this invention will be described in further detail by way of embodiments . fig1 shows a ground speed measuring apparatus which is an embodiment of this invention . peculiarly , fig1 shows a top view of a doppler type ground speed measuring apparatus . the x - and y - axes of the apparatus mounted on a vehicle represent the same axes of fig4 . in fig1 , transceiving means 100 , 101 , and 102 respectively transmit waves and receive their reflections upon the road surface . c is a circle of a radius r with a point o 1 as the center . the transceiving means 100 , 101 , and 102 are placed on points p 0 , p 1 , and p 2 on the circle c so that they may respectively transmit waves tangentially to the circle ( when viewed from the above ). although transceiving means 100 , 101 , and 102 seem to transmit waves in the in - plane direction in parallel with the circle c in fig1 , they substantially transmit waves to the road surface . therefore , the transceivers 200 , 201 , and 202 of the transceiving means are respectively disposed at a depression angle θ with a plane including the circle c . here , 203 represents a vehicle structure ( such as a chassis ) and 204 represents the road surface . in fig1 , the dotted circle c , the x - axis , the y - axis , the dotted lines s 0 , s 1 , and s 2 are given to explain the positional relationship of the transceiving means 100 , 101 , and 102 for the sake of convenience . referring to fig3 and fig5 , we explain below an example of calculating velocities in the fore , aft , and athwartship directions of a vehicle and a side - skid angle by the ground speed measuring apparatus of fig1 . fig3 shows an example of functional block diagram of the transceiving means 100 , 101 , and 102 . this example assumes that the transceiving means 100 , 101 , and 102 transmit and receive radio waves . referring to fig2 , the transceiver 200 comprises a transmitter 301 and a receiver 302 . the transmitter 301 receives a radio wave modulated at a transmission frequency due to a modulation signal from the modulator 303 and emits the radio wave to the road surface . the radio wave reflected upon the road surface is received by the receiver 302 and frequency - converted by the mixing circuit 305 . the mixing circuit 305 mixes this signal with a signal coming from the oscillator 304 and sends the resulting low - frequency signal to the analog circuit 306 . this low - frequency signal is amplified by the analog circuit 306 , converted into a digital signal ( as sample data ) by the analog / digital ( a / d ) converter 307 , and fed to the fft processor section 308 . the fft processor section 308 performs a fast fourier transform on the digital signal ( sample data ). the result represents the frequency spectrum of the received beat signal in all frequency bands . the signal processor section 309 detects peaks in the result of the fft processing , applies a doppler frequency fd to the detected peak , and calculates a velocity v by equation 1 below . wherein fd is a doppler frequency . c is the velocity of light . ft is the frequency of the transmitted wave . in fig1 , the transmitting direction of the transceiving means 101 and 102 are the angle of θ 1 and θr on the basis of the transmitting direction of the transceiving means 100 , respectively . moreover , the speed calculated by equation 1 based on the signal obtained by the transceiving means 100 - 102 is v 1 , v 2 , and v 3 , respectively . as these velocities v 1 , v 2 , and v 3 are velocity components at the depression angle θ with a plane in parallel with the road surface ( see fig2 ), step s 501 converts these velocities v 1 , v 2 , and v 3 into velocity components in a plane in parallel with the road surface by equations 2 to 4 . step s 502 calculates the output offset ( vw ) of respective transceiving means from velocities v 1 , v 2 , and v 3 and the angular velocity component ( yaw rate ) around the z - axis of the vehicle using equation 5 . vw =( sin θ1 ( v 1 cos θ r − v 2 )− sin θ r ( v 1 cos θ1 − v 3 ))/( sin θ1 ( cos θ r − 1 )− sin θ r ( cos θ1 − 1 )) ( equation 5 ) when the angular velocity is represented by w , vw is equal to rw . therefore , we can get the angular velocity ( yaw rate ) w from equation 5 . step s 503 calculates the differences between the velocities v 1 to v 3 and the output variations of the transceiving means 100 to 102 due to the influence of the rotational motion of the vehicle by equations 6 to 8 . where vf , vl , and vr respectively represent differences between velocities v 1 to v 3 and the angular velocity ( the output offset ). the next steps s 504 and s 505 calculate the velocity in the fore direction of the vehicle ( the first x - axis velocity vx 1 ) and the velocity in the aft direction of the vehicle ( the second x - axis velocity vx 2 ). here , vx 1 is equal