| 摘要 |
PROBLEM TO BE SOLVED: To provide an attitude angle measuring instrument for highly accurately measuring an attitude angle of a movable body with a comparatively small-scale structure. SOLUTION: Based on present position information "ap", a first piece of state information "sa" on the movable body and a command signal "ca" corresponding to a control target as to the movable body are outputted by a navigation controller 8. A rate estimator 4 is used to estimate a second piece of angular velocity information "aq" on the movable body based on acceleration information "ac" and the position information "ap". A determiner 5 is used to determine which is the better in accuracy of the two, a first piece of angular velocity information "aj" and the velocity information "aq", based on reliability information "ra". One better in accuracy is selected and outputted as angular velocity information "am". An attitude angle fixer 7 is used to carry out a prescribed operation on the acceleration information "ac", causing a second piece of angle information to be calculated and a first piece of angle information "an" to be inputted. Based on the reliability information "ra", the second piece of angle information and the first piece of angle information "an" are decomposed on a frequency basis and added up, causing a high-accuracy attitude angle "at" to be fixed up and outputted. COPYRIGHT: (C)2009,JPO&INPIT |
