Vehicle attitude angle estimator and method
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United States of America Patent
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Jan 13, 2004
Grant Date -
Sep 12, 2002
app pub date -
Mar 6, 2002
filing date -
Nov 19, 1998
priority date (Note) -
Expired
status (Latency Note)
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Abstract
An attitude angle estimator and method of estimating attitude angle of a vehicle having an angular attitude rate sensor sensing angular attitude rate of a vehicle, a vertical accelerometer sensing vertical acceleration, and a lateral accelerometer sensing lateral 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 accelerations, 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.
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