| 摘要 |
PURPOSE:To obtain a small-sized, light-weighted portable apparatus by detecting the angluar velocities and the accelerations around the three orthoaxes of a three-dimensional space by gyros and accelerometers, operating and outputting the attitude angle, the azimuth angle and the position from both the signals. CONSTITUTION:A sensor section A has gyros 1-3 and accelerometers 4-6 corresponding to X-, Y- and Z-axes of a space. High-frequency noises are respectively removed from angular velocity signals and acceleration signals output from them by signal processors 7, A/D-converted, and input to an operation part B. The operation part B filter-operates both the signals by a microprocessor 8, corrects them, and converts them into gravities and angular velocities. A static oblique angle is obtained from the gravity, and a dynamic oblique angle is obtained from the velocity. Both are normalized to obtain an oblique angle, negatively fed back to the dynamic angle to obtain an accurate azimuth angle. The acceleration which is filter-operated is velocity coordinate-transformed to obtain the moving distance and the position. The apparatus uses piezoelectric type vibration gyros 1-3 to be reduced in the size and weight and easily to be portable. |
