| 摘要 |
PROBLEM TO BE SOLVED: To provide a roll angle estimation device which can estimate a roll angle of a movable body with a high accuracy, and a transport machine equipped with the same.SOLUTION: A Kalman filter 80 of a roll angle estimation device 10 estimates a roll angle &phgr; of a vehicle body, a vehicle speed Vx, a roll angular velocity sensor off-set br, a yaw angular velocity sensor off-set by, a vertical acceleration sensor off-set bz, a pitch angle &thetas; and a pitch angular velocity ωp on the basis of detection values of a roll angular velocity sensor 51, a yaw angular velocity sensor 52, a vertical acceleration sensor 53, a longitudinal acceleration sensor 54, a left and right acceleration sensor 55 and a rear wheel velocity sensor 7, and estimation values of a roll angle &phgr;, a vehicle speed Vx, a roll angular velocity sensor off-set br, a yaw angular velocity sensor off-set by and a vertical acceleration sensor off-set bz by a previous estimation operation, and an estimation value of a pitch angle &thetas; and an estimation value of a pitch angular velocity ωp. |
