Importance

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Abstract

The method of determining respective rotational position angles (.alpha.x,.alpha.y,.alpha.z) of a vehicle includes measuring respective accelerations (ax, ay, az) of the vehicle (FZ) in the x, y and z directions; calculating first position angle values (.phi.x1,.phi.x2) and second position angle values (.phi.y1,.phi.y2) from the measured accelerations according to equations (1) and (2): .phi.x1=arcsin {ay/g} .phi.y1=arcsin {ax/g} (1) .phi.x2=arccos{az/g} .phi.y2=arccos{az/g} (2) wherein g is the acceleration of gravity; determining respective inertial position angles (.phi.x,.phi.y) as the smaller of the first position angle values (.phi.x1,.phi.x2) and of the second position angle values (.phi.y1,.phi.y2); measuring corresponding rotation rates (.omega.x,.omega.y,.omega.z) of the vehicle and determining the respective rotational position angles (.alpha.x,.alpha.y,.alpha.z) by integration of corresponding rotation rates with the respective inertial position angles (.phi.x,.phi.y) as initial values.

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First Claim