to vf as vx 1 and vf are is in the same direction . the second x - axis velocity vx 2 is the composition of fore and aft velocity components of vl and vr which are calculated from the outputs of the transceiving means 11 and 12 . this is expressed by equation 9 . step s 506 calculates the velocity vx in the x - axis ( in the fore and aft directions of the vehicle ) from the first and second x - axis velocities vx 1 and vx 2 ). this is expressed by equation 10 . step s 507 calculates the ratio ( rx ) of the second x - axis velocity vx 2 to the first x - axis velocity vx 1 . this is expressed by equation 11 . step s 508 calculates the y - axis velocity vy ( in the athwartship direction of the vehicle ). the y - axis velocity is calculated as the composition of y - axis velocity components of vl and vr ( by equation 12 ) but must be compensated as the y - axis velocity is affected by pitching of the vehicle ( tilting in the fore and aft directions of the vehicle ). the fore and aft tilting of the vehicle is reflected on the x - axis velocity ratio ( rx ). rx = 1 indicates that the vehicle is running ideally without any pitching . rx & gt ; 1 indicates that the vehicle is pitching forward and rx & lt ; 1 indicates that the vehicle is pitching backward . therefore , vy corrected by equation 13 is used as a new y - axis velocity vy . step s 509 calculates the side - skid angle β from the x - axis velocity vx and the y - axis velocity vy . this is expressed by equation 14 . as described above , we reduced influences of pitching of the vehicle on velocities in the fore , aft , and athwartship directions and increased the accuracy in measurement of ground velocities of the vehicle by calculating the velocities including the fore - aft pitching of the vehicle . in this way , the ground - speed measuring apparatus of this invention can measure velocities in the fore , aft , and athwartship directions , and side - skid angles of the vehicle . even when the movement of the vehicle contains a rotation around the vehicle center o 1 , the ground - speed measuring apparatus of this invention can measure velocities in the fore , aft , and athwartship directions , side - skid angles of the vehicle , and angular velocities of the vehicle without losing the rotational velocity component . therefore , this apparatus can work both as a velocity sensor and an angular velocity sensor and need not an additional angular velocity sensor as in the case with conventional ground speed measuring apparatus . this can also has an effect to reduce the manufacturing cost of the apparatus . further , when these three transceiving means are disposed on the vertices of an equilateral triangle , θ 1 becomes equal to θr and the computation can be simplified . this invention does not always limit the layout of the transceiving means to that of fig1 . for example , the transceiving means 100 to 102 can be respectively turned by preset angles from the positions shown in fig6 ( a ) around the center o 1 . however , one of the transceiving means must face to the fore or aft direction of the vehicle ( the x - axis direction ) when the equations of this embodiment are used . when none of the transceiving means face to the fore or aft direction of the vehicle , vx 1 is not equal to vf and the velocity vf has velocity components in the fore - aft and athwartship directions . therefore these velocity components must be calculated individually . however , also in this case , it is possible to measure velocities in the fore , aft , and athwartship directions , side - skid angles of the vehicle , and angular velocities of the vehicle similarly in principle . further , this embodiment disposes the transceiving means so that they may transmit waves tangentially to the circle and clockwise around the center of the circle ( when viewed from the top ). the similar effect can be obtained also when the transceiving means are disposed to transmit waves counterclockwise . furthermore , although this embodiment disposes three transceiving means on a circle , it is also possible to dispose the transceiving means on concentric circles ( having a point o 1 as the center ) as shown in fig6 ( b ). in this case , the offsets are corrected by equation 5 and the similar effect can be obtained . as long as three transceiving means are disposed to satisfy a preset relative positional condition , the wave transmission directions can be determined independently of the movement of the vehicle . therefore , they can be mounted on the vehicle with less limitation . below will be explained an embodiment which uses the ground speed measuring apparatus of this invention for vehicle control . in automobile fields , abs ( anti - lock brake system ) and esp ( electronic stability program ) have been well known as safety means to stabilize an