Arithmetic circuitry (20) of a roll angle estimation device 10 estimates a roll angle of a moving body (1; 100), and estimates a pitch angle and a pitch angular velocity of the moving body (1; 100) and at least one offset error of the first and second angular velocity detectors (51, 52) and the first, second, and third acceleration detectors (53, 54, 55). In a current estimation operation, the arithmetic circuitry (20) estimates the roll angle, pitch angle, and pitch angular velocity of the moving body (1; 100) and the at least one offset error, based on: detection values by the first and second angular velocity detectors (51, 52); detection values by the first, second, and third acceleration detectors (53, 54, 55); a detection value by the velocity detector (7; 6); estimated values of the roll angle, pitch angle, and pitch angular velocity from a previous estimation operation; and an estimated value of the offset error from the previous estimation operation.
ROLL ANGLE ESTIMATION DEVICE AND TRANSPORT APPARATUS
VORRICHTUNG ZUR ROLLWINKELSCHÄTZUNG UND TRANSPORTVORRICHTUNG
DISPOSITIF D'ESTIMATION D'ANGLE DE ROULIS ET APPAREIL DE TRANSPORT
2018-12-19
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |