| 摘要 |
<p>Provided is a moving body posture angle processing device which can reduce accumulated errors in continuously measuring the moving body posture angle. The moving body posture angle processing device estimates the posture angle of a moving body according to the outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor which are mounted on the moving body, and outputs the estimation result. The moving body posture angle processing device includes: a moving state determining device which determines the motion state of the moving body according to the outputs of the gyro sensor which outputs an angular velocity vector, an acceleration sensor which outputs an acceleration vector, a magnetic sensor which outputs a magnetic vector, and the output of the acceleration sensor; and a gyro sensor zero point output estimation device which estimates the zero point output of the gyro sensor according to the output of the acceleration sensor, the output of the magnetic sensor, and the output of the gyro sensor when the motion state determination made by the motion state determining device detects that the moving body is in the stop state.</p> |