unstable vehicle ( against a sliding , etc .). similarly , an active suspension control has been well known to make vehicle riding comfortable . the antilock brake system ( abs ) controls to prevent wheels from being locked during sudden “ panic ” braking and the electronic stability program ( esp ) controls to prevent the vehicle from skidding during driver &# 39 ; s steering control . the active suspension control means has actuators on the suspensions and causes the actuators to damp swaying of the vehicle . these kinds of vehicle control require input information such as ground speeds and / or angular velocities of the vehicle . as employing a janus type doppler ground - speed measuring apparatus which is described above in “ prior art ” as a means to detect ground speeds and an angular velocity sensor such as a gyro sensor as a means to detect angular velocities , the current vehicle control system must be equipped with a plurality of sensors and enter their information of detection into the controller . this increases their installation spaces , limits their mounting positions , makes their wiring complicated , and increases their manufacturing cost . contrarily , the ground - speed measuring apparatus of this invention enables simultaneous measurement of both ground speeds and angular velocities by a single unit and can solve the above problems . some embodiments will now be described more fully in detail with reference to the accompanying drawings . fig7 shows an example of electronic stability program ( esp ) installed in a car . fig8 ( a ) and fig8 ( b ) respectively show an example of active suspension system installed in a train and an example of active suspension system installed in a car . referring to fig7 represents the ground - speed measuring apparatus of this invention . 701 to 704 respectively represent a brake caliper on each wheel . 706 , 707 , 708 , and 709 respectively represent a controller , a hydraulic unit , a master cylinder , and a steering sensor in this order . the dotted lines represent signal lines and the solid lines represent hydraulic lines . in this measuring system , the ground - speed measuring apparatus 705 detects velocities of the vehicle and angular velocities of the vehicle around the z - axis . the steering sensor 709 detects steering angles of the vehicle . the controller uses these kinds of detected information to individually control the braking forces for the brake calipers 701 to 704 on wheels . substantially , if the vehicle is over - steered when taking a curve , the controller controls to brake the outer front wheel to prevent spinning . if the vehicle is under - steered , the controller controls to brake the inner rear wheel to turn the car body inwards or gives different braking forces to inner and outer wheels to stabilize the turning . although this system uses oil pressure to drive the brake calipers , electrically - driven actuators can be used . referring to fig8 and 851 respectively represent the ground - speed measuring apparatus of this invention . 802 and 852 respectively represent a controller . 803 , 804 , 853 , and 854 are actuators . 811 , 812 , and 862 represent signal lines and / or power transmission lines . a running vehicle is subject to vibrations 831 or 881 ( yawing ) around the z - axis of the vehicle due to road surface conditions , wheel structures , and so on . this yawing gives various influences to passengers and loads on the vehicle . to suppress the yawing , the ground - speed measuring apparatus of this invention detects the vehicle velocity and the angular velocity around the z - axis ( to be abbreviated simply as an angular velocity ) and drives the actuators 803 , 804 , 853 , and 854 to counteract the detected angular velocity . the above esp and active suspension control have been typical now , but the conventional esp and active suspension controlling system uses a gyro sensor or the like to detect angular velocities and a ground speed measuring apparatus which is described in “ prior art ” to detect the ground velocity . contrarily , the ground speed measuring apparatus of this invention can measure the angular velocities and ground velocities simultaneously by a single unit . of course , no additional sensor such as a gyro sensor is required to detect angular velocities . this can reduce its manufacturing cost . further , this can make the apparatus compact , reduce the installation space , and shorten wires between the controller ( 706 , 802 , or 852 ) and sensors . furthermore , it is possible to connect the ground speed measuring apparatus directly to the controller ( as shown in fig8 ( b )) or to house the apparatus and the controller in a box ( not shown in the figure ). still further , the ground speed measuring apparatus of this invention can detect angular