Patent ID: 8898033

Claim:
A system, for determining an angular velocity of a moving vehicle, comprising: an array of accelerometers connected to the vehicle and configured to measure tangential accelerations and normal accelerations at points of the vehicle; and a computing unit configured to receive acceleration measurements from the array of accelerometers, the computing unit comprising: a processor; and at least one software module comprising computer readable instructions that, when executed by the processor, cause the processor to determine the angular velocity of the vehicle by: determining a centripetal acceleration as a function of normal acceleration measurements; determining an angular acceleration as a function of tangential acceleration measurements; determining a currently predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration; determining a correction factor as a function of the centripetal acceleration, a gain, and the previously predicted angular velocity; and determining a corrected predicted angular velocity as a function of the currently predicted angular velocity and the correction factor.