Determining inertial condition of vehicle by measuring accelerations in three axes

摘要

The position angle ( phi x) of the vehicle (FZ) is determined relative to its longitudinal axis (x) and/or the position angle ( phi y) relative to its transverse axis (y) as well as from the acceleration (ay,ax) in the direction of the transverse axis (y) of the longitudinal axis (x), as also from the acceleration (az) in the direction of the vertical axis of plane (z), according to the following equations: (1) phi x1 = arcsin (ay/g), phi y1 = arcsin (ax/g) (2) phi x2 = arccos (az/g), phi y2 = arccos (az/g) Also as inertial position angles ( phi x, phi y), the smaller of both angles ( phi x1 and phi x2 or phi y1 and phi y2) is adopted.