公开(公告)号：US20240302169A1

公开(公告)日：2024-09-12

申请号：US18179609

申请日：2023-03-07

Applicant: Honeywell International Inc.

Inventor： Christopher J. Mauer ,  Shuang Li ,  Zhizhen Shen ,  Jingwei Li

IPC: G01C21/16 ,  B81B7/02 ,  G01C21/18

CPC classification number: G01C21/188 ,  B81B7/02 ,  G01C21/18 ,  B81B2201/0235 ,  B81B2201/0242 ,  B81B2207/05 ,  G01C21/166

Abstract: An inertial measurement unit (IMU). The IMU includes: a plurality of micro-electromechanical system (MEMS) sensors, each having an output; a memory for storing calibration coefficients separately for each of the plurality of MEMS sensors, blending weights for each of the plurality of MEMS sensors, and data blending instructions for blending the outputs of the plurality of MEMS sensors; and a processor, coupled to the memory and the plurality of MEMS sensors, configured to execute the data blending instructions to apply the calibration coefficients separately to each of the plurality of MEMS sensors and the blending weights to the outputs of the plurality of MEMS sensors to create a blended output for the IMU; wherein the blending weights are calculated based on a plurality of test parameters for the plurality of MEMS sensors using at least one of a harmonic and a geometric mean of the plurality of test parameters.

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.