| 摘要 |
From a first estimation value of attitude of equipment at a first time, a second estimation value of attitude of the equipment at a second time is derived. For this purpose, a predicted value of the attitude at the second time is generated by applying the first estimation value to a state transition model indicating transition of attitude of the equipment. Then, a difference between the predicted value of the attitude and a true value of the attitude of the equipment is calculated based on data outputted from a sensor in the equipment to thereby generate an estimated attitude error between the predicted attitude and true attitude of the equipment. Further, a specific attitude component is extracted from a plurality of attitude components of the estimated attitude error. Lastly, the second estimation value is calculated based on the predicted value of the attitude and the specific attitude component. |
