| 摘要 |
<P>PROBLEM TO BE SOLVED: To calculate an attitude angle at a high speed. <P>SOLUTION: The attitude angle calculation device includes: state detection means for detecting a state amount of a moving body; quaternary calculation means for calculating quaternary showing an attitude of the moving body on the basis of the state amount of the moving body detected by the state detection means; correction means for canceling a yaw axis component in the quaternary calculated by the quaternary calculation means to calculate a corrected quaternary (Qmod=w+xi+yj+zk) by correcting the quaternary; and attitude angle calculation means for calculating a roll angle α and a pitch angle β of the moving body at a high speed using an approximate expression, on the basis of the corrected quaternary calculated by the correction means. <P>COPYRIGHT: (C)2013,JPO&INPIT |
