Apparatus for measuring the yaw rate of a vehicle

Details Apparatus for measuring the yaw rate of a vehicle Apparatus for measuring the yaw rate of a vehicle

G - Physics

01

C

G01C 25/00 (2006.01) B60G 17/018 (2006.01) B60G 17/019 (2006.01)

Patent

CA 2053311

2053311 9012698 PCTABS00002 The invention provides an apparatus for measuring the yaw rate of a vehicle, comprising means for measuring the velocity of the vehicle (1), means for measuring the lateral acceleration of the vehicle (2) and means for measuring the steering angle of the vehicle (3), correction means (4) and a yaw gyrometer (5). The correction means (4) acts to remove bias errors from the output of the yaw gyrometer (5). The correction means (4) estimates the bias errors when the velocity of the vehicle is zero (or within a tolerance of zero) or when both the steering angle of the vehicle is zero (or within a tolerance of zero) and the lateral acceleration of the vehicle (or within a tolerance of zero).

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