| 摘要 |
PROBLEM TO BE SOLVED: To provide a widely usable attitude angle detecting device used for attitude control and detection of a mobile, moderated with limitation for the place or environment to use. SOLUTION: This device is provided with three gyroscopes 5, 6, 7, two acceleration sensors 10, 11, two geomagnetic sensors 8, 9, a moving angle arithmetic device 31 for detecting a moving angle on the basis of the angle speed outputted by the three gyroscopes 5, 6, 7, an angle of repose arithmetic device 32 for detecting the attitude angle on the basis of acceleration and geomagnetism, a judging device 33 for judging the justice of the angle of repose detection result, and an attitude posture angle arithmetic device 30 for calculating the attitude angle to be outputted by use of the operation results of the moving angle arithmetic device 31 and the angle of repose arithmetic device 32 according to the operation result of the judging device 33. This device detects the attitude angle of a mobile without using an external signal generating source. |
