| 摘要 |
PROBLEM TO BE SOLVED: To have an algorithm not lowering accuracy in any attitude, and to acquire an ideal attitude angle detection device by the algorithm. SOLUTION: This attitude angle detection device is constituted of three gyroscopes, a moving angle operation device for operating a moving angle in a unit time by two kinds of Euler angles based on an output corresponding to an angular velocity of the gyroscope, an acceleration sensor for detecting a biaxial acceleration, an earth magnetism sensor for detecting a biaxial earth magnetism, a static angle operation device for operating rotation angles around the X-axis, the Y-axis and the Z-axis by the two kinds of Euler angles based on outputs from the acceleration sensor and the earth magnetism sensor, a discrimination device for discriminating genuineness of an operation result, an attitude angle operation device for operating the attitude angle by the two kinds of Euler angles according to the operation result from the discrimination device, and an Euler angle conversion operation device for selecting an Euler angle to be used having a small error from between the two kinds of Euler angles and converting it into the other Euler angle. COPYRIGHT: (C)2006,JPO&NCIPI
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