Patent ID: 11898872
Assignee: SYSNAV
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 7:
8. The method of claim 5, wherein said measured velocities comprise a first measured velocity νL of a left rear wheel of the vehicle and a second measured velocity νR of a right rear wheel of the vehicle, the second estimated angular velocity ωodo(estimation) of the vehicle being linked to said first and second measured velocities νL, νR by the formula, ω
      odo
      
        (
        
          e
          ⁢
          s
          ⁢
          t
          ⁢
          i
          ⁢
          m
          ⁢
          a
          ⁢
          t
          ⁢
          i
          ⁢
          o
          ⁢
          n
        
        )
      
    
    =
    
      
        
          
            α
            R
          
          ⁢
          
            v
            R
          
        
        -
        
          
            α
            L
          
          ⁢
          
            v
            L
          
        
      
      d
    
  
  ,, where αR, αL and d are the odometers calibration parameters.