| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a new method for appropriately obtaining the acceleration of a mobile. <P>SOLUTION: The acceleration of a mobile in a B-frame being a local coordinate system detected by an acceleration sensor 2 installed in the mobile is converted into an acceleration (an N-frame acceleration) in an N-frame being an absolute coordinate system through the use of a detection result of a gyrosensor 3 installed in the mobile. That is, a posture of the mobile is calculated by integrating the detection result of the gyrosensor 3, and the N-frame acceleration is calculated by coordinate conversion processing using the calculated posture. Then, a bias value inherent in the N-frame acceleration is estimated by using Kalman filter processing where the acceleration is adopted as an observed value, so that the N-frame acceleration is corrected by using the bias value. <P>COPYRIGHT: (C)2012,JPO&INPIT |
