Method and system of angle estimation

摘要

A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring θroad, the angle of the surface in relation to a horizontal plane; measuring the values of h1, h2 and θroad; using the values of h1 and h2 to calculate θrel, the angle of the vehicle body relative to the surface; and calculating an estimate of θglob, the angle between the first axis and the horizontal plane, from θroad and θrel.

主权项

1. The method of angle estimation for use in operating a vehicle which is travelling on a surface, the vehicle comprising a vehicle body which is attached to at least two wheels, the vehicle body having a first axis, the method comprising estimating the angle of said vehicle by:
calculating θglob1 as a first estimate of the angle θglob between the first axis and a horizontal plane; producing θglobtransient, an estimate of transient values of θglob, by applying a high pass filter to θglob1; calculating θglob steady state as an estimate of steady state values θglob; calculating a further estimate of θglob from θglobtransient and θglobsteady state; and operating the vehicle using the further estimate of θglob.