MOVING BODY ATTITUDE ANGLE DETECTING DEVICE

摘要

PROBLEM TO BE SOLVED: To estimate an attitude angle with high precision by providing an attitude estimation unit having attitude angle correcting algorithm adaptive even to varying sampling cycles of a rough attitude angle signal even if the sampling cycles vary owing to electromagnetic shielding and communication delay as to constitution which has a precise angular speed sensor such as a gyro and a rough attitude angle detecting means such as GPS mounted on a moving body to measure the attitude angle. SOLUTION: This moving body attitude angle detecting device stores the precise angular speed detection signal 12a detected by the precise angular speed sensor 12 to an angular speed data memory 14 and the rough attitude angle signal 13a detected by the rough attitude angle detecting means 13 to an attitude angle data memory 15 by a plurality of samples respectively. A data sampling cycle detector 16 detects the sampling cycles 16 a of the rough attitude angle signal 12a and precise angular speed signal 13a respectively. The attitude angle estimation unit 11 estimates the attitude angle 11a of the moving body according to an angular speed data sequence signal 14a and the sampling cycles 16 of the attitude angle and angular speed.