Vehicle Positioning Sensor Attachment Angle Compensation
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Solution Overview
Problem
Conventional positioning apparatuses struggle to accurately estimate a vehicle's position regardless of the attachment angle of the positioning apparatus, due to issues with sensor axis inclination and the inability to distinguish between road inclination, attachment angle, and temperature drift effects on acceleration sensors.
Innovation Solution
A positioning apparatus and method that include a GNSS receiver, triaxial speed sensors, triaxial angular velocity sensors, triaxial acceleration sensors, and units for calculating attachment angles and zero points, allowing for coordinate transformation of sensor data to accurately estimate vehicle position and attitude angles regardless of attachment angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the positioning apparatus is installed with an attachment angle (inclined installation), then the installation flexibility and adaptability to different vehicle configurations are improved, but the measurement precision of sensor readings deteriorates due to axis misalignment
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the reference frame parameters (attachment angles) based on detected acceleration patterns. The system identifies when the vehicle is on a horizontal plane and uses this information to calculate and apply the correct attachment angle parameters, transforming the inclined sensor readings into accurate vehicle-coordinate readings.
Solution Approach 2:
The patent implements preliminary action by pre-calculating attachment angles during periods when the vehicle is determined to be on a horizontal plane (zero-point periods). This preliminary calibration allows the system to compensate for attachment angle effects during subsequent positioning operations, even when the vehicle is on inclined surfaces.
2Device complexity
If conventional acceleration sensors are used without distinguishing between road inclination and attachment angle effects, then the device complexity is reduced, but the measurement precision deteriorates due to inability to separate different inclination effects
Solution Approach 1:
The patent applies segmentation by separating the total acceleration signal into distinct components: attachment angle effects, road inclination effects, and temperature drift effects. By identifying zero-point periods where the vehicle is on a horizontal plane, the system isolates and compensates for attachment angle effects independently from road inclination effects, enabling accurate position estimation.
3Device complexity
If temperature drift effects are not compensated, then the device complexity is reduced, but the measurement precision deteriorates over time due to sensor drift
Solution Approach 1:
The patent implements feedback by continuously monitoring acceleration sensor readings and comparing them against expected values during zero-point periods. The system uses this feedback to detect temperature drift effects and applies compensation adjustments to maintain measurement accuracy over time, creating a closed-loop correction mechanism.
Data Source
AI summary
A positioning apparatus according to the present invention includes: a triaxial acceleration sensor zero point calculating unit which determines whether or not the moving body is performing horizontal plane uniform linear traveling, and calculates a zero point of the triaxial accelerations when a determination is made that the moving body is performing the horizontal plane uniform linear traveling, based on at least triaxial speeds, a longitudinal acceleration, and triaxial accelerations while the moving body is traveling; an apparatus housing attachment angle calculating unit which calculates a pitch direction attachment angle and a roll direction attachment angle based on the zero point of the triaxial accelerations; a triaxial angular velocity coordinate transforming unit which coordinate-transforms the triaxial angular velocities; and a position estimating unit which estimates a current position of the moving body based on at least a yaw rate obtained from the triaxial angular velocities.