초록 ▼

An apparatus and method for a pitch state estimator is provided. The pitch state estimator generates a pitch state signal for establishing the orientation used in the control of a ground-traversing vehicle. The vehicle has a support for supporting a load which is preferably a human passenger. In one

An apparatus and method for a pitch state estimator is provided. The pitch state estimator generates a pitch state signal for establishing the orientation used in the control of a ground-traversing vehicle. The vehicle has a support for supporting a load which is preferably a human passenger. In one embodiment, the pitch state estimator includes a pitch sensor connected to the vehicle producing a pitch signal representing an estimate of a pitch angle of the vehicle. The pitch angle is associated with a coordinate system referenced to gravity. The pitch state estimator also includes at least one inertial reference sensor connected to the vehicle producing an inertial orientation signal with respect to the vehicle. Further included is a state estimator module for receiving the pitch signal and the inertial orientation signal and calculating a pitch state signal from the inertial orientation signal and the pitch signal sensor. The pitch state signal is provided to a control loop of the vehicle for dynamically maintaining stability of the vehicle.

대표청구항 ▼

The invention claimed is: 1. An computerized method for generating a pitch state signal used in control of a ground traversing vehicle, the method being of the type including:from at least three inertial sensors positioned in three or more non-collinear orientations on the vehicle, deriving three or

The invention claimed is: 1. An computerized method for generating a pitch state signal used in control of a ground traversing vehicle, the method being of the type including:from at least three inertial sensors positioned in three or more non-collinear orientations on the vehicle, deriving three or more digital inertial orientation signals;calculating a first pitch state signal in a three-axis state estimator module based on the three or more digital inertial orientation signals;from an additional orientation sensor positioned on the vehicle, deriving an additional digital orientation signal;calculating a second pitch state signal in a single-axis state estimation based on the digital inertial orientation signals and the additional digital orientation signal;and using the first and second pitch state signals in a first slew logic estimator module providing a pitch state output signal that mediates between an output from the three-axis state estimator module and the second slew logic estimator module wherein the improvement comprises:calculating a first intermediate pitch state signal in a first single-axis estimator based on the digital inertial orientation signals;calculating a second intermediate pitch state signal in a second single-axis state estimator based on the additional digital orientation signal; andusing the first and second intermediate pitch state signals in a second slew logic estimator module to provide the second pitch state signal;so that, in the presence of a fault condition associated with either one or more of the three digital inertial orientation signals or the additional digital orientation signal, the second slew logic estimator module nevertheless provides a single-axis state estimation substantially devoid of discontinuity.