| 摘要 |
PROBLEM TO BE SOLVED: To ease limitations on a use place by setting gyros for detecting angular velocities about orthogonal X and Y axes on a horizontal plane and about a Z axis perpendicular to the horizontal plane, and predetermined acceleration and terrestrial magnetism sensors. SOLUTION: The attitude angle-detecting apparatus used in a head mount display or the like has, e.g. a motion angle detection means 11 with a motion angle operation device 18 which operates and obtains a temporary attitude angle from outputs of three gyros 12a-12c, and an angle of friction detection means 21 with an angle of friction operation means 24 which obtains an angle of friction from acceleration sensors 23a and 23b and terrestrial magnetism sensors 22a and 22b for detecting an acceleration and a terrestrial magnetism of two axes orthogonal on an X-Y plane. A judgment device 32 judges whether or not an attitude angle obtained by the angle of friction detection means 21 includes an error. An attitude angle operation device 42 processes signals from the motion angle operation device 18, angle of friction operation device 24 and judgment device 32, so that the attitude angle can be outputted at high speed without a cumulative error and without an effect by magnetic noises. |
