| 摘要 |
<p>A geomagnetism sensing device which has a three-axis sensor that detects geomagnetism and which can accurately calculate an angular velocity or the like at each point of time even when complicated movement is performed is provided. An X-axis sensor, a Y-axis sensor, and a Z-axis sensor that detect a geomagnetic vector are provided, and the direction of the geomagnetic vector is sought on a spherical coordinate Bb from the detection output of each sensor. A reference axis z0 is determined in the spherical coordinate Bb, a hypothetical central point Of is sought on the reference axis z0 depending on data Sa and Sc of two coordinate detection points, a perpendicular line Vg to a plane that includes vectors Va and Vc from the hypothetical central point Of to the respective data Sa and Sb is sought from the cross product of the vectors Va and Vc, an axis that is parallel to the perpendicular line Vg and passes through an origin Og is set to be a calculated rotational axis Ia, and movement centered around the calculated rotational axis Ia is specified.</p> |
