Method and device for determining the inertial position of a vehicle
US6178375A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | May 17, 1999 |
| Grant date | Jan 23, 2001 |
| Priority date | — |
| Expiry date | May 17, 2019 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60R2021/01327
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
The method of determining respective rotational position angles (.alpha.x,.alpha.y,.alpha.z) of a vehicle includes measuring respective accelerations (ax, ay, az) of the vehicle (FZ) in the x, y and z directions; calculating first position angle values (.phi.x1,.phi.x2) and second position angle values (.phi.y1,.phi.y2) from the measured accelerations according to equations (1) and (2): EQU .phi.x1=arcsin {ay/g} .phi.y1=arcsin {ax/g} (1) EQU .phi.x2=arccos{az/g} .phi.y2=arccos{az/g} (2) wherein g is the acceleration of gravity; determining respective inertial position angles (.phi.x,.phi.y) as the smaller of the first position angle values (.phi.x1,.phi.x2) and of the second position angle values (.phi.y1,.phi.y2); measuring corresponding rotation rates (.omega.x,.omega.y,.omega.z) of the vehicle and determining the respective rotational position angles (.alpha.x,.alpha.y,.alpha.z) by integration of corresponding rotation rates with the respective inertial position angles (.phi.x,.phi.y) as initial values.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.