| 摘要 |
PROBLEM TO BE SOLVED: To calculate a position with high precision without being affected by gravitational acceleration by calculating the speed in the X-axis direction based on the detected results of a sensor detecting the acceleration in the Y-axis direction and a sensor detecting the angular velocity in the yaw-direction. SOLUTION: A main CPU 10 mainly executes a program and stores data and the program in a memory 12. A peripheral control device 13 is connected to a sub-CPU 11, and it controls peripheral devices via commands from the main CPU 10. Outputs of a sensor section 3 are fed to the sub-CPU 11. An acceleration sensor 20 of the sensor section 3 detects the acceleration in the Y-axis direction perpendicular to the advancing direction, and an angular velocity sensor 21 detects the yaw-angular velocity in the horizontal plane. The sub-CPU 11 makes an input calculation based on the detected outputs of them, feeds the data of calculated results to the main CPU 10 via the peripheral control device 13, makes a position calculation to determine the present position, stores the present position information in the memory 12, and feeds it to the peripheral control device 13. |
