The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 11, 2006
Filed:
Mar. 16, 2004
Masaru Fukuda, Nishinomiya, JP;
Hiroyuki Toda, Nishinomiya, JP;
Masaru Fukuda, Nishinomiya, JP;
Hiroyuki Toda, Nishinomiya, JP;
Furuno Electric Company, ltd., Hyogo-ken, JP;
Abstract
An attitude sensing apparatus for determining the attitude of a mobile unit is provided that can reliably estimate an alignment angle between a GPS antenna coordinate system and an IMU coordinate system with good accuracy regardless of the magnitude of the alignment angle. Based on observation of the difference between a GPS angular velocity and an IMU angular velocity, an alignment angle estimating section estimates an alignment angle and sensor errors. An alignment angle adder and a sensor error adder cumulatively add and update the estimated alignment angle and sensor errors, respectively. The estimated alignment angle is fed back to an inertia data converter while the estimated sensor errors are fed back to an inertia data correcting section. The apparatus repeatedly performs estimation until the estimated alignment angle gradually approaches a true alignment angle by successively feeding back estimated values to a flow of alignment angle estimation process.