APPARATUS FOR ESTIMATING ATTITUDE AND METHOD FOR ESTIMATING ATTITUDE

摘要

The present invention relates to an attitude estimating apparatus and an attitude estimating method. According to an embodiment of the present invention, an attitude estimating apparatus comprises: a sensor unit which has a speed sensor, an earth magnetic field sensor, and a gyro sensor; an orientation calculation unit which calculates orientation using data measured by the sensor unit; a gyro integration attitude updating unit which updates a gyro integration attitude by performing integration from a compensation value provided by the gyro sensor; a prediction model execution unit which performs a calculation of a prediction model of the Kalman filter; a measurement model execution unit which performs a calculation of a measurement model of the Kalman filter; a sensor calibration unit which compensates the calibration values of the speed sensor, the earth magnetic field sensor, and the gyro sensor by using perturbation when the perturbation is detected; and a noise covariance correction unit which corrects process noise covariance from an estimated state variable.