Method for acceleration estimation, acceleration estimating apparatus, and mobile terminal
First Claim
1. A method for acceleration estimation of estimating a translation contributing acceleration which contributes to a translational movement of a moving object in a measurement result of acceleration along at least two axial directions from among a first axis, a second axis which is orthogonal to the first axis, and a third axis which is orthogonal to the first axis and the second axis, which are defined peculiarly for the moving object, and a rotation contributing acceleration which contributes to a rotational movement, comprising steps of:
- collecting a measurement result of acceleration along the two axes, and a measurement result of an attitude angle which is an angle of rotation from a reference attitude of the moving object;
separating an acceleration frequency in a low-frequency acceleration component and a high-frequency acceleration component in the measurement result of the acceleration along the two axes;
deriving a rate of change of attitude angle at which a time rate of change of the attitude angle is derived; and
estimating the translation contributing acceleration and the rotation contributing acceleration based on the high-frequency acceleration component, the low-frequency acceleration component, the attitude angle, and the time rate of change of the attitude angle.
3 Assignments
0 Petitions
Accused Products
Abstract
Acceleration and attitude angles are measured by sensors mounted on a moving object and the measurement results are collected (step S21, step S22).
The measurement results of acceleration are separated into low-frequency acceleration components and high-frequency acceleration components (step S24), and a time-rate-of-changes of attitude angles are calculated based on the measurement results of the attitude angles (step S25A).
After finishing extraction of the high-frequency acceleration components and the low-frequency acceleration components, and finishing calculation of the time-rate-of-changes of attitude angles, the rotation contributing acceleration and translation contributing acceleration are estimated based on the high-frequency acceleration components, the low-frequency acceleration components, the attitude angles and the time-rate-of-change of attitude angles (step S26A). As a result, a translation contributing acceleration which contributes to a translational movement of a moving object, and a rotation contributing acceleration which contributes to a rotational movement of the moving object are estimated with improved accuracy.
-
Citations
13 Claims
-
1. A method for acceleration estimation of estimating a translation contributing acceleration which contributes to a translational movement of a moving object in a measurement result of acceleration along at least two axial directions from among a first axis, a second axis which is orthogonal to the first axis, and a third axis which is orthogonal to the first axis and the second axis, which are defined peculiarly for the moving object, and a rotation contributing acceleration which contributes to a rotational movement, comprising steps of:
-
collecting a measurement result of acceleration along the two axes, and a measurement result of an attitude angle which is an angle of rotation from a reference attitude of the moving object;
separating an acceleration frequency in a low-frequency acceleration component and a high-frequency acceleration component in the measurement result of the acceleration along the two axes;
deriving a rate of change of attitude angle at which a time rate of change of the attitude angle is derived; and
estimating the translation contributing acceleration and the rotation contributing acceleration based on the high-frequency acceleration component, the low-frequency acceleration component, the attitude angle, and the time rate of change of the attitude angle. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. An acceleration estimating apparatus which estimates a translation contributing acceleration which contributes to a translational movement of a moving object in a measurement result of acceleration along at least two axial directions from among a first axis, a second axis which is orthogonal to the first axis, and a third axis which is orthogonal to the first axis and the second axis, which are defined peculiarly for the moving object, and a rotation contributing acceleration which contributes to a rotational movement of the moving object, comprising:
-
a measurement result collecting means which collects a measurement result of acceleration along at least the two axes, and a measurement result of an attitude angle which is an angle of rotation from a reference attitude of the moving object;
an acceleration frequency separating means which separates an acceleration frequency in a low-frequency acceleration component and a high-frequency acceleration component in the measurement result of the acceleration along at least the two axes;
an attitude angle change rate deriving means which derives a time rate of change of the attitude angle; and
a translation rotation acceleration estimating means which estimates the translation contributing acceleration and the rotation contributing acceleration based on the high-frequency acceleration component, the low-frequency acceleration component, the attitude angle, and the time rate of change of the attitude angle. - View Dependent Claims (8, 9, 10, 11, 12, 13)
-
Specification