| 摘要 |
PROBLEM TO BE SOLVED: To accurately measure an attitude angle irrespective of a motion of a measuring objective portion. SOLUTION: This attitude angle detector 10 is provided with a gyro sensor 12 for detecting a rotational angular velocity of the measuring objective portion, an acceleration sensor 13 for detecting respective accelerations along two orthogonal directions in the measuring objective portion, and a computing means 15 for computing the attitude angle of the measuring objective portion, based on detection values from the gyro sensor 12 and the acceleration sensor 13. The computing means 15 is provided with an angular velocity processing part 17 for finding an rotation angle along an objective direction in a prescribed frequency or more of high-frequency component, based on the detection value from the gyro sensor 12, an acceleration processing part 18 for finding an rotation angle along the objective direction in a frequency less than the prescribed frequency of low-frequency component, based on the detection value from the acceleration sensor 13, and an attitude angle determination part 20 for adding the respective rotation angles found in the angular velocity processing part 17 and the acceleration processing part 18 to find the attitude angle. COPYRIGHT: (C)2007,JPO&INPIT
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