Vehicle attitude angle estimation using sensed signal blending
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United States of America Patent
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Sep 18, 2001
Grant Date -
N/A
app pub date -
Nov 19, 1998
filing date -
Nov 19, 1998
priority date (Note) -
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status (Latency Note)
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Abstract
An attitude angle estimator and method of estimating attitude angle of a vehicle. According to one embodiment, an angular attitude rate sensor senses angular attitude rate of a vehicle, and an accelerometer detects lateral or longitudinal acceleration. An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle is determined as a function of the sensed acceleration, and a blending coefficient is provided. A *current vehicle attitude angle estimate is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle, and the blending coefficient. According to a second embodiment, both a roll angle estimate and a pitch angle estimate are determined.
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