| 摘要 |
To accurately calculate an attached angle of an accelerometer and accurately correct an acceleration that is obtained from the accelerometer. A frequency analyzing module 11 of an acceleration corrector 10 divides a sensor coordinate system acceleration into a bias frequency component, a gravity frequency component, a movement acceleration frequency component, and a noise frequency component, through a wavelet transform. The frequency analyzing module 11 outputs only a sum component of the gravity frequency component and the movement acceleration frequency component to an attached angle estimating module 12 and a correcting operation module 13. The attached angle estimating module 12 estimation-calculates the attached angle of an accelerometer 20 based on the acceleration comprised only of the sum component of the gravity frequency component and the movement acceleration frequency component, and outputs it to the correcting operation module 13. The correcting operation module 13 corrects the acceleration, which is comprised only of the sum component of the gravity frequency component and the movement acceleration frequency component, based on the estimation-calculated attached angle to calculate a movable body coordinate system acceleration and outputs it. |
