Provided is an apparatus for controlling a vehicle, including a vehicle body including a wheel, a gyro pack fixed to the vehicle body to be movable by a movement unit, a gyroscope installed in the gyro pack, and a flywheel installed in the gyroscope, rotated by a power unit, and tilted by a tilting unit. The wheel consists of a pair of left and right wheels in a direction perpendicular to a direction of progress of the vehicle body, and the wheels are driven by driving devices independently driven, and are provided with steering units independently controlling steering angles of the wheels. The gyro pack is moved relative to the vehicle body by at least one link arm connected to the gyro pack and the vehicle, body, and one gyroscope is provided with at least two flywheels, axes of rotation and rotation directions of which coincide with each other.

An apparatus for sensing an angular rate of rotation in the presence of linear movement includes: (a) an enclosure for containing a fluid; (b) a heater disposed within the enclosure in fluid communication with the fluid; and (c) a plurality of temperature detectors disposed within the enclosure in fluid communication with the heater and the fluid, the plurality of temperature detectors being arranged symmetrically about the heater such that a superposition of a plurality of differential-temperature indications produced by the plurality of temperature detectors is maximally sensitive to the rotation while being minimally sensitive to the linear movement.

In some embodiments, the heater and the plurality of temperature detectors form a gyroscopic unit, and the apparatus includes a plurality of the gyroscopic units having an angular relationship. The angular relationship may have an angular-relationship value defined by a full-circle angle divided by a number of the gyroscopic units.

An apparatus for sensing an angular rate of rotation in the presence of linear movement includes: (a) an enclosure for containing a fluid; (b) a heater disposed within the enclosure in fluid communication with the fluid; and (c) a plurality of temperature detectors disposed within the enclosure in fluid communication with the heater and the fluid, the plurality of temperature detectors being arranged symmetrically about the heater such that a superposition of a plurality of differential-temperature indications produced by the plurality of temperature detectors is maximally sensitive to the rotation while being minimally sensitive to the linear movement.

In some embodiments, the heater and the plurality of temperature detectors form a gyroscopic unit, and the apparatus includes a plurality of the gyroscopic units having an angular relationship. The angular relationship may have an angular-relationship value defined by a full-circle angle divided by a number of the gyroscopic units.

A dual guidance gyroscopic actuator comprises, a main structure connected to a platform, connected to a satellite, a ring, a U-shaped cradle, having first and second ends and a central part, a flywheel mounted on the central part between the first and second ends, being rotationally mobile with respect to the cradle about a first axis. A first bearing is positioned at the first end and a second bearing is positioned at the second end connecting the ring to the cradle, the first and second bearings rendering the cradle rotationally mobile with respect to the ring about a second axis substantially perpendicular to the first axis. The ring is connected to the main structure. The gyroscopic actuator comprises at least one suspension element limiting microvibrations from the cradle and flywheel and at least one end-stop element limiting travel cradle and of the flywheel with respect to the main structure.

A dual guidance gyroscopic actuator comprises, a main structure connected to a platform, connected to a satellite, a ring, a U-shaped cradle, having first and second ends and a central part, a flywheel mounted on the central part between the first and second ends, being rotationally mobile with respect to the cradle about a first axis. A first bearing is positioned at the first end and a second bearing is positioned at the second end connecting the ring to the cradle, the first and second bearings rendering the cradle rotationally mobile with respect to the ring about a second axis substantially perpendicular to the first axis. The ring is connected to the main structure. The gyroscopic actuator comprises at least one suspension element limiting microvibrations from the cradle and flywheel and at least one end-stop element limiting travel cradle and of the flywheel with respect to the main structure.

Apparatuses and methods are provided for compensating for an error in an inertial sensor such as a gyroscope. An error signal can be extracted and used to generate a compensation signal including a voltage applied to variable elasticity material on or over a spring-mass system or components thereof.

Apparatuses and methods are provided for compensating for an error in an inertial sensor such as a gyroscope. An error signal can be extracted and used to generate a compensation signal including a voltage applied to variable elasticity material on or over a spring-mass system or components thereof.

A vehicle leveling system has a sensor for sensing a reference state of a vehicle and a level state of the vehicle. The reference state is subtracted from the level state to determine a difference angle. The reference state is absolute flat or other reference angle. A smart device is in communication with the sensor to zero out the difference angle and level the vehicle. The smart devices provide feedback to a user to adjust orientation of the vehicle as to zero out the difference angle and level the vehicle. The feedback can be an audible or human sensory feedback, such as voice or tones. A plurality of jacks is used to level the vehicle by zeroing out the difference angle. The jacks can be controlled by the smart device or sensor. The sensor has a gyroscope providing multiple angles of orientation.

A vehicle leveling system has a sensor for sensing a reference state of a vehicle and a level state of the vehicle. The reference state is subtracted from the level state to determine a difference angle. The reference state is absolute flat or other reference angle. A smart device is in communication with the sensor to zero out the difference angle and level the vehicle. The smart devices provide feedback to a user to adjust orientation of the vehicle as to zero out the difference angle and level the vehicle. The feedback can be an audible or human sensory feedback, such as voice or tones. A plurality of jacks is used to level the vehicle by zeroing out the difference angle. The jacks can be controlled by the smart device or sensor. The sensor has a gyroscope providing multiple angles of orientation.

An inertial force sensor may comprise: a base; a first block including an inclined surface that is inclined with respect to a base surface; a second block including an inclined surface that is inclined with respect to the base surface; a third block including an inclined surface that is inclined with respect to the base surface; a fourth block including an inclined surface that is inclined with respect to the base surface; and a connector configured to physically connect the first, second, third, and fourth blocks. In this inertial force sensor, the first and second blocks are aligned along a first direction parallel to the base surface with their inclined surfaces both facing inward or outward, and the third and fourth blocks are aligned along a second direction parallel to the base surface and orthogonal to the first direction with their inclined surfaces both facing inward or outward.