ATTITUDE ANGLE PROCESSING UNIT AND ATTITUDE ANGLE PROCESSING METHOD

摘要

PROBLEM TO BE SOLVED: To provide an attitude angle processing unit for accurately obtaining attitude angle information. SOLUTION: The attitude angle processing unit comprises a magnetic sensor; a gravitational acceleration sensor; a position information acquiring unit for acquiring the absolute position of a current position; and an inclination database unit for storing the correspondence between the absolute position and geomagnetism inclination at the point. An inclination estimation verifying apparatus reads the geomagnetism inclination of the current position from the inclination database unit, based on the absolute position of the current position, and obtains an angle formed by a horizontal surface and a magnetic vector by the magnetic vector detected by the magnetic sensor and a gravitational acceleration vector detected by the gravitational acceleration sensor. The angle formed by the magnetic vector and the horizontal surface is compared with the geomagnetism inclination of the current position. When the error is within a fixed range, a true signal for indicating that the magnetic vector detected by the magnetic sensor is reliable as a geomagnetism vector is outputted. Otherwise, a false signal for indicating that the current magnetic vector is not reliable is outputted. COPYRIGHT: (C)2004,JPO&NCIPI