velocities more quickly than a gyro sensor . this enables high - accuracy detection of angular velocities and high - accuracy vehicle controlling . next , we explain sample conditions and methods of mounting the ground speed measuring apparatus of this invention . in principle , the ground speed measuring apparatus of this invention can be mounted in any manner as long as three transceivers satisfy the positional and angular conditions shown in fig1 or fig6 and fig2 however , it is very complicated and time - consuming to mount the transceivers individually on the vehicle while satisfying the positional and angular conditions shown in fig1 or fig6 and fig2 . to solve this problem , it is recommended to assemble three transceivers in a unit to satisfy the preset positional and angular conditions and to mount this unit on a vehicle . fig9 shows an example of layout of the ground speed measuring apparatus of this invention on a vehicle . fig9 ( a ) is a worm &# 39 ; s - eye view of the ground speed measuring apparatus and fig9 ( b ) is a perspective worm &# 39 ; s - eye view of the ground speed measuring apparatus . in fig9 is a box housing three transceivers 902 which transmit and receive waves . the transceiving block of each transceivers 902 are exposed outside from notches 904 , respectively . three transceivers 902 are disposed so that they may transmit waves tangentially to a circle on which they are seated ( see fig1 ) when viewed from the top and that they may be at a preset angle with the road surface as shown in fig2 . this unit configuration makes high - precision mounting and installation of the apparatus easier than the configuration in which three transceivers are mounted individually . the unit bottom having notches through which the transceivers 902 are exposed outside can be covered with a cover member 1001 whose material can transmit waves from the transceivers 902 as shown in fig1 ( a ) or with a cover member 1001 whose areas 1102 facing to the notches 904 are made of materials that can transmit waves as shown in fig1 ( a ). this cover can protect the transceivers 902 against water , dust , sands , and any other contaminants that come from the outside of the vehicle . further , it is possible to make the unit bottom ( facing to the road surface of the box 901 ) itself made of a wave - transmittable material instead of covering the unit bottom with the above cover of fig1 ( a ) and fig1 ( a ). this can make assembling and installation of the ground speed measuring apparatus much simpler and easier . furthermore , it is possible to cover each notch 904 of fig9 with a separate cover member 1103 as shown in fig1 ( b ). as shown in fig1 ( b ), it is possible to provide a processing section 905 for generating waves and processing transmitted and received signals inside the box ( unit ) 901 and a connection section for connecting signal and power lines to the vehicle on the outer wall of the box 901 . this configuration enables installation of the ground speed measuring apparatus and connection of its signal and power lines to the vehicle at the same time . this simplifies the installation works of the apparatus greatly . in this embodiment , the processing section 905 can contain all or part of the modulator 303 , the oscillator 304 , a mixing circuit 305 , an analog circuit 306 , an a / d converter 307 , an fft processing section 308 , and a signal processor 309 shown in fig3 . referring to fig1 and fig1 , we &# 39 ; ll explain an embodiment of the interior of the ground - speed measuring apparatus of fig9 to fig1 . fig1 ( a ) shows a side view of the ground - speed measuring apparatus of fig9 to fig1 and fig1 ( b ) shows a bottom view of the apparatus . as explained above , three transceiving means 902 ( a ), 902 ( b ), and 902 ( c ) are laid out in place on the common box 901 as shown in fig1 , fig5 , and fig6 . the transceiving means 902 ( a ), 902 ( b ), and 902 ( c ) are equivalent to the means 200 in fig2 . each of the transceiving means 902 ( a ), 902 ( b ), and 902 ( c ) is comprised of a microwave monolithic integrated circuit ( mmic ) which contains a modulator 303 , a transmitter 304 , a mixing circuit 305 , and so on , and a transceiving means ( equivalent to the transceiving means 100 , 101 , or 102 of fig1 ) which contains an analog circuit 306 . each of the transceiving means 902 ( a ), 902 ( b ), and 902 ( c ) transmits an electric wave , receives its reflection on the ground , generates an intermediate frequency ( if ) signal from the transmitted and received signals , amplifies and outputs this if signal . this if signal is fed to a signal processing board 1301 in the box 901 . the signal processing board 1301 is equipped with an a / d converter 307 , an fft processor 308 , and a signal processor 309 , converts the received if signal