SENSOR DRIFT AMOUNT ESTIMATING DEVICE

摘要

A sensor drift amount estimating device includes a posture angle estimating means, a calculating means, and a drift amount estimating means. The posture angle estimating means calculates the derivative of the posture angle with respect to the vertical axis of the body of a vehicle from the sensor signal corresponding to the detected value of the movement state value of the movement of the vehicle, and integrates the calculated derivative, and thereby estimating the posture angle. The calculating means calculates the derivative of the posture angle determined according to the equation of motion of the vehicle movement by using the sensor signal and the estimated posture angle. The drift amount estimating means estimates the sensor drift amount of the sensor signal by using the relation that the derivative of the estimated posture angle calculated by the posture angle estimating means is equal to the value obtained by correcting the derivative of the calculated posture angle with the sensor drift amount of the sensor signal.