coupled with the first vehicle and the second vehicle, with first data indicating a direction of gravity relative to a physical orientation of the first vehicle. The method can include obtaining, from the first vehicle at the second vehicle by the communication interface, with second data of the first vehicle indicating the physical orientation of the first vehicle, during movement of the first vehicle caused by the second vehicle. The method can include generating, at the second vehicle during the movement of the first vehicle and based on the first data and the second data, with third data corresponding to a calibration of the physical orientation of the first vehicle. At least one aspect is directed to a method of calibration of an inertial navigation system of a vehicle. The method can include transmitting, from a first vehicle to a second vehicle by a communication interface coupled with the first vehicle and the second vehicle, with first data indicating a direction of gravity relative to a physical orientation of the first vehicle. The method can include transmitting, from the first vehicle at the second vehicle by the communication interface, with second data of the first vehicle indicating the physical orientation of the first vehicle, during movement of the first vehicle caused by the second vehicle. The method can include obtaining, from the second vehicle by the communication interface, with third data at an inertial measurement device of the first vehicle configured to measure the physical orientation of the first vehicle, the third data corresponding to a calibration of the physical orientation of the first vehicle. At least one aspect is directed to a system of calibration of an inertial navigation system of a vehicle. The system can include a vehicle that includes a memory and one or more processors configured for the calibration of the inertial navigation system. The system can obtain, from an external vehicle at the vehicle by a communication interface coupled with the vehicle and the external vehicle, first data indicating a direction of gravity relative to a physical orientation of the external vehicle. The system can obtain, from the external vehicle at the vehicle and by the communication interface, second data of the external vehicle indicating the physical orientation of the external vehicle during movement of the external vehicle caused by the vehicle. The system can generate, at the vehicle during the movement of the external vehicle and based on the first data and the second data, third data corresponding to a calibration of the physical orientation of the external vehicle. BRIEF DESCRIPTION OF THE FIGURES These and other aspects and features of the present implementations are depicted by way of example in the figures discussed herein. Present implementations can be directed to, but are not limited to, examples depicted in the figures discussed herein. FIG. 1 depicts a vehicle network system, in accordance with present implementations. FIG. 2 depicts a vehicle network architecture, in accordance with present implementations. FIG. 3 depicts a vehicle control system, in accordance with present implementations. FIG. 4 depicts an extrinsic calibration processor, in accordance with present implementations. FIG. 5 depicts a multi-vehicle network system, in accordance with present implementations. FIG. 6 depicts a method of calibration of physical orientation of a vehicle, in accordance with present implementations. DETAILED DESCRIPTION