to a digital signal , performs a fast fourier transform ( fft ) on the signal , and gets the ground speed and angular velocity of the vehicle from peaks of the result . the signal processing board 1301 receives if signals from three transceiving means 902 ( a ), 902 ( b ), and 902 ( c ). this board 1301 is also equipped with a storage section that stores the location of the ground - speed measuring apparatus on the vehicle ( e . g . deviation from the center of rotation of the vehicle ) and the mounting angle of the apparatus on the vehicle ( e . g . angle between the wave transmission direction and the movement of the vehicle ). this board 1301 calculates the ground speed and other values of the vehicle from peaks detected in three if signals sent from three transceiving means and information related to their installation using the above equations ( 1 ) to ( 14 ). a power supply board 1302 in the box 901 receives electric power from the outside of the apparatus , converts it to voltages fit to the transceiving means 902 ( a ), 902 ( b ), and 902 ( c ), and sends the voltages to the transceiving means . the box 901 is equipped with a single connector that contains power supply wires from the in - vehicle power supply and output signal wires to output the result of measurement such as a ground speed from the signal processing board to the outside of the apparatus . as these three transceiving means share the power supply board 1302 and the signal processing board 1301 in this way , the apparatus can be simplified , down - sized and be placed anywhere under the vehicle floor . further , although the measuring means using electric waves must have a common ground potential , these three transceiving means can easily have a common ground potential by sharing the power supply board 1302 . furthermore , this embodiment has the power supply board 1302 and the signal processing board 1301 at an identical horizontal level . this structure can reduce the height of the box 901 and release the dimensional limitation of the box under the vehicle floor . fig1 is a variation of the embodiment of fig1 . although the embodiment of fig1 can reduce the height of the box 901 as it has the power supply board 1302 and the signal processing board 1301 at an identical horizontal level , its horizontal dimensions cannot be reduced so much . in contrast , this embodiment piles up these boards 1301 and 1302 . this makes the vertical dimensions of the box 901 a little greater than those of the embodiment but can reduce the horizontal dimensions of the box . there are various kinds of vehicles from light cars to heavy - duty trucks and they have various dimensional limitations . for example , a box that is smaller in horizontal dimensions may be preferable for light cars and compact cars whose under - floor areas are limited . further , a box that is smaller in vertical dimensions may be preferable for off - road vehicles to secure a greater vehicle height . accordingly , box structures of fig1 and fig1 can be selectively used according to the types and uses of vehicles . referring to fig1 , an embodiment of the transceiving means 902 ( a ), 902 ( b ), and 902 ( c ) will be explained in more detail below . in fig9 to fig1 , only the transceiving section 902 ( equivalent to the transceiving means 200 , 201 , and 202 in fig1 and the transceiving means 200 in fig3 ) is explained and it seems like a flat plate . actually , however , it is built up as a transceiving means ( equivalent to the transceiving means 100 , 101 , and 102 in fig1 ) that includes a circuit to transmit an electric wave from the relevant transceiving section . as shown in fig1 , the transceiving means 1500 is equipped with a high - frequency circuit board 1501 . this high - frequency circuit board 1501 is equipped with a microwave monolithic integrated circuit ( mmic ) 1502 . the mmic 1502 is an integrated circuit comprising a transceiving section 200 ( transmitter and receiver ), a modulator 303 , a transmitter 304 , and a mixing circuit 305 . it transmits an electric wave , receives its reflection on the ground , and mixes the transmitted and received waves . further , it amplifies the resulting low - frequency signal ( which is also termed as an intermediate frequency ( if ) signal ). the amplified signal is sent to the signal processing board 1301 of fig1 and so on . here , signal wires 1506 and power supply wires 1507 from the high - frequency circuit board 1501 are connected to the connector on the cover 1513 . the high - frequency circuit board 1501 receives power from the outside and transfers signals to and from the outside through this connector . as for a doppler ground - speed measuring apparatus like this embodiment using electric waves , electric waves transmitted from the transceiving means spread wide at a