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US 9,791,279 B1Granted
System for and method of determining angular position of a vehicle
Assigneeu-blox AG
InventorAlexander Somieski
Life of this patent
Estimating the term…
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.
Claims34
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 more element
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;
- 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:
- θ
- =
- tan
- -
- 1
-
- (
- -
- G
- X
- G
- Z
- )
- where GX is the first angular rate of rotation, GZ is the second angular rate of rotation, and Θ is the estimated pitch of the vehicle.
15 more elements
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;
- 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.
2 more elements
An apparatus configured to be mountable to a vehicle for determining an angular position of the vehicle, comprising:
- 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.
1 more element
An apparatus configured to be mountable to a vehicle for determining an angular position of the vehicle, comprising:
- 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.
1 more element
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;
- 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:
- θ
- =
- tan
- -
- 1
-
- (
- -
- G
- X
- G
- Z
- )
- where GX is the first angular rate of rotation, GZ is the second angular rate of rotation, and Θ is the estimated pitch of the vehicle.
16 more elements
An apparatus configured to be mountable to a vehicle for determining an angular position of the vehicle, comprising:
- 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:
- θ
- =
- tan
- -
- 1
-
- (
- -
- G
- X
- G
- Z
- )
- where GX is the first angular rate of rotation, GZ is the second angular rate of rotation, and Θ is the estimated pitch of the vehicle.
15 more elements
Dependencies are inferred from the claim text.