Verfahren zur Bewegungsschätzung in einem Fahrzeug, Entsprechende Vorrichtung und Computerprogrammprodukt
Anmelder: STMicroelectronics (Grand Ouest) SAS, STMicroelectronics S.r.l., STMicroelectronics, Inc. 🇫🇷
Details
- Veröffentlichungs-Nr.
- EP3967976
- Aktenzeichen
- EP21306152
- Anmeldetag
- 26. August 2021
- Veröffentlichung
- 14. Juni 2023
- Erteilung
- 14. Juni 2023
- Rechtsraum
- EP
- IPC
- G01C21/16G01C21/28G01S19/47// G01S19/52G01S19/53
Abstract
A method, comprising: receiving motion data from at least one inertial sensing unit (11) and absolute positioning data from a global navigation system (13) in a wheeled vehicle; applying pre-processing (21, 22, 23) to motion data as a function of absolute positioning data, obtaining pre-processed motion data and at least one estimated velocity value (v<sub>in</sub>, v<sub>GNSS</sub>) of the wheeled vehicle; applying pipeline data processing (24) to pre-processed motion data as a function of the at least one estimated velocity value (v<sub>in</sub>, v<sub>GNSS</sub>) of the wheeled vehicle, obtaining a calculated virtual vehicle velocity (v<sub>o</sub>) as a result; applying position-velocity-attitude, PVA, filtering (23) to pre-processed motion data and to at least one of absolute positioning data and the calculated virtual vehicle velocity (v<sub>o</sub>), obtaining fused data indicative of position, velocity and attitude information of the wheeled vehicle as a result. The pipeline data processing (24) comprises: high-pass or low-pass filtering (25) pre-processed motion data and obtaining filtered data as a result; applying frequency-domain transformation (26) to filtered data and obtaining, as a result, frequency analyzed data comprising individual spectral power density signals including a set of power-maximizing frequencies; calculating (27, 28), as a function of said set of power-maximizing frequencies, a wheel angular frequency signal (f<sub>w</sub>) and a wheel size signal (C<sub>w</sub>); calculating (29) said virtual vehicle velocity (v<sub>o</sub>) as a function of said wheel angular frequency signal (f<sub>w</sub>) and said wheel size signal (C<sub>w</sub>).
Anmelder
- Firmen
- STMicroelectronics (Grand Ouest) SAS
STMicroelectronics S.r.l.
STMicroelectronics, Inc. - Land
- 🇫🇷 Frankreich
Italienische Konzerngesellschaft des schweizerisch-französischen Halbleiterherstellers STMicroelectronics. Entwickelt und fertigt Halbleiterkomponenten für Automobil-, Industrie- und Konsumelektronik.
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Fachgebiete
Buzzi, Notaro & Antonielli d'Oulx wurde 1992 in Turin gegründet und zählt zu Italiens zehn größten IP-Kanzleien, als vollumfängliche, kosteneffiziente Beraterin für nationale wie internationale Mandate vor EPA und EUIPO.