IMU self-alignment in suspensions control system

This paper presents a method for IMU/MARG alignment in aftermarket suspension control system. The proposed algorithm uses classical literature methods for the estimation of the attitude and applies simple geometrical rules to determine the initial alignment of the device with respect to the vehicle frame. The system uses, also, the GPS/GNSS signal as reference for the alignment. This algorithm has been implemented on a low cost embedded platform to demonstrate the feasibility of the method. Than it has been tested on a motorcycle during real drive conditions. The experiments have proved the procedure repeatability and the good accuracy achieved by the proposed method.