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 (12) senses angular attitude rate (13) of a vehicle, and an accelerometer (14) detects lateral or longitudinal acceleration (15). An attitude angle estimate (82) is produced and is updated as a function of the sensed angular attitude rate (13). An acceleration-based attitude angle (88) is determined as a function of the sensed acceleration (15), and a blending coefficient (92) is provided. A current vehicle attitude angle estimate (82) is generated as a function of the updated attitude angle estimate (82), the acceleration-based attitude angle (88), and the blending coefficient (92). According to a second embodiment, both a roll angle estimate (82) and a pitch angle estimate (84) are determined.