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1. 发明授权

US11834054B2 Method for motion estimation in a vehicle, corresponding device and computer program product 有权
公开(公告)号：US11834054B2
公开(公告)日：2023-12-05
申请号：US17470962
申请日：2021-09-09
申请人： STMICROELECTRONICS S.r.l. , STMICROELECTRONICS, INC. , STMicroelectronics (Grand Ouest) SAS
发明人： Nicola Matteo Palella , Leonardo Colombo , Andrea Donadel , Roberto Mura , Mahaveer Jain , Joëlle Philippe
IPC分类号： B60W40/11 , B60W40/101 , B60W40/112 , B60W40/114 , G01S19/47
CPC分类号： B60W40/101 , B60W40/11 , B60W40/112 , B60W40/114 , G01S19/47 , B60W2520/28
摘要： A system includes inertial sensors and a GPS. The system generates a first estimated vehicle velocity based on motion data and positioning data, generates a second estimated vehicle velocity based on the processed motion data and the first estimated vehicle velocity, and generates fused datasets indicative of position, velocity and attitude of a vehicle based on the processed motion data, the positioning data and the second estimated vehicle velocity. The generating the second estimated vehicle velocity includes: filtering the motion data, transforming the filtered motion data in a frequency domain based on the first estimated vehicle velocity, generating spectral power density signals, generating an estimated wheel angular frequency and an estimated wheel size based on the spectral power density signals, and generating the second estimated vehicle velocity as a function of the estimated wheel angular frequency and the estimated wheel size.

2. 发明授权

US11747142B2 Inertial navigation system capable of dead reckoning in vehicles 有权
公开(公告)号：US11747142B2
公开(公告)日：2023-09-05
申请号：US16399842
申请日：2019-04-30
申请人： STMICROELECTRONICS, INC. , STMICROELECTRONICS S.r.l.
发明人： Mahaveer Jain , Mahesh Chowdhary , Roberto Mura , Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01C21/16 , G01C21/20 , G01S19/49
CPC分类号： G01C21/165 , G01C21/20 , G01S19/49
摘要： A device including microelectromechanical systems (MEMS) sensors are used in dead reckoning in conditions where Global Positioning System (GPS) signals or Global Navigation Satellite System (GNSS) signals are lost. The device is capable of tracking the location of the device after the GPS/GNSS signals are lost by using MEMS sensors such as accelerometers and gyroscopes. By calculating a misalignment angle between a forward axis of a sensor frame of the device and a forward axis of a vehicle frame using the data received from the MEMS sensors, the device can accurately calculate the location of a user or the vehicle of the device even without the GPS/GNSS signals. Accordingly, a device capable of tracking the location of the user riding in the vehicle in GPS/GNSS signals absent environment can be provided.

3. 发明授权

US10317421B2 Positioning apparatus comprising an inertial sensor and inertial sensor temperature compensation method 有权
公开(公告)号：US10317421B2
公开(公告)日：2019-06-11
申请号：US14656408
申请日：2015-03-12
申请人： STMicroelectronics S.r.l.
发明人： Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01P1/00 , G01P15/14 , G01C19/5621 , G01C19/5656 , G01C19/5684 , G01C19/5712 , G01C21/16 , G01C25/00 , G01S19/49
摘要： A positioning apparatus includes: a reference device configured to provide a measured current motion angle of a vehicle; an inertial sensor configured to provide a current input angular rate of the vehicle and associated with at least one inertial sensor behavior parameter dependent on inertial sensor temperature; a temperature sensor configured to provide an input temperature variation of the inertial sensor on a time interval; and a digital estimator configured to recursively computing an estimated current motion angle of the vehicle and at least one previously estimated inertial sensor behavior parameter as function of: the measured current motion angle, a previously estimated motion angle, the current input angular rate, and the input temperature variation.

4. 发明授权

US10761218B2 System for land vehicle navigation and corresponding method 有权
公开(公告)号：US10761218B2
公开(公告)日：2020-09-01
申请号：US16043402
申请日：2018-07-24
申请人： STMicroelectronics S.r.l.
发明人： Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01S19/47 , G07C5/00 , G01P15/18 , G01S19/40 , G01C22/00 , G01C21/16
摘要： In an embodiment, a system for land vehicle navigation includes: a GNSS receiver providing GNSS data, a set of sensors positioned on a wheel of a vehicle and on board the vehicle; and a processing unit. An on-wheel unit is located on the wheel of the vehicle, the on-wheel unit including a first subset of sensors. An on-board unit includes a second subset of sensors configured to generate a second sensor data. The processing unit is configured to process the first and second sensor data to obtain the distance and the attitude of vehicle and to perform a fusion with the GNSS data.

5. 发明授权

US10234292B2 Positioning apparatus and global navigation satellite system, method of detecting satellite signals 有权
公开(公告)号：US10234292B2
公开(公告)日：2019-03-19
申请号：US14675020
申请日：2015-03-31
申请人： STMicroelectronics S.r.l.
发明人： Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01C5/06 , G01C21/16 , B60W40/107 , G01C21/00 , G01C22/00 , G01C25/00 , G01S19/49
摘要： A positioning apparatus of a vehicle includes a measuring module and a triaxial orientation sensor to provide measured axial accelerations in a Cartesian reference system during a certain time interval. The apparatus also includes a triaxial movement sensor to supply at least one angular variation signal proportional to the axial angular speed of the vehicle during the time interval. A processing unit receives a distance signal proportional to the distance traveled by the vehicle in the time interval, receives the at least one angular variation signal, and supplies at least one reference acceleration of the vehicle. An estimator-calibrator block recursively estimates at least one calibrated acceleration as a function of the measured axial accelerations and of the at least one reference acceleration. The estimator-calibrator block includes a calculation unit to calculate an altitude variation as function of the distance signal and recursively calculates an estimated pitch angle as a function of at least one calibrated acceleration.

