Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Vehicle subsystem or accessory control
Reexamination Certificate
2011-07-12
2011-07-12
Hellner, Mark (Department: 3663)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Vehicle subsystem or accessory control
C701S213000, C342S357490, C318S587000
Reexamination Certificate
active
07979179
ABSTRACT:
An apparatus and method for a pitch state estimator is provided. The pitch state estimator generates a pitch state signal for establishing the orientation used in the control of a ground-traversing vehicle. The vehicle has a support for supporting a load which is preferably a human passenger. In one embodiment, the pitch state estimator includes a pitch sensor connected to the vehicle producing a pitch signal representing an estimate of a pitch angle of the vehicle. The pitch angle is associated with a coordinate system referenced to gravity. The pitch state estimator also includes at least one inertial reference sensor connected to the vehicle producing an inertial orientation signal with respect to the vehicle. Further included is a state estimator module for receiving the pitch signal and the inertial orientation signal and calculating a pitch state signal from the inertial orientation signal and the pitch signal sensor. The pitch state signal is provided to a control loop of the vehicle for dynamically maintaining stability of the vehicle.
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Algahaim Helal A
Hellner Mark
Pierce Atwood LLP
Segway Inc.
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