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Apparatus and Method for Pitch State Estimation for a Vehicle

  • US 20080161990A1
  • Filed: 08/13/2007
  • Published: 07/03/2008
  • Est. Priority Date: 08/11/2006
  • Status: Active Grant
First Claim
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1. An computerized method for generating a pitch state signal used in control of a ground traversing vehicle, the method being of the type including:

  • from at least three inertial sensors positioned in three or more non-collinear orientations on the vehicle, deriving three or more digital inertial orientation signals;

    calculating a first pitch state signal in a three-axis state estimator module based on the three or more digital inertial orientation signals;

    from an additional orientation sensor positioned on the vehicle, deriving an additional digital orientation signal;

    calculating a second pitch state signal in a single-axis state estimation based on the digital inertial orientation signals and the additional digital orientation signal;

    and using the first and second pitch state signals in a first slew logic estimator module providing a pitch state output signal that mediates between an output from the three-axis state estimator module and the second slew logic estimator module wherein the improvement comprises;

    calculating a first intermediate pitch state signal in a first single-axis estimator based on the digital inertial orientation signals;

    calculating a second intermediate pitch state signal in a second single-axis state estimator based on the additional digital orientation signal; and

    using the first and second intermediate pitch state signals in a second slew logic estimator module to provide the second pitch state signal;

    so that, in the presence of a fault condition associated with either one or more of the three digital inertial orientation signals or the additional digital orientation signal, the second slew logic estimator module nevertheless provides a single-axis state estimation substantially devoid of discontinuity.

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