Multi-Point Inertial Sensor Calibration for GPS Drift Correction
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Solution Overview
Problem
Inertial sensors in GPS receivers accumulate errors over time, leading to inaccurate position measurements due to misalignment and vibration, which conventional manual recalibration methods may not adequately address.
Innovation Solution
Automated multi-point calibration of inertial sensors by driving a machine along a prescribed path with automated steering, collecting and analyzing pitch and roll measurements in both directions to determine sensor biases and adjust for errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual recalibration methods are used, then the calibration process is simple to operate, but the measurement precision deteriorates due to accumulated errors from misalignment and vibration
Solution Approach 1:
The system performs automated calibration using the vehicle's own motion data from inertial sensors and GPS measurements without requiring external calibration equipment or manual intervention. The calibration process is self-executing, collecting sensor data during normal operation and automatically computing correction parameters to improve measurement precision while maintaining ease of operation.
Solution Approach 2:
The patent replaces manual mechanical calibration procedures with an automated computational system that uses inertial sensor data and GPS position information to calculate and apply calibration parameters. This substitution of mechanical/manual processes with automated algorithms resolves the contradiction by achieving high precision through complex computations without requiring complex manual operations.
2Reliability
If conventional manual recalibration is performed, then the device complexity remains low, but the reliability deteriorates due to inadequate error correction
Solution Approach 1:
The system continuously monitors inertial sensor measurements and compares them with GPS-derived position data to detect errors and drift. This feedback loop enables the system to automatically adjust calibration parameters in real-time, improving reliability by continuously correcting errors while managing complexity through automated control algorithms.
Solution Approach 2:
The system performs preliminary calibration by collecting and analyzing inertial sensor data during initial vehicle operation to establish baseline calibration parameters before full-scale navigation. This preliminary action improves reliability by pre-correcting systematic errors while keeping the overall system complexity manageable through staged calibration approaches.
3Measurement precision
If multi-point automated calibration is implemented, then the measurement precision improves through comprehensive error analysis, but the ease of operation worsens due to automated steering requirements
Solution Approach 1:
The system uses the vehicle's existing automated steering control to execute calibration paths without requiring separate manual control during calibration. The calibration process leverages the vehicle's own motion control systems to traverse calibration trajectories, collecting multi-point sensor data automatically, thereby achieving high calibration precision while maintaining ease of operation through integration with existing vehicle controls.
Data Source
AI summary
Methods, apparatus, systems and articles of manufacture are disclosed to automate multi-point inertial sensor calibration. Example apparatus disclosed herein includes a calibration path determiner to determine a calibration path for a machine to follow during calibration of the inertial sensors, the calibration path including a first point of a calibration measurement path, a second point of the calibration measurement path. The example apparatus disclosed herein includes an automated steerer to control steering of the machine on the calibration path during the calibration of the inertial sensors. The example apparatus disclosed herein includes a data recorder to record pitch and roll measurements from the inertial sensors as the machine follows the calibration path between the first point of the calibration measurement path and the second point of the calibration measurement path. The example apparatus disclosed herein includes a sensor bias determiner to determine calibration results for the inertial sensors.