| 摘要 |
PROBLEM TO BE SOLVED: To estimate posture while suppressing a processing load.SOLUTION: A posture estimation device, provided in a portable apparatus 1 equipped with a magnetometric sensor 70 for periodically detecting magnetic components in three directions and successively outputting the detection result as magnetic data m and an angular velocity sensor 90 for periodically detecting angular velocity in three directions and successively outputting the detection result as angular velocity data ω, for estimating the posture q of the portable apparatus 1, the posture estimation device being characterized by including: a posture prediction unit 21 for predicting, on the basis of the angular velocity data ω, the posture q of the portable apparatus 1 at the current time of day from the posture q of the portable apparatus 1 at a time of day past the current time of day; a posture correction unit 22 for correcting the prediction result of the posture prediction unit 21 on the basis of the magnetic data m; and an estimated posture output unit 23 for outputting either the prediction result of the posture prediction unit 21 or the correction result of the posture correction unit 22 as the estimated value of the posture q of the portable apparatus 1.SELECTED DRAWING: Figure 4 |
