| 摘要 |
PROBLEM TO BE SOLVED: To correct the error from vertical direction of a calculated attitude in a three-dimensional image detector for calculating the change of the attitude by use of an angular speed sensor. SOLUTION: This three-dimensional image detector comprises an angular sensor 46 and an acceleration sensor 48 for detecting the angular speed and acceleration concerning three axes fixed to the body 10 of this detector. The detected angular speed and acceleration are integrated, whereby the present attitude and position of the body 10 are calculated as the rotation and parallel movement from the initial attitude and position. The calculated rotation matrix is represented by a prescribed Eulerian angle of a Cartesian coordinates system fixed to the body 10 so that one coordinate axis is conformed to the upper direction of the body 10. The present attitude of the body 10 is represented by a rotating conversion with the Eulerian angle of 0 except the coordinate axis conformed to the upper direction of the body 10. |
