Abstract: A method of determining a directional change of a vehicle carries out dead-reckoning for which it utilizes sensors provided on two wheels. In order to compensate for differences between the wheels, the method utilizes given parameters in processing the data from the wheel sensors. The invention provides an extension of the method by estimating the parameters during normal operation of the vehicle, so that they are adapted to changing circumstances encountered by the vehicle. Estimation is performed by comparing data from the wheel sensors with independently determined directional data for a given period of time.

Abstract: FM-receiver for receiving an FM-signal with transmission identification. An aerial input is connected to a tuning unit (1) to which there are connected, in succession, an IF-unit (2), an FM-detection circuit (3), a pilot regeneration circuit (10) for regenerating a pilot, a demodulation arrangement (12) for demodulating the code signal which contains transmission identification information, and a clock regeneration circuit (18) which is connected to both the pilot regeneration circuit (10) and the demodulation arrangement (12). The clock regeneration circuit comprises a resettable phase search circuit (18') for producing a clock signal whose frequency is derived from the regenerated pilot and whose phase is derived from the demodulated code signal, a clock-controlled decoding circuit (13) for decoding the code signal and a clock-controlled signal processing unit (17).