Patent ID: 11953515
Assignee: STMICROELECTRONICS (CHINA) INVESTMENT CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. A vehicle comprising:
a wheel configured to be rotated;
a gyroscopic sensor coupled to the wheel;
an accelerometer coupled to the wheel; and
a controller connected to the gyroscopic sensor and the accelerometer, wherein the controller is configured to:
take measurements of an angular velocity of the wheel with respect to time using the gyroscopic sensor;
take measurements of gravitational acceleration of the wheel with respect to time using the accelerometer; and
calculate an angular position of the wheel using the measurements of the angular velocity of the wheel with respect to time, wherein the controller corrects an angle error in the measurements of the angular position using a zero crossing in the measurements of the gravitational acceleration of the wheel to find an instantaneous position of the wheel, the controller being programmed to control the angle error to be within 5 degrees.