公开(公告)号：US11679774B1

公开(公告)日：2023-06-20

申请号：US17668277

申请日：2022-02-09

Applicant: Honeywell International Inc.

Inventor： Zhizhen Shen ,  Siqin Yu

IPC: B60W40/114 ,  G06F18/25

CPC classification number: B60W40/114 ,  G06F18/25 ,  B60W2420/905 ,  B60W2520/16 ,  B60W2520/18

Abstract: A system to reduce VRU unreferenced heading drift error is disclosed. The VRU comprises an IMU and a processor, which hosts first and second modules for bias cancelation. The first module reads inertial data from the IMU when the VRU is powered on; determines whether the VRU is static for a time period; if the VRU is static, corrects gyroscope bias by subtracting an initial bias value from a previous bias value; sets a predefined initial yaw value. The second module reads inertial data from the IMU during in-run operation of the VRU; updates roll, pitch and yaw data, based on input data from a sensor fusion algorithm; outputs updated roll, pitch and yaw data; determines whether the VRU is static for a time period; and if the VRU is static, corrects the bias by subtracting a current bias value, multiplied by a predefined parameter, from a previous bias value.

公开(公告)号：US20250163682A1

公开(公告)日：2025-05-22

申请号：US18517954

申请日：2023-11-22

Applicant: Honeywell International Inc.

Inventor： Xiao Cao ,  Yanling Min ,  Zhizhen Shen ,  Jingwei Li ,  Siqin Yu

IPC: E02F9/26 ,  E02F3/76 ,  E02F3/84 ,  G01P15/18 ,  G01S19/13

Abstract: Embodiments are directed to calibration of a blade and/or attachment member coupled to the body of a vehicle, such as a bulldozer. By analyzing attitude measurements of the blade and attachment member corresponding to directed movements of the vehicle, calibration parameters such as the offset angles of the blade (and attachment member) relative to the body can be determined. Other calibration variables, such as the maximum swing angles of the blade relative to the attachment member, can also be determined.