| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a device for estimating condition of a moving body capable of measuring the position and direction (posture) of the moving body and estimating the condition of the same based on a self-contained type measuring means of the moving body. <P>SOLUTION: An acceleration vector-measuring means 1002 and an angular speed vector-measuring means 1001 are measuring means installed on the moving body and measure the acceleration vector and the angular speed vector of the moving body. A posture angle estimating device 1004 inputs the acceleration vector (sensor coordinate system) and the angular speed vector (sensor coordinate system) and estimates the posture angle of the same. An acceleration vector/angular speed component disassembling device 1005 outputs output data of total 6 components of an acceleration component in a gravity direction, an angular acceleration component around a gravity axis, an acceleration component in a travelling direction, an angular speed component around the travelling axis, an acceleration component in a lateral direction, an angular speed component around a lateral axis to the moving body from the above three kinds of outputs, and the movement of the moving body is discriminated by the mighty discriminators 1011 to 101x. <P>COPYRIGHT: (C)2012,JPO&INPIT</p> |
