DISTANCE CALCULATION DEVICE AND CALCULATION PROGRAM
First Claim
1. A distance calculation device which calculates a distance between a movable body and a fixed subject, comprising:
- azimuth angle calculating unit calculating as an azimuth angle an angle made by a direction connecting the movable body to the subject and a traveling direction of the movable body on a horizontal plane;
traveled distance calculation unit calculating a traveled distance between two points of time of the movable body;
amount-of-angular-change calculating unit calculating a rotation angle of a movable body on a vertical axis passing through a centroid of a movable body between two points of time as an amount of angular change in a traveling direction; and
linear distance calculating unit calculating a linear distance between the movable body and the subject using output of the azimuth angle calculating unit, the traveled distance calculation unit, and the amount-of-angular-change calculating unit.
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Accused Products
Abstract
It is intended to accurately calculate the distance between a movable body and a subject on the basis of various quantities of state, such as the azimuth angle between the movable body and the subject, velocity, and yaw rate. A calculation device comprises a unit for calculating the azimuth angle between movable body and a subject, a unit for calculating the distance traveled by the movable body between two points of time, a unit for calculating a change in angle in the direction of movement, and a unit for calculating the linear distance from the movable body to the subject by using the unit.
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Citations
16 Claims
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1. A distance calculation device which calculates a distance between a movable body and a fixed subject, comprising:
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azimuth angle calculating unit calculating as an azimuth angle an angle made by a direction connecting the movable body to the subject and a traveling direction of the movable body on a horizontal plane;
traveled distance calculation unit calculating a traveled distance between two points of time of the movable body;
amount-of-angular-change calculating unit calculating a rotation angle of a movable body on a vertical axis passing through a centroid of a movable body between two points of time as an amount of angular change in a traveling direction; and
linear distance calculating unit calculating a linear distance between the movable body and the subject using output of the azimuth angle calculating unit, the traveled distance calculation unit, and the amount-of-angular-change calculating unit. - View Dependent Claims (2, 3, 4, 5)
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6. The device according to claim distance calculating device 1, further comprising:
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a yaw rate sensor detecting a rotation angular velocity on a vertical axis of the movable body, and providing the velocity for the amount-of-angular-change calculating unit; and
distance estimation unit estimating a distance on a traveling orbit from the movable body to the subject using the yaw rate sensor and the linear distance calculating unit. - View Dependent Claims (7)
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8. A distance calculation device which calculates a distance between a movable body and a fixed subject, comprising:
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elevation angle calculation unit calculating as an elevation angle an angle made by a direction connecting the movable body to the subject and a horizontal plane;
traveled distance calculation unit calculating a traveled distance between two points of time of the movable body;
pitching angle calculation unit calculating as a pitching angle a rotation angle of the movable body on a horizontal plane depending on a traveling direction and a vertical direction of the movable body; and
traveling direction distance calculation unit calculating a component in a traveling direction of a linear distance from the movable body to the subject using output of the elevation angle calculation unit, the traveled distance calculation unit, and the pitching angle calculation unit. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A computer-readable storage medium storing a program used to direct a computer which calculates a distance between a movable body and a fixed subject to perform a process, comprising:
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a step of calculating as an azimuth angle an angle made by a direction connecting the movable body to the subject and a traveling direction of the movable body on a horizontal plane;
a step of calculating a traveled distance between two points of time of the movable body;
a step of calculating a rotation angle of a movable body on a vertical axis passing through a centroid of a movable body between two points of time as an amount of angular change in a traveling direction; and
a step of calculating a linear distance between the movable body and the subject using the calculated azimuth angle, traveled distance, and amount of angular change.
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Specification