Apparatus and method for measuring speed of a moving object
First Claim
1. An apparatus for measuring the speed of a moving object using a Dead Reckoning (DR) system connected to the object, the apparatus comprising:
- accelerometers for measuring a first acceleration along a moving direction of the moving object and a second acceleration along a lateral direction of the moving object;
gyroscopes for measuring a first angular speed along the lateral direction of the moving object and a second angular speed along a lower direction of the moving object;
a roll angle calculator for calculating a roll angle of the moving object using the second acceleration, the second angular speed, a previous speed of the moving object in the moving direction of the moving object, and a previous road inclination angle with respect to the moving direction of the moving object;
an inclination angle calculator for calculating a road inclination angle using the calculated roll angle, the first angular speed, and the second angular speed; and
a speed calculator for calculating a pure motion acceleration in the moving direction of the moving object using the calculated road inclination angle and for calculating the speed of the moving object using the pure motion acceleration of the moving object.
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Accused Products
Abstract
An apparatus and method for measuring the speed of a moving object is provided. A first acceleration along the moving direction of the moving object and a second acceleration along the lateral direction of the moving object are measured. A first angular speed along the lateral direction of the moving object and a second angular speed along the lower direction of the moving object are measured. The roll angle of the moving object using the second acceleration, the second angular speed, and a previous speed of the moving object in the moving direction of the moving object, and a previous road inclination angle with respect to the moving direction of the moving object are calculated. A road inclination angle is calculated using the calculated roll angle, the first angular speed, and the second angular speed. A pure motion acceleration in the moving direction of the moving object is calculated using the calculated road inclination angle and the speed of the moving object is calculated using the pure motion acceleration of the moving object.
71 Citations
16 Claims
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1. An apparatus for measuring the speed of a moving object using a Dead Reckoning (DR) system connected to the object, the apparatus comprising:
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accelerometers for measuring a first acceleration along a moving direction of the moving object and a second acceleration along a lateral direction of the moving object; gyroscopes for measuring a first angular speed along the lateral direction of the moving object and a second angular speed along a lower direction of the moving object; a roll angle calculator for calculating a roll angle of the moving object using the second acceleration, the second angular speed, a previous speed of the moving object in the moving direction of the moving object, and a previous road inclination angle with respect to the moving direction of the moving object; an inclination angle calculator for calculating a road inclination angle using the calculated roll angle, the first angular speed, and the second angular speed; and a speed calculator for calculating a pure motion acceleration in the moving direction of the moving object using the calculated road inclination angle and for calculating the speed of the moving object using the pure motion acceleration of the moving object. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for measuring the speed of a moving object using a Dead Reckoning (DR) system connected to the object, the method comprising the steps of:
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measuring a first acceleration along a moving direction of the moving object and a second acceleration along a lateral direction of the moving object, the first and second accelerations are measured using a first and second accelerometer, respectively; measuring a first angular speed along the lateral direction of the moving object and a second angular speed along a lower direction of the moving object, the first and second angular speeds are measured using a first and second gyroscope, respectively; calculating a roll angle of the moving object using the second acceleration, the second angular speed, a previous speed of the moving object in the moving direction of the moving object, and a previous road inclination angle with respect to the moving direction of the moving object, the roll angle is measured using a roll angle calculator; calculating a road inclination angle using the calculated roll angle, the first angular speed, and the second angular speed, the road inclination angle is measured using an inclination angle calculator; and calculating a pure motion acceleration in the moving direction of the moving object using the calculated road inclination angle and calculating the speed of the moving object using the pure motion acceleration of the moving object, the pure motion acceleration is measured using a speed calculator. - View Dependent Claims (8, 9, 10, 11)
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12. A computer readable recording medium in which a program for executing a method of measuring the speed of a moving object in a Dead Reckoning (DR) system connected to the object is recorded, the method comprising:
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measuring a first acceleration along a moving direction of the moving object and a second acceleration along a lateral direction of the moving object; measuring a first angular speed along the lateral direction of the moving object and a second angular speed along a lower direction of the moving object; calculating a roll angle of the moving object using the second acceleration, the second angular speed, a previous speed of the moving object in the moving direction of the moving object, and a previous road inclination angle with respect to the moving direction of the moving object; calculating a road inclination angle using the calculated roll angle, the first angular speed, and the second angular speed; and calculating a pure motion acceleration in the moving direction of the moving object using the calculated road inclination angle and calculating the speed of the moving object using the pure motion acceleration of the moving object. - View Dependent Claims (13, 14, 15, 16)
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Specification