| 摘要 |
PROBLEM TO BE SOLVED: To provide an attitude smoothing method capable of removing blur from a time series of attitude information including the blur. SOLUTION: An operation means 3 grasps a time series of original attitude information taken from a means 1 for preserving the time series of the attitude information including the blur as a time series of quaternion expressing the attitude, applies each different correction rotation thereto, determines the degree of deviation from the time series of the original attitude information based on the amount of the correction rotation, determines the degree of bending based on a curve passing the time series of the attitude to which the correction rotation is applied, and calculates the time series of the quaternion wherein an evaluation value defined by the degree of deviation and the degree of bending becomes minimum. COPYRIGHT: (C)2008,JPO&INPIT
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