Patent ID: 11898873
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A vehicle comprising:
a first inertial measurement unit;
a second inertial measurement unit fixed relative to the first inertial measurement unit;
a sensor mounted on the vehicle and configured to generate sensor data;
one or more processors; and
memory storing instructions executable by the one or more processors to cause the vehicle to perform acts comprising:
receiving, from the first inertial measurement unit, a first angular velocity;
receiving, from the sensor, sensor data;
determining, based at least in part on a first technique, a first calibration of the first inertial measurement unit relative to the vehicle based at least in part on the first angular velocity and the sensor data;
receiving, from the second inertial measurement unit, a second angular velocity;
determining, based at least in part on a second technique, a relative rotation of the second inertial measurement unit relative to the first inertial measurement unit based at least in part on the first angular velocity and the second angular velocity;
determining a second calibration of the second inertial measurement unit relative to the vehicle based at least in part on the relative rotation and a bias between the first inertial measurement unit and the second inertial measurement unit; and
controlling, based at least in part on the first calibration or the second calibration, the vehicle based at least in part on data from the first inertial measurement unit or data from the second inertial measurement unit.