| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a road surface gradient calculation device and method that can calculate road surface gradient on a traveling mobile body in real time and with high accuracy. <P>SOLUTION: A road surface gradient calculation device 10 includes: a Global Positioning System (GPS) receiver 101 installed in a mobile body to receive GPS carrier waves from a GPS satellite; and an Inertial Measurement Unit (IMU) 102 installed at a substantial center-of-gravity position of the mobile body to output data for determining three-dimensional angular speed and acceleration. The road surface gradient calculation device 10 processes the GPS carrier waves received by the GPS receiver 101 and the data outputted by the IMU 102 by a Kalman filter to calculate speed, integrate the horizontal direction speed of the calculated speed to calculate a horizontal direction relative distance, integrate the vertical direction speed of the calculated speed to calculate a vertical direction relative distance and calculate the road surface gradient on the basis of the calculated horizontal direction relative distance and the calculated vertical direction relative distance for each section where the calculated horizontal direction relative distance becomes a prescribed horizontal direction distance. <P>COPYRIGHT: (C)2013,JPO&INPIT |
