发明授权
- 专利标题: Attitude-angle detecting apparatus and attitude-angle detecting method
- 专利标题(中): 角度检测装置和姿态角检测方法
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申请号: US12306013申请日: 2007-06-25
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公开(公告)号: US08200452B2公开(公告)日: 2012-06-12
- 发明人: Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
- 申请人: Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
- 申请人地址: JP Toyota-shi, Aichi-ken
- 专利权人: Toyota Jidosha Kabushiki Kaisha
- 当前专利权人: Toyota Jidosha Kabushiki Kaisha
- 当前专利权人地址: JP Toyota-shi, Aichi-ken
- 代理机构: Finnegan, Henderson, Farabow, Garrett & Dunner, LLP
- 优先权: JP2006-173964 20060623
- 国际申请: PCT/JP2007/062707 WO 20070625
- 国际公布: WO2007/148818 WO 20071227
- 主分类号: G01P15/00
- IPC分类号: G01P15/00 ; G01C9/00
摘要:
To provide an attitude-angle detecting apparatus, which detects an attitude angle of a mobile object during movement with good accuracy by correcting an output value from an acceleration sensor, and to provide a method for the same. It is characterized in that it comprises an acceleration sensor for measuring an acceleration being applied to a mobile object, a yaw-rate sensor for measuring a yaw rate of the mobile object, a speed sensor for measuring a speed of the mobile object, a mobile-component acceleration calculating means for calculating an actual acceleration from the speed, calculating a centrifugal force from the yaw rate and the speed and calculating a mobile-component acceleration, a resultant force of the actual speed and the centrifugal force, and an attitude-angle calculating means for calculating an attitude angle from a gravitational acceleration, which is obtainable by correcting the acceleration with the mobile-component acceleration.