{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "An attitude angle estimator (80) and method of estimating attitude angle (82) of a vehicle having an angular attitude rate sensor (12) sensing angular attitude rate (13) of a vehicle, a vertical accelerometer (20) sensing vertical acceleration (21), and a lateral accelerometer (14) sensing lateral…",
  "path": "/patents/1093091",
  "publishedAt": "2003-09-24T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60R21/0132",
    "DELPHI TECH INC [US]"
  ],
  "textContent": "An attitude angle estimator (80) and method of estimating attitude angle (82) of a vehicle having an angular attitude rate sensor (12) sensing angular attitude rate (13) of a vehicle, a vertical accelerometer (20) sensing vertical acceleration (21), and a lateral accelerometer (14) sensing lateral acceleration (15). An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle ( phi ) is determined as a function of the sensed accelerations, and a blending coefficient (K) is provided. A current vehicle attitude angle estimate (82) is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle ( phi ), and the blending coefficient (K).",
  "title": "Vehicle roll angle estimator and method"
}