Arrangement for and method of two dimensional and three dimensional precision location and orientation determination.

摘要

Computer arrangement for calculating a slope angle ( slope ... angle ) of a vehicle while travelling along a trajectory relative to a local gravity vector comprising a processor (11) arranged to communicate with a memory (12; 13 ; 14; 15) storing a computer program comprising instructions and data that can be run by the processor (11), the vehicle comprising a distance measurement unit (DMI) and an inertial measurement unit (IMU), an xy plane being defined locally by an x-axis and an y-axis, said x-axis being along said trajectory and said y-axis being perpendicular to said x-axis and to said local gravity vector, the processor (11) being arranged to calculate said slope angle from measurements made by both said distance measurement unit (DMI) and said inertial measurement unit (IMU) characterized in that said processor is arranged to calculate said slope angle ( slope ... angle ) in accordance with: slope_angle = arcsin v z / v x
where: v z =velocity in a direction opposite to said local gravity vector; v x = velocity in the x-direction as derived from the distance measurement unit (DMI).