Patent ID: 8781737

Claim:
A device for determining the spatial alignment of an inertial measurement unit (IMU) positioned in or on a vehicle comprising: means for obtaining vehicle-related movement data for the vehicle ( 110 ) including velocity data measured by or derived from measurements obtained by one or more satellite positioning systems (SPSs), the velocity data including an SPS-based acceleration; means for obtaining at least a first IMU-derived acceleration and a second IMU-derived acceleration, each of the IMU-derived accelerations being measured by or derived from measurements obtained by the IMU and corresponding to a respective acceleration of the vehicle, the IMU being located on or in the vehicle; means for performing one or more operations on the vehicle-related movement data and one or more of the IMU-derived accelerations to determine a respective correlation between the SPS-based acceleration and one or more of the IMU-derived accelerations, means for identifying a direction of one of the IMU-derived accelerations having a higher correlation with the SPS-based acceleration as a first vehicle direction; means for determining a first Earth-based direction in an Earth-based coordinate system based on the first vehicle direction; and means for determining a spatial alignment of the IMU with respect to the Earth-based coordinate system based on the first Earth-based direction.