Method and device for determining the absolute angle of rotation of an object that is rotating about an approximately horizontal rotational axis
First Claim
1. A method for determining an absolute rotational angle of an object that is rotating about an approximately horizontal rotational axis, the method which comprises:
- determining a change in a rotational angle of the object occurring during a time interval;
determining an acceleration component acting in a direction of a vertical axis of the object;
determining a change, occurring during the time interval, in the acceleration component acting in the direction of the vertical axis of the object; and
calculating the absolute rotational angle of the object from the change in the rotational angle and the change in the acceleration component acting in the direction of the vertical axis of the object.
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Abstract
A method for determining an absolute rotational angle of an object that is rotating about an approximately horizontal rotational axis, includes steps of: determining a change in a rotational angle of the object occurring during a time interval; determining an acceleration component acting in a direction of a vertical axis of the object; determining a change, occurring during the time interval, in the acceleration component acting in the direction of the vertical axis of the object; and calculating the absolute rotational angle of the object from the change in the rotational angle and the change in the acceleration component acting in the direction of the vertical axis of the object. A device constructed to perform the method does not necessarily require expensive, high-stability acceleration sensors. Sensors of a simple design can be used instead.
18 Citations
9 Claims
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1. A method for determining an absolute rotational angle of an object that is rotating about an approximately horizontal rotational axis, the method which comprises:
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determining a change in a rotational angle of the object occurring during a time interval;
determining an acceleration component acting in a direction of a vertical axis of the object;
determining a change, occurring during the time interval, in the acceleration component acting in the direction of the vertical axis of the object; and
calculating the absolute rotational angle of the object from the change in the rotational angle and the change in the acceleration component acting in the direction of the vertical axis of the object. - View Dependent Claims (2, 3)
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4. A device for determining an absolute angle of rotation of an object that is rotating about an approximately horizontal rotational axis, the device comprising:
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a rate of rotation sensor for detecting an angular velocity of the object rotating about the rotational axis;
an integrator for integrating the angular velocity and for determining a change in an angle of rotation;
an acceleration sensor for detecting an acceleration component acting in a direction of a vertical axis of the object;
a difference element for determining a change, accompanying the change in the angle of rotation, in the acceleration component acting in the direction of the vertical axis; and
an arithmetic unit for calculating the absolute angle of rotation of the object from the change in the angle of rotation and the change in the acceleration component. - View Dependent Claims (5, 6, 7, 8, 9)
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Specification