Vehicle attitude angle estimation using sensed signal blending

摘要

An attitude angle estimator and method of estimating attitude angle of a vehicle. According to one embodiment, an angular attitude rate sensor senses angular attitude rate of a vehicle, and an accelerometer detects lateral or longitudinal acceleration. An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle is determined as a function of the sensed acceleration, and a blending coefficient is provided. A *current vehicle attitude angle estimate is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle, and the blending coefficient. According to a second embodiment, both a roll angle estimate and a pitch angle estimate are determined.