| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and an apparatus for suppressing error accumulation at the integration of angular velocities for determining angles without the need for information on a stationary state or acquiring discrete angles, and to provide an attitude control apparatus and a carriage. SOLUTION: Every time an angular velocityω<SB>t</SB>is acquired (S13), the corrected value (ω<SB>t</SB>-B<SB>t</SB>) of the angular velocity is computed through the use of an amount of correction B<SB>t</SB>determined for every turn of measurement (S14). (ω<SB>t</SB>-B<SB>t</SB>) is integrated to obtain computed angle valueθ<SB>t</SB>(S15) and acquire measured angle valueϕ<SB>t</SB>(S16). According to the value of difference between the measured angle valueϕ<SB>t</SB>and the computed angle valueθ<SB>t</SB>, the amount of correction B<SB>t+1</SB>to be used for the next turn is determined (S17). Every time this processing is repeated to measure angular velocities, values of angular velocities are dynamically corrected to suppress error accumulation. COPYRIGHT: (C)2004,JPO&NCIPI
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