发明名称 |
Moving body posture angle processing device |
摘要 |
A moving body attitude angle processing apparatus capable of reducing cumulative errors in continuously measuring the attitude angle of a moving body is provided. The moving body attitude angle processing apparatus estimates the attitude angle of a moving body in accordance with outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor that are mounted to the moving body, and outputs the attitude angle thus estimated. The moving body attitude angle processing apparatus includes: a gyro sensor that outputs an angular velocity vector; an acceleration sensor that outputs an acceleration vector; a magnetic sensor that outputs a magnetic field vector; a movement state determining device that determines a movement state of a moving body in accordance with an output from the acceleration sensor; and a gyro-sensor zero-point output estimating device that, when the movement state determining device determines the movement state to have been detected as a stationary state of the moving body, carries out a process of estimating a zero-point output of the gyro sensor in accordance with the output from the acceleration sensor, an output from the magnetic sensor, and an output from the gyro sensor. |
申请公布号 |
US8758275(B2) |
申请公布日期 |
2014.06.24 |
申请号 |
US200913001483 |
申请日期 |
2009.07.02 |
申请人 |
National Institute of Advanced Industrial Science and Technology |
发明人 |
Kourogi Masakatsu;Kurata Takeshi |
分类号 |
A61B5/103;A61B5/117;G01C9/00;G01C17/00;G01C19/00 |
主分类号 |
A61B5/103 |
代理机构 |
Renner, Otto, Boisselle & Sklar, LLP |
代理人 |
Renner, Otto, Boisselle & Sklar, LLP |
主权项 |
1. A moving body attitude angle processing apparatus for estimating an attitude angle of a moving body in accordance with outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor that are mounted to the moving body, and for outputting the attitude angle thus estimated, the moving body attitude angle processing apparatus comprising:
a gyro sensor that outputs an angular velocity vector; an acceleration sensor that outputs an acceleration vector; a magnetic sensor that outputs a magnetic field vector of an ambient magnetic field that is different from a geomagnetic field; a movement state determining device that determines a movement state of a moving body in accordance with an output from the acceleration sensor; a gyro-sensor zero-point output estimating device that, when the movement state determining device determines the movement state to have been detected as a stationary state of the moving body, carries out a process of estimating a zero-point output of the gyro sensor in accordance with the output from the acceleration sensor, an output from the magnetic sensor, and an output from the gyro sensor, the gyro-sensor zero-point output estimating device is embodied by an extended Kalman filter having, as its components, only a gravitational acceleration vector, a magnetic field vector of the ambient magnetic field, an angular velocity vector, and an offset value of zero-point output of angular velocity by the gyro sensor, a zero point of the gyro sensor being corrected by utilizing an output from the gyro-sensor zero-point output estimating device; and an attitude angle estimating device that estimates the attitude angle in accordance with the outputs from the acceleration sensor, the magnetic sensor, and the gyro sensor.
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地址 |
Tokyo JP |