Abstract: The subject disclosure relates to estimating a grade of a road and calibrating sensors of an autonomous vehicle based on the grade. A process of the disclosed technology can include effectuating an autonomous vehicle to perform one or more maneuvers that cause the autonomous vehicle to face different directions along a road, obtaining a first set of sensor measurements of an autonomous vehicle in a first pose, wherein the first set of sensor measurements includes a first measured specific force, obtaining a second set of sensor measurements of the autonomous vehicle in a second pose, wherein the second set of sensor measurements includes a second measured specific force, determining a direction of gravity based on the first measured specific force and the second measured specific force, and calibrating at least one sensor of the autonomous vehicle based on the determined direction of gravity.

Abstract: In one embodiment, a system includes an inertial measurement unit, a lidar sensor, and one or more processors configured to perform operations. The operations include receiving data from the lidar sensor. The operations include determining movement data based on the data received from the lidar sensor. The operations include receiving data from the inertial measurement unit. The operations include determining, based on the movement data and the data received from the inertial measurement unit, one or more calibration factors for the inertial measurement unit. The operations include applying the one or more calibration factors to a measurement received from the inertial measurement unit.

Abstract: In one embodiment, a method includes causing a radar antenna to transmit a plurality of radar signals at a plurality of sweep angles and, for each of one or more the radar signals reflected back to the radar antenna, calculating a radial-velocity component. The method also includes identifying one of the radial-velocity components, identifying one of the plurality of sweep angles corresponding to the identified radial-velocity components, and calculating an offset of an electrical boresight of the radar antenna based at least in part on the identified sweep angle corresponding to the identified radial-velocity component.

Abstract: In one embodiment, a system includes an inertial measurement unit, a lidar sensor, and one or more processors configured to perform operations. The operations include receiving data from the lidar sensor. The operations include determining movement data based on the data received from the lidar sensor. The operations include receiving data from the inertial measurement unit. The operations include determining, based on the movement data and the data received from the inertial measurement unit, one or more calibration factors for the inertial measurement unit. The operations include applying the one or more calibration factors to a measurement received from the inertial measurement unit.

Abstract: In one embodiment, a method includes causing a radar antenna to transmit a plurality of radar signals at a plurality of sweep angles and, for each of one or more the radar signals reflected back to the radar antenna, calculating a radial-velocity component. The method also includes identifying one of the radial-velocity components, identifying one of the plurality of sweep angles corresponding to the identified radial-velocity components, and calculating an offset of an electrical boresight of the radar antenna based at least in part on the identified sweep angle corresponding to the identified radial-velocity component.

Abstract: Disclosed is an apparatus and method for assisting positioning determination of a mobile device. The method may include receiving signal measurements, reported by a plurality of different sources within a service area of a communication network, for signals generated by communication network transceivers that are detectable in the service area of the communication network. The method may also include determining quality of the signals generated by the communication network transceivers for mobile device positioning based on an accumulation of the received signal measurements from the plurality of different sources over a period of time. The method may also include generating a prioritized listing of communication network transceivers based on the determined quality of signals generated by the communication network transceivers, and providing the prioritized listing to a mobile device.

Abstract: Disclosed is an apparatus and method for assisting positioning determination of a mobile device. The method may include receiving signal measurements, reported by a plurality of different sources within a service area of a communication network, for signals generated by communication network transceivers that are detectable in the service area of the communication network. The method may also include determining quality of the signals generated by the communication network transceivers for mobile device positioning based on an accumulation of the received signal measurements from the plurality of different sources over a period of time. The method may also include generating a prioritized listing of communication network transceivers based on the determined quality of signals generated by the communication network transceivers, and providing the prioritized listing to a mobile device.