Vehicle heading calculating apparatus

摘要

In a vehicle rotational-angle calculating apparatus a first sensor outputs a signal representing an angular rate of a vehicle body. A second sensor outputs a signal representing a direction of the vehicle body. A signal representing a tentative rotational angle of the vehicle body is generated by integrating the output signal of the first sensor. First data pieces representing temporally spaced samples of the output signal of the second sensor and second data pieces representing temporally spaced samples of the tentative rotational signal are generated. The output signal of the first sensor is corrected into an offset-free signal in response to the calculated offset amount. A magnitude of the output signal of the first sensor is corrected in response to the sensitivity coefficient to convert the output signal of the first sensor into a gain-corrected signal. Furthermore the gain-corrected signal is integrated to generate a signal representing a final rotational angle of the vehicle body. <IMAGE>