Vehicle attitude angle estimator and method
First Claim
1. A vehicle attitude angle estimator for use in a vehicle, said angle estimator comprising:
- a first accelerometer for sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
a second accelerometer for sensing a horizontal acceleration of the vehicle and producing an output signal indicative thereof; and
a controller for determining an acceleration-based attitude angle as a function of the sensed vertical acceleration and horizontal acceleration, wherein the acceleration-based attitude angle is determined absent a sensed angular attitude rate, said controller producing an attitude angle estimate as a function of the acceleration-based attitude angle.
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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.
88 Citations
21 Claims
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1. A vehicle attitude angle estimator for use in a vehicle, said angle estimator comprising:
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a first accelerometer for sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
a second accelerometer for sensing a horizontal acceleration of the vehicle and producing an output signal indicative thereof; and
a controller for determining an acceleration-based attitude angle as a function of the sensed vertical acceleration and horizontal acceleration, wherein the acceleration-based attitude angle is determined absent a sensed angular attitude rate, said controller producing an attitude angle estimate as a function of the acceleration-based attitude angle. - View Dependent Claims (2, 3, 4)
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5. A vehicle attitude angle estimator for use in a vehicle, said angle estimator comprising:
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an angular attitude rate sensor for sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;
a first accelerometer for sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
a second accelerometer for sensing a horizontal acceleration of the vehicle and producing an output signal indicative thereof; and
a controller for producing an attitude angle estimate as a function of said sensed attitude rate, said sensed vertical acceleration, and said sensed horizontal acceleration, wherein said controller determines an acceleration-based attitude angle as a function of the sensed vertical acceleration and horizontal acceleration, said controller further providing a blending coefficient and generating a current vehicle attitude angle estimate as a function of the updated attitude angle estimate, said acceleration-based attitude angle, and said blending coefficient. - View Dependent Claims (6, 7, 8, 9)
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10. A vehicle attitude angle estimator for use in a vehicle, said vehicle angle estimator comprising:
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an angular attitude rate sensor for sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;
a vertical accelerometer for sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
a lateral accelerometer for sensing lateral acceleration of the vehicle and producing an output signal indicative thereof; and
a controller for producing an attitude angle estimate and updating the attitude angle estimate as a function of said sensed angular attitude rate, said controller determining an acceleration-based attitude angle as a function of said sensed lateral and vertical accelerations, said controller further providing a blending coefficient and generating a current vehicle attitude angle estimate as a function of said updated attitude angle estimate, said acceleration-based attitude angle, and the blending coefficient. - View Dependent Claims (11)
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12. A method for estimating an attitude angle of a vehicle, said method comprising the steps of:
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sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
sensing horizontal acceleration of the vehicle and producing an output signal indicative thereof;
determining an acceleration-based attitude angle as a function of said sensed vertical and horizontal accelerations, wherein the acceleration-based attitude angle is determined absent a sensed angular attitude rate; and
generating a vehicle attitude angle estimate as a function of the acceleration-based attitude angle. - View Dependent Claims (13, 14, 15)
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16. A method for estimating an attitude angle of a vehicle, said method comprising the steps of:
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sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;
sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
sensing horizontal acceleration of the vehicle and producing an output signal indicative thereof;
generating a vehicle attitude angle estimate as a function of the sensed angular attitude rate, vertical acceleration, and horizontal acceleration;
updating said attitude angle estimate as a function of said sensed angular attitude rate;
determining an acceleration-based attitude angle as a function of said sensed vertical and horizontal accelerations;
providing a blending coefficient; and
generating the current vehicle attitude angle estimate as a function of said updated attitude angle estimate, said acceleration-based attitude angle and said blending coefficient. - View Dependent Claims (17, 18, 19, 20)
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21. A method for estimating an attitude angle of a vehicle, said method comprising the steps of:
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sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;
providing a blending coefficient;
sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
sensing horizontal acceleration of the vehicle and producing an output signal indicative thereof; and
generating a vehicle attitude angle estimate as a function of the sensed angular attitude rate, vertical acceleration, horizontal acceleration, and said blending coefficient, wherein said blending coefficient has a value in the range of 0 to 1.
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Specification