6. 发明申请

US20190033466A1 System for Land Vehicle Navigation and Corresponding Method 审中-公开
公开(公告)号：US20190033466A1
公开(公告)日：2019-01-31
申请号：US16043402
申请日：2018-07-24
申请人： STMicroelectronics S.r.l.
发明人： Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01S19/47 , G07C5/00 , G01C22/00 , G01S19/40 , G01P15/18
摘要： In an embodiment, a system for land vehicle navigation includes: a GNSS receiver providing GNSS data, a set of sensors positioned on a wheel of a vehicle and on board the vehicle; and a processing unit. An on-wheel unit is located on the wheel of the vehicle, the on-wheel unit including a first subset of sensors. An on-board unit includes a second subset of sensors configured to generate a second sensor data. The processing unit is configured to process the first and second sensor data to obtain the distance and the attitude of vehicle and to perform a fusion with the GNSS data.

7. 发明授权

US10877059B2 Positioning apparatus comprising an inertial sensor and inertial sensor temperature compensation method 有权
公开(公告)号：US10877059B2
公开(公告)日：2020-12-29
申请号：US16397656
申请日：2019-04-29
申请人： STMicroelectronics S.r.l.
发明人： Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01P1/00 , G01P15/14 , G01C19/5621 , G01C19/5656 , G01C19/5684 , G01C19/5712 , G01C21/16 , G01C25/00 , G01S19/49
CPC分类号： G01P1/006 , G01C19/5621 , G01C19/5656 , G01C19/5684 , G01C19/5712 , G01C21/165 , G01C25/00 , G01P15/14 , G01S19/49
摘要： A positioning apparatus includes: a reference device configured to provide a measured current motion angle of a vehicle; an inertial sensor configured to provide a current input angular rate of the vehicle and associated with at least one inertial sensor behavior parameter dependent on inertial sensor temperature; a temperature sensor configured to provide an input temperature variation of the inertial sensor on a time interval; and a digital estimator configured to recursively computing an estimated current motion angle of the vehicle and at least one previously estimated inertial sensor behavior parameter as function of: the measured current motion angle, a previously estimated motion angle, the current input angular rate, and the input temperature variation.

8. 发明申请

US20200292570A1 POSITIONING APPARATUS COMPRISING AN INERTIAL SENSOR AND INERTIAL SENSOR TEMPERATURE COMPENSATION METHOD 审中-公开
公开(公告)号：US20200292570A1
公开(公告)日：2020-09-17
申请号：US16397656
申请日：2019-04-29
申请人： STMicroelectronics S.r.l.
发明人： Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01P1/00 , G01P15/14 , G01C19/5621 , G01C19/5656 , G01C19/5684 , G01C19/5712 , G01C21/16 , G01C25/00 , G01S19/49
摘要： A positioning apparatus includes: a reference device configured to provide a measured current motion angle of a vehicle; an inertial sensor configured to provide a current input angular rate of the vehicle and associated with at least one inertial sensor behavior parameter dependent on inertial sensor temperature; a temperature sensor configured to provide an input temperature variation of the inertial sensor on a time interval; and a digital estimator configured to recursively computing an estimated current motion angle of the vehicle and at least one previously estimated inertial sensor behavior parameter as function of: the measured current motion angle, a previously estimated motion angle, the current input angular rate, and the input temperature variation.

9. 发明申请

US20160040992A1 POSITIONING APPARATUS AND GLOBAL NAVIGATION SATELLITE SYSTEM, METHOD OF DETECTING SATELLITE SIGNALS 审中-公开
标题翻译：定位装置和全球导航卫星系统，检测卫星信号的方法
公开(公告)号：US20160040992A1
公开(公告)日：2016-02-11
申请号：US14675020
申请日：2015-03-31
申请人： STMicroelectronics S.r.l.
发明人： Nicola Matteo Palella , Leonardo Colombo
IPC分类号： G01C21/16 , G01S19/07
CPC分类号： G01C21/165 , B60W40/107 , G01C5/06 , G01C21/005 , G01C22/00 , G01C25/005 , G01S19/49
摘要： A positioning apparatus of a vehicle includes a measuring module and a triaxial orientation sensor to provide measured axial accelerations in a Cartesian reference system during a certain time interval. The apparatus also includes a triaxial movement sensor to supply at least one angular variation signal proportional to the axial angular speed of the vehicle during the time interval. A processing unit receives a distance signal proportional to the distance traveled by the vehicle in the time interval, receives the at least one angular variation signal, and supplies at least one reference acceleration of the vehicle. An estimator-calibrator block recursively estimates at least one calibrated acceleration as a function of the measured axial accelerations and of the at least one reference acceleration. The estimator-calibrator block includes a calculation unit to calculate an altitude variation as function of the distance signal and recursively calculates an estimated pitch angle as a function of at least one calibrated acceleration.
摘要翻译：车辆的定位装置包括测量模块和三轴定位传感器，以在特定时间间隔内提供笛卡尔坐标系中测量的轴向加速度。该装置还包括三轴运动传感器，以在该时间间隔期间提供与车辆的轴向角速度成比例的至少一个角度变化信号。处理单元在时间间隔中接收与车辆行驶的距离成比例的距离信号，接收至少一个角度变化信号，并且提供车辆的至少一个参考加速度。估计器 - 校准器块递归地估计作为测量的轴向加速度和至少一个参考加速度的函数的至少一个校准加速度。估计器 - 校准器块包括计算单元，用于计算作为距离信号的函数的高度变化，并且递归地计算作为至少一个校准加速度的函数的估计俯仰角。

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