Amount-of-shake sensing apparatus, imaging apparatus, and method of detecting the amount of shake

摘要

The apparatus of the invention is characterized by executing first integration operation for time-integrating the first acceleration to calculate a first velocity, second integration operation for time-integrating the first velocity to calculate an amount of movement in the first axial direction, estimation operation for calculating an estimated first velocity in the first axial direction based on a first velocity change found by time integration of the first acceleration from a first timing at which the third angular velocity becomes zero to a second timing at which the third angular velocity again becomes zero, the second angular velocity at the first timing, and the second angular velocity at the second timing, and update operation for updating the first velocity calculated in the first integration operation to the estimated first velocity estimated in the estimation operation.

主权项

1. An amount-of-shake sensing apparatus, comprising:
a first acceleration sensor which detects a first acceleration in a direction of a first axis, a second angular velocity sensor which detects a second angular velocity around a second axis that is orthogonal to the first axis, a third angular velocity sensor which detects a third angular velocity around a third axis that is orthogonal to the first axis and the second axis, and a movement calculator which calculates an amount of movement in the direction of first axis based on the first acceleration, the second angular velocity and the third angular velocity, wherein: the first movement calculator executes: a first integration operation for time-integrating the first acceleration to calculate a first velocity, a second integration operation for time-integrating the first velocity to calculate an amount of movement in the direction of the first axis, an estimation operation for calculating an estimated first velocity in the direction of the first axis based on an amount of the first velocity changes found by time integration of the first acceleration from a first timing at which the third angular velocity becomes zero to a second timing at which the third angular velocity again becomes zero, the second angular velocity at the first timing, and the second angular velocity at the second timing, and an update operation for updating the first velocity calculated in the first integration operation to the estimated first velocity estimated in the estimation operation.