Patent ID: 11867516
Assignee: TRIMBLE INC.
Field: Measurement (Instruments)
Classification: CPC B  G  A | IPC A  B  G

Claim 1:
2. The system of claim 1 further configured to determine the current angle of the road wheel in the yaw axis relative to the vehicle by:
determining a gravity vector based on readings of the first three-axis accelerometer of the first IMU;
determining a rate of rotation of the road wheel in each of a roll axis, a pitch axis, and the yaw axis based on the gravity vector and readings of the first three-axis gyroscope of the first IMU;
determining a rate of rotation of the vehicle in each of the roll axis, the pitch axis, and the yaw axis, based on readings of the second three-axis gyroscope of the second IMU;
determining a rate of rotation of the road wheel relative to the vehicle based on the rate of rotation of the road wheel in each of the roll axis, the pitch axis, and the yaw axis, and the rate of rotation of the vehicle in each of the roll axis, the pitch axis, and the yaw axis; and
determining the current angle of the road wheel in the yaw axis relative to the vehicle based on the previously estimated angle of the road wheel in the yaw axis relative to the vehicle and the rate of rotation of the road wheel relative to the vehicle.