| 摘要 |
PROBLEM TO BE SOLVED: To provide a compact attitude sensor capable of calculating easily a Kalman gain and a quaternion to mount practically an attitude sensor, capable of reducing a size, and allowing real time processing. SOLUTION: This compact attitude sensor is provided with an angular velocity sensor 101 for measuring angular velocities on three independent axes of a moving object, an acceleration sensor 102 for measuring accelerations on the three independent axes of the moving object, a geomagnetic sensor 103 for measuring geomagnetisms on the three independent axes of the moving object, and an arithmetic processing part 104 for calculating an estimated value of the quaternion, based on measured values in the angular velocity sensor 101, the acceleration sensor 102 and the geomagnetic sensor 103, wherein the estimated value of the quaternion is output as a three-dimensional attitude angle expressed by the quaternion. COPYRIGHT: (C)2007,JPO&INPIT |
