| 摘要 |
Provided is a rotary information computation method that can eliminate measurement lag of a magnetic gyroscope. This rotary information computation method determines the angular velocity vector of a moving body divided into the magnitude and direction (rotational axis vector) thereof. Also, the method for computing the rotational axis vector is altered depending on whether the rotational mode of the moving body is a stationary-axis rotational mode or a free-axis rotational mode. In the case of the stationary-axis rotational mode, the rotational axis vector is determined by means of the cross product of two difference vectors. In the case of the free-axis rotational mode, the determination is made by calculating the cross product of a difference vector and a radius vector on the basis of a set instantaneous rotational coordinate system. At such a time, the rotational axis vector (ni-1) calculated at a particular time (ti-1) is used (i.e. as feedback) to compute the rotational axis vector (ni) at the immediately following time (ti (= ti-1+&Dgr;t)). |
