| 摘要 |
To provide an attitude-angle detecting apparatus, which detects an attitude angle of a mobile object during movement with good accuracy by correcting an output value from an acceleration sensor, and to provide a method for the same. It is characterized in that it comprises an acceleration sensor 2 for measuring an acceleration being applied to a mobile object 7, a yaw-rate sensor 3 for measuring a yaw rate of the mobile object 7, a speed sensor 4 for measuring a speed of the mobile object 7, a mobile-component acceleration calculating means 5 for calculating an actual acceleration from the speed, calculating a centrifugal force from the yaw rate and the speed and calculating a mobile-component acceleration, a resultant force of the actual speed and the centrifugal force, and an attitude-angle calculating means 6 for calculating an attitude angle from a gravitational acceleration, which is obtainable by correcting the acceleration with the mobile-component acceleration.
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