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IPL_201903惯导算法软件.pdf
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IPL_201903惯导算法软件.pdf
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► strictly confidential
InvenSense Positioning Library
Sensor-assisted Positioning for Vehicles
InvenSense, Inc.
A TDK Group Company
MEMS Sensors Business Group
Sensor Systems Business Company
[YYYY-MM-DD]
[Presentation topic] [Chapter title]
© InvenSense, Inc. A TDK Group Company 2018
Sensor Systems Business Company 2
► strictly confidential
TDK Legacy in Inertial-Aided Positioning
• A worldwide leader in automotive and consumer-grade MEMS inertial sensors
• 100+ man-years investment in inertial navigation system (INS) software
• INS software shipping in >50 million OEM systems worldwide
Vehicle Telematics
Smartphone Navigation
GNSS/DR Modules
IVI- Navigation
[Presentation topic] [Chapter title]
© InvenSense, Inc. A TDK Group Company 2018
Sensor Systems Business Company 3
► strictly confidential
Inertial-assisted Vehicle Positioning Software
Roadmap
In Production Sampling 2019
Precision
Navigation
Driver
Behavior
Navigation
Assistance
IPL
• 1-2% position error drift
• Works with ICM-20609-I or IAM-20680-I
• >50M unit shipments in smartphones and vehicle telematics
IPL w/Driver Behavior
• Crash
• Rollover
• Accel/Decel
• Harsh turns
IIM-46234-DR: Inertial-assisted ADAS
• 0.15% position error drift
• Target: Lane-level performance (30cm)
• 10sec @ 75MPH (passenger vehicle)
• 15sec @ 45MPH (passenger vehicle)
• 30sec @ 20MPH (Ag & robots)
[Presentation topic] [Chapter title]
© InvenSense, Inc. A TDK Group Company 2018
Sensor Systems Business Company 5
► strictly confidential
Core Location Technologies
❑ INS = Inertial Navigation System
o Accumulates accels + gyros to provide relative navigation parameters: 3D positions, 3D velocities, 3D orientations
o INS is the foundation of VDR (Vehicle Dead Reckoning) and improves PDR (Pedestrian Dead Reckoning)
❑ PDR = Pedestrian Dead Reckoning
o Steps + person heading to constrain INS drift
o Requires context estimation (mode, use-case, misalignment)
o Misalignment estimation tracks device in any orientation (competitive differentiator)
▪ Misalignment is core to apply constraints and getting accurate INS
❑ Geomagnetic and Wireless (GPS/Wi-Fi/Bluetooth) integration
o Absolute position from GPS (outdoors) or magnetic/Wi-Fi/BT signal strength (indoors)
o Bridge wireless gaps with INS + PDR
o INS filters wireless errors
o Wireless provides feedback to estimate sensor errors (e.g. gyro biases)
[Presentation topic] [Chapter title]
© InvenSense, Inc. A TDK Group Company 2018
Sensor Systems Business Company 6
► strictly confidential
✓ Sensor-assisted GNSS for navigation and tracking
✓ Shipping commercially on tier-1 handsets and embedded systems
✓ Robust free orientation, supports vehicle speed & map matching inputs
✓ SDK or daemon for Android, iOS, Linux, embedded RTOS, or bare metal
✓ Backed by 40+ location, analytics, & machine learning technology patents (granted/filed)
IPL Introduction
+
Continuous
& Accurate
Positioning
=
Sensors
+
Sensors
• Accelerometers*
• Gyroscopes*
• Magnetometers
• Barometer
• Speed sensors
*Required
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