Correction for compensating for errors caused by the pitching movement of a vehicle is executed with high accuracy at low cost. The ground speed of the vehicle sensed by a Doppler sensor is corrected with angular velocities with respect to the center of gravity of the vehicle. In this correction, the...http://www.google.fr/patents/US6230107?utm_source=gb-gplus-shareBrevet US6230107 - Vehicle speed detection system
