APPARATUS AND METHOD FOR ESTIMATING ATTITUDE USING INERTIAL MEASUREMENT EQUIPMENT AND PROGRAM

摘要

The attitude estimating apparatus comprising a Kalman filter (3) receiving a state quantity omega (t) from an inertial measurement equipment (1), inputting it into predetermined system equation and observation equation and performing time update and observation update processing thereof, a processing section (4) for generating an estimate of the time derivative of a correction Rodrigues parameter alpha (t) based on the output from the Kalman filter, an integrating section (5) for generating an estimate of the correction Rodrigues parameter based on the output from the processing section, a system propagation matrix generating section (6) for updating an observation sensitivity matrix based on a previously provided initial value and an output from the integrating section and supplying an updated output to the Kalman filter, a conversion matrix generating section (7) for generating a coordinate conversion matrix R based on an output from the integrating section, and a section (8) for estimating the attitude based on an output from the conversion matrix generating section.