System for and method of determining angular position of a vehicle
First Claim
1. A method of determining an angular position of a vehicle, comprising:
- detecting a first angular rate of rotation of the vehicle about a first axis of rotation using a first angular rate sensor mounted to the vehicle;
detecting a second angular rate of rotation of the vehicle about a second axis of rotation using a second angular rate sensor mounted to the vehicle, the second axis of rotation being substantially orthogonal to the first axis of rotation wherein said first axis of rotation coincides with a roll axis of the vehicle and said second axis of rotation coincides with a yaw axis of the vehicle and wherein the vehicle experiences a rate of change of rotation about the first axis that is negligible while said detecting the first angular rate of rotation of the vehicle and said detecting the second angular rate of rotation of the vehicle are performed; and
estimating the angular position of the vehicle based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle.
1 Assignment
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Accused Products
Abstract
A system for and method of determining angular position (e.g. pitch) of a vehicle. In accordance with an embodiment, a first angular rate of rotation of the vehicle about a first axis of rotation is detected using a first angular rate sensor mounted to the vehicle. A second angular rate of rotation of the vehicle about a second axis of rotation is detected using a second angular rate sensor mounted to the vehicle. The second axis of rotation is substantially orthogonal to the first axis of rotation. The angular position of the vehicle is determined based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle.
43 Citations
34 Claims
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1. A method of determining an angular position of a vehicle, comprising:
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detecting a first angular rate of rotation of the vehicle about a first axis of rotation using a first angular rate sensor mounted to the vehicle; detecting a second angular rate of rotation of the vehicle about a second axis of rotation using a second angular rate sensor mounted to the vehicle, the second axis of rotation being substantially orthogonal to the first axis of rotation wherein said first axis of rotation coincides with a roll axis of the vehicle and said second axis of rotation coincides with a yaw axis of the vehicle and wherein the vehicle experiences a rate of change of rotation about the first axis that is negligible while said detecting the first angular rate of rotation of the vehicle and said detecting the second angular rate of rotation of the vehicle are performed; and estimating the angular position of the vehicle based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 10, 11, 12)
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8. A method of determining an angular position of a vehicle, comprising:
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detecting a first angular rate of rotation of the vehicle about a first axis of rotation using a first angular rate sensor mounted to the vehicle; detecting a second angular rate of rotation of the vehicle about a second axis of rotation using a second angular rate sensor mounted to the vehicle, the second axis of rotation being substantially orthogonal to the first axis of rotation; and estimating the angular position of the vehicle based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle, wherein the angular position comprises pitch of the vehicle, said estimating being performed in accordance with;
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13. A method of determining an angular position of a vehicle, comprising:
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detecting a first angular rate of rotation of the vehicle about a first axis of rotation using a first angular rate sensor mounted to the vehicle; detecting a second angular rate of rotation of the vehicle about a second axis of rotation using a second angular rate sensor mounted to the vehicle, the second axis of rotation being substantially orthogonal to the first axis of rotation; estimating the angular position of the vehicle based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle, wherein the angular position comprises pitch of the vehicle; and resolving a rate of change of heading of the vehicle using the estimated pitch of the vehicle. - View Dependent Claims (14)
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15. An apparatus configured to be mountable to a vehicle for determining an angular position of the vehicle, comprising:
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a first angular rate sensor configured to detect a first angular rate of rotation of the vehicle about a first axis of rotation; a second angular rate sensor configured to detect a second angular rate of rotation of the vehicle about a second axis of rotation, the second axis of rotation being substantially orthogonal to the first axis of rotation wherein said first axis of rotation coincides with a roll axis of the vehicle and said second axis of rotation coincides with a yaw axis of the vehicle and wherein the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle are detected simultaneously while the vehicle experiences a rate of change of rotation about the first axis that is negligible; and a processor configured to estimate the angular position of the vehicle based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. An apparatus configured to be mountable to a vehicle for determining an angular position of the vehicle, comprising:
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a first angular rate sensor configured to detect a first angular rate of rotation of the vehicle about a first axis of rotation; a second angular rate sensor configured to detect a second angular rate of rotation of the vehicle about a second axis of rotation, the second axis of rotation being substantially orthogonal to the first axis of rotation; and a processor configured to estimate the angular position of the vehicle based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle, wherein the angular position comprises a pitch of the vehicle and the processor is configured to resolve a rate of change of heading of the vehicle using the estimated pitch of the vehicle. - View Dependent Claims (28)
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29. A method of determining an angular position of a vehicle, comprising:
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detecting a first angular rate of rotation of the vehicle about a first axis of rotation using a first angular rate sensor mounted to the vehicle; detecting a second angular rate of rotation of the vehicle about a second axis of rotation using a second angular rate sensor mounted to the vehicle, the second axis of rotation being substantially orthogonal to the first axis of rotation; estimating the pitch of the vehicle using the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle; and estimating a change in location of the vehicle using the estimated pitch of the vehicle, said estimating being performed in accordance with; - View Dependent Claims (31, 32)
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30. An apparatus configured to be mountable to a vehicle for determining an angular position of the vehicle, comprising:
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a first angular rate sensor configured to detect a first angular rate of rotation of the vehicle about a first axis of rotation; a second angular rate sensor configured to detect a second angular rate of rotation of the vehicle about a second axis of rotation, the second axis of rotation being substantially orthogonal to the first axis of rotation; and a processor configured to estimate the pitch of the vehicle using the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle and the processor configured to estimate a change in location of the vehicle using the estimated pitch of the vehicle, wherein the processor is configured to estimate the pitch of the vehicle in accordance with; - View Dependent Claims (33, 34)
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Specification