MOVING BODY POSTURE ANGLE DETECTING APPARATUS

摘要

PROBLEM TO BE SOLVED: To detect the posture angle of a moving body by preventing the accumulation of integration errors by means of a simple structure without using an expensive, highly accurate angular velocity sensor.SOLUTION: The apparatus has: an angular velocity sensor 10 for detecting an angular velocity of the moving body; an acceleration sensor 20 for detecting an acceleration of the moving body; a means 15 for calculating a small angle quaternion which defines a small rotation angle after passing a short period of time ts from the angular velocity; a means 22 for calculating a tilt angle from the acceleration; a means 25 for calculating an acceleration system quaternion from the tilt angle; a difference calculating means 30 for calculating, as an error, a difference between the low range component of an angular velocity system quaternion and the low range component of the acceleration system quaternion; an error removing means 32 for removing the error from the angular velocity system quaternion; an outputting means 34 for calculating a posture angle from the angular velocity system quaternion from which the error is removed and outputting as the posture angle of the moving body.