Azimuth estimation device
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United States of America
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Oct 8, 2024
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app pub date -
Dec 2, 2021
filing date -
Dec 2, 2021
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Abstract
A sensor bias estimation device for estimating a bias of a yaw angular velocity sensor of a vehicle, includes: a bias estimation unit that acquires a yaw angular velocity integrated value by integrating a yaw angular velocity acquired from a yaw angular velocity sensor, acquires a GNSS azimuth from a GNSS unit which calculates, as the GNSS azimuth, an azimuth of the vehicle based on a GNSS signal, and acquires an estimated bias value based on an azimuth difference which is a difference between the yaw angular velocity integrated value and the GNSS azimuth; a first determination unit that determines whether a first condition that an accuracy of the GNSS azimuth acquired from the GNSS unit is within a prescribed range is met; and a bias decision unit that decides the estimated bias value as the bias of the yaw angular velocity sensor when the first condition is met.
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