Moving body with tilt angle estimating mechanism
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United States of America Patent
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Aug 16, 2011
Grant Date -
May 28, 2009
app pub date -
Sep 27, 2007
filing date -
Oct 5, 2006
priority date (Note) -
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Abstract
A moving body with a tilt angle estimating mechanism capable of estimating a tilt angle of a vehicle body with high accuracy. The moving body includes: an acceleration sensor for detecting an acceleration in two axial directions; a gyro sensor for detecting an angular velocity of a vehicle body; and a tilt angle estimating mechanism for estimating a tilt angle of the vehicle body. The tilt angle estimating mechanism includes: a device for estimating a tilt angle in response to the acceleration sensor based on the acceleration detected by the acceleration sensor; a device for estimating a second tilt angle based on the angular velocity detected by the gyro sensor; and a device for estimating a tilt angle with a linear model equation of the moving body being regarded as an observer, in accordance with the tilt angle based on the acceleration sensor and the tilt angle based on the gyro sensor.
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