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Roll angle estimation device and transport equipment

  • US 9,630,672 B2
  • Filed: 11/10/2010
  • Issued: 04/25/2017
  • Est. Priority Date: 12/21/2009
  • Status: Active Grant
First Claim
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1. A roll angle estimation device that estimates a roll angle of a movable object, the roll angle estimation device comprising:

  • a roll angular velocity detector that detects a roll angular velocity;

    a yaw angular velocity detector that detects a yaw angular velocity;

    first, second, and third acceleration detectors that detect first, second, and third accelerations, respectively, in at least three directions different from one another;

    a speed information detector that detects information regarding a moving speed in a traveling direction of the movable object; and

    an estimator that estimates the roll angle of the movable object and also estimates at least an offset error of the roll angular velocity detector and an offset error of the yaw angular velocity detector;

    whereinthe estimator estimates the roll angle of the movable object, the offset error of the roll angular velocity detector, and the offset error of the yaw angular velocity detector in a current estimation operation on the basis of a detected value of the roll angular velocity detector, a detected value of the yaw angular velocity detector, detected values of the first, second, and third acceleration detectors, a detected value of the speed information detector, an estimated value of the roll angle obtained in a previous estimation operation, an estimated value of the offset error of the roll angular velocity detector obtained in the previous estimation operation, and an estimated value of the offset error of the yaw angular velocity detector obtained in the previous estimation operation.

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