| 摘要 |
PURPOSE: A method and an apparatus for estimating the posture of objects are provided to accurately confirm the posture of objects by adapting Lie algebra values to a Kalman filter algorithm. CONSTITUTION: The rotation matrix of an object is predicted based on the angular velocity value of the object(430). The rotation error matrix is generated based on a gravity value and a magnetic field value(450). The Lie algebra value of the rotation error matrix is generated. Based on the Lie algebra value, the rotation matrix is corrected according to a Kalman filter algorithm(460).
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