MOVING SPEED ESTIMATION DEVICE FOR MOBILE BODY AND CONTROL DEVICE FOR MOBILE BODY
First Claim
1. A moving speed estimation device for a mobile body for estimating a moving speed of the mobile body which moves at speed including a periodic vibration component generated along with a periodic moving action, the device comprising:
- a position measuring unit which sequentially measures a position of the mobile body;
an instantaneous moving speed estimation unit which sequentially estimates an instantaneous moving speed of the mobile body from a time series of a measured value of the position of the mobile body obtained by the position measuring unit;
a vibration component information estimation unit which estimates a vibration cycle or vibration frequency of the periodic vibration component included in a time series of the instantaneous moving speed of the mobile body along with the periodic moving action of the mobile body; and
a speed estimated value adjustment processing unit which sequentially generates speed values as estimated values of the moving speed of the mobile body, where the speed value is obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency obtained by the vibration component information estimation unit for the time series of an estimated value of the instantaneous moving speed obtained by the instantaneous moving speed estimation unit.
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Accused Products
Abstract
A moving speed estimation device which includes a vibration component information estimation unit 4 which estimates the vibration cycle or vibration frequency of the periodic vibration component included in instantaneous moving speed of a mobile body A along with a periodic moving action of the mobile body A. The moving speed estimation device also includes a speed estimated value adjustment processing unit 5 which sequentially generates speed values as estimated values of the moving speed of the mobile body A, where the speed value is obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency for the time series of the instantaneous moving speed estimated from the time series of the measured value of the position of the mobile body A.
8 Citations
10 Claims
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1. A moving speed estimation device for a mobile body for estimating a moving speed of the mobile body which moves at speed including a periodic vibration component generated along with a periodic moving action, the device comprising:
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a position measuring unit which sequentially measures a position of the mobile body; an instantaneous moving speed estimation unit which sequentially estimates an instantaneous moving speed of the mobile body from a time series of a measured value of the position of the mobile body obtained by the position measuring unit; a vibration component information estimation unit which estimates a vibration cycle or vibration frequency of the periodic vibration component included in a time series of the instantaneous moving speed of the mobile body along with the periodic moving action of the mobile body; and a speed estimated value adjustment processing unit which sequentially generates speed values as estimated values of the moving speed of the mobile body, where the speed value is obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency obtained by the vibration component information estimation unit for the time series of an estimated value of the instantaneous moving speed obtained by the instantaneous moving speed estimation unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification