A vehicle, and a method of controlling a vehicle, is capable of selecting a wheel speed that is most appropriate to obtain a speed of the vehicle from among wheel speeds of the vehicle to obtain an accurate speed of the vehicle. The vehicle includes a sensor configured to obtain wheel speed information of at least one wheel. The vehicle also includes a controller configured to select wheel speed information from among the wheel speed information of the at least one wheel based on a driving state of the vehicle and configured to determine a speed of the vehicle based on the selected wheel speed information.

A vehicle, and a method of controlling a vehicle, is capable of selecting a wheel speed that is most appropriate to obtain a speed of the vehicle from among wheel speeds of the vehicle to obtain an accurate speed of the vehicle. The vehicle includes a sensor configured to obtain wheel speed information of at least one wheel. The vehicle also includes a controller configured to select wheel speed information from among the wheel speed information of the at least one wheel based on a driving state of the vehicle and configured to determine a speed of the vehicle based on the selected wheel speed information.

Disclosed embodiments provide a technical improvement for providing visualization of vehicle speed via a speedometer in an instrument cluster of a vehicle/driver interface of a transportation vehicle by providing multiple indicia of vehicle speed and rate of change of speed in a manner that connotes vehicle motion so as to enhance the driving experience for the driver and improve safety.

Disclosed embodiments provide a technical improvement for providing visualization of vehicle speed via a speedometer in an instrument cluster of a vehicle/driver interface of a transportation vehicle by providing multiple indicia of vehicle speed and rate of change of speed in a manner that connotes vehicle motion so as to enhance the driving experience for the driver and improve safety.

A safety system (10, 64) for safeguarding the surrounding area of a vehicle (50), wherein the safety system (10, 64) comprises an optoelectronic safety sensor (10) for monitoring the surrounding area, a first input (40) connectable to a first kinematic sensor (56) for determining a first speed value for the speed of the vehicle (50), and a control and evaluation unit (34, 64) configured to detect objects in the surrounding area based on sensor data of the optoelectronic safety sensor (10) and to evaluate whether or not the vehicle (50) initiates a safety reaction, taking into account the speed of the vehicle (50), further comprising an inertial measurement unit (38) for determining movement information of the vehicle (50), with the control and evaluation unit (34, 64) being configured to compare the first speed value and the movement information with each other.

Inertial measurement method and apparatus for a mobile entity perform a filtering process for an angular velocity signal, an alignment process where an approximate initial attitude angle is calculated from acceleration and angular velocity signals and then precisely adjusted, an angular velocity/acceleration bias calculation process where angular velocity bias is calculated by subtracting Earth's angular velocity from the angular velocity signal and an acceleration bias is calculated by subtracting gravitational acceleration from the acceleration signal, an attitude angle calculation process where an angular velocity is calculated by subtracting Earth's angular velocity and the angular velocity bias from the angular velocity signal, and an attitude angle is calculated by integrating the angular velocity, a location movement amount calculation process where acceleration is calculated by subtracting the gravitational acceleration and the acceleration bias from the acceleration signal, and calculate a location movement amount by second-order integration for the acceleration.

Inertial measurement method and apparatus for a mobile entity perform a filtering process for an angular velocity signal, an alignment process where an approximate initial attitude angle is calculated from acceleration and angular velocity signals and then precisely adjusted, an angular velocity/acceleration bias calculation process where angular velocity bias is calculated by subtracting Earth's angular velocity from the angular velocity signal and an acceleration bias is calculated by subtracting gravitational acceleration from the acceleration signal, an attitude angle calculation process where an angular velocity is calculated by subtracting Earth's angular velocity and the angular velocity bias from the angular velocity signal, and an attitude angle is calculated by integrating the angular velocity, a location movement amount calculation process where acceleration is calculated by subtracting the gravitational acceleration and the acceleration bias from the acceleration signal, and calculate a location movement amount by second-order integration for the acceleration.

In an embodiment, a rotorcraft includes: a flight control computer configured to: receive a first sensor signal from a first aircraft sensor of the rotorcraft; receive a second sensor signal from a second aircraft sensor of the rotorcraft, the second aircraft sensor being different from the first aircraft sensor; combine the first sensor signal and the second sensor signal with a complementary filter to determine an estimated vertical speed of the rotorcraft; adjust flight control devices of the rotorcraft according to the estimated vertical speed of the rotorcraft, thereby changing flight characteristics of the rotorcraft; and reset the complementary filter in response to detecting the rotorcraft is grounded.

In an embodiment, a rotorcraft includes: a flight control computer configured to: receive a first sensor signal from a first aircraft sensor of the rotorcraft; receive a second sensor signal from a second aircraft sensor of the rotorcraft, the second aircraft sensor being different from the first aircraft sensor; combine the first sensor signal and the second sensor signal with a complementary filter to determine an estimated vertical speed of the rotorcraft; adjust flight control devices of the rotorcraft according to the estimated vertical speed of the rotorcraft, thereby changing flight characteristics of the rotorcraft; and reset the complementary filter in response to detecting the rotorcraft is grounded.

The present disclosure provides wearable apparatus and method for calculating drift-free plantar pressure parameters for gait monitoring of an individual. Most conventional techniques use different kind of sensors placed in in-sole based wearable apparatus but are costly and not effective in calculating accurate plantar pressure parameters. The disclosed wearable apparatus uses off-the shelf piezoelectric sensors that are widely available in market with less cost. The drift-free plantar pressure parameters are calculated using drift-free static pressure data obtained by numerically integrating acquired dynamic sensor data from the piezoelectric sensors, using a LiTCEM correction mechanism. A 6-DOF Inertial Measurement Unit (IMU sensor) helps in isolating zero-pressure duration indicating when a foot of the individual is in air during a stride, while obtaining the drift-free static pressure data. The disclosed wearable apparatus calculate the drift-free plantar pressure parameters for long duration and facilitates monitoring walking patterns of the individual.