| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an attitude estimation apparatus capable of appropriately and highly accurately performing an attitude estimation by compensating for outputs of a plurality of different sensors using an inverse transfer function of linear dynamic characteristics of the sensors, applying filtering in accordance with the inverse transfer function and finally performing attitude conversion. <P>SOLUTION: Inverse models of an angular velocity sensor 10 and a tiltmeter 20 are separated into a dynamic characteristic compensation portion and an attitude conversion portion. For sensor dynamic characteristics, a transfer function is identified as approximate linear characteristics, the inverse transfer function is used to compensate for characteristics, and a filter is designed in accordance with the inverse transfer function. Since filtering is applied prior to attitude converting arithmetic operation into an output signal, while expanding an effective frequency domain with characteristic compensation using the inverse transfer function, a proper transfer function can be provided for a product of the inverse transfer function and a transfer function of the filter. Further, an attitude estimation can be executed with secure arithmetic operation processing, and the attitude estimation can be performed accurately according to an approach of a complementary filter using a plurality of sensors. <P>COPYRIGHT: (C)2013,JPO&INPIT |
