Actual space orientation determining method for e.g. active passenger protective system, involves multiplying actual quaternion with zero-unit vectors to compute actual unit vectors from which space orientation of vehicle is determined

摘要

The method involves determining actual rotation angles. A set of associated unit vectors is determined based on an output orientation of a vehicle and a rotation matrix is determined based on the angles. Rotation quaternion is determined from the matrix, where quaternion multiplication is implemented with a predetermined rotation quaternion and previous quaternion to compute actual quaternion. The actual quaternion is multiplied with zero-unit vectors to compute actual unit vectors from which actual space orientation of the vehicle is determined. An independent claim is also included for a sensor system for a vehicle, comprising a set of sensor units.