certain angle . when the electric waves spreads , the transceiving means receive innumerable reflected waves of different velocity components in every direction . this may decrease the accuracy of velocity measurement . therefore , it is ideal that the electric waves are emitted like a straight line ( 1510 ) as shown in fig1 . however , as the spreading angle of electric waves is approximately in inverse proportion to the width of the transceiving means , the spreading angle of the electric waves may be greater as the transceiving means is made smaller . to converge the electric waves that are transmitted from the transceiving antenna , this embodiment provides a primary lens in the wave transmission side of the transceiving section 200 of mmic 1502 . it is preferable that the primary lens 1503 is shaped convex as shown in fig1 ( b ). this lens shape can converge the electric waves transmitted from the transceiving section to a predetermined angle . this configuration can increase the accuracy of measurement of a ground speed of the vehicle while reducing the size of the transceiving section . further , this embodiment places a secondary lens 1504 before the primary lens to converge the transmitted waves further ( 1511 ). it is more preferable to mount the ground - speed measuring apparatus on the vehicle with the focus 1512 put on the road surface because the same effect as the electric waves are transmitted in a straight line can be obtained . fig1 is a variation of the transceiving means 100 , 101 , and 102 of fig1 and others . the embodiment of fig1 is the same as the embodiment of fig1 but the embodiment of fig1 has a power supply board 1601 in the transceiving means 100 . in this case , the common power supply board 1302 like that of fig1 is not needed but each transceiving means must be equipped with a power supply board 1601 . each of these power supply boards 1601 receives power from the in - vehicle power supply such as a car battery , converts it to a proper voltage , and supplies it to the high - frequency circuit board 1501 and so on . the power supply board 1601 is connected to the high - frequency circuit board 1501 with the power wires 1604 and the connector 1605 . the power supply board 1601 receives power from the outside of the transceiving means 100 through the power lines 1604 and the connector 1605 . each transceiving means ( 100 , 101 , or 102 ) of the embodiments of fig1 and fig1 contains a high - frequency circuit board 1501 or a set of a high - frequency circuit board 1501 and a power supply board 1601 in a cylindrical structure 100 c having an opening ( whose sectional shape can be any of a circle , a polygon , and an irregular figure ). the cylindrical structure 100 c has flange - like protrusions 100 a and 100 b on the inner wall of the structure 100 c . when the high - frequency circuit board 1501 is inserted into the cylindrical structure 100 c , its peripheral edges are stopped and supported by the flange - like protrusion 100 a . in this case , the high - frequency circuit board 1501 is installed with the transceiving antenna and the primary lens projected from the central opening of the flange 100 a . to enable accurate positioning of the high - frequency circuit board 1501 in the structure 100 c , projection 100 a , or the high - frequency circuit board 1501 can have protrusions , dents , or both to be fit to each other . in the embodiment of fig1 , the power supply board 1601 is butted with the protrusion 100 b . the high - frequency circuit board 1501 is first inserted into the cylindrical structure through the central opening of the flange - like protrusion 100 b and then the power supply board 1601 is inserted into the cylindrical structure . after the power supply board 1601 is installed , the opening of the structure is closed with a cover 1513 . a connector 1505 can be provided on the cover 1513 to connect signal wires , power wires , or both to the outside . this enables installation of a connector on a place of a simpler shape even when the cylindrical structure has a complicated shape . this makes the production of the apparatus easier . furthermore , the embodiments of fig1 and fig1 respectively have a secondary lens 1504 on an opening of the structure opposite to the opening through which the high - frequency circuit board is inserted . this makes adjustment of the mounting angle and location of the secondary lens . when the lens 1504 also works as the cover of the opening , the number of parts of the apparatus can be reduced . this invention can improve the measuring performance of a ground speed measuring apparatus and enables a single ground speed measuring apparatus to measure velocities in the fore , aft , and athwartship directions , side - skid angles of the vehicle , and angular velocities of the vehicle .