Attitude angle processor and attitude angle processing method
First Claim
1. A posture angle processing apparatus comprising:
- a magnetic sensor for detecting a magnetic vector;
a gravitational acceleration sensor for detecting a gravitational acceleration vector;
a position information acquisition device for obtaining an absolute location for a current point;
a dip angle database device for storing a correlation of the absolute location and a geomagnetic dip angle at a corresponding point; and
a dip angle estimation and determination device, for, based on the absolute location of the current point received from the position information acquisition device, reading a geomagnetic dip angle for the current point from the dip angle database device, for employing the magnetic vector detected by the magnetic sensor and the gravitational acceleration vector detected by the gravitational acceleration sensor to calculate an angle formed by a horizontal plane and the magnetic vector, for comparing the angle formed by the magnetic vector and the horizontal plane with the geomagnetic dip angle for the current point, and for, when an error between the angle and the geomagnetic dip angle is within a predetermined range, outputting a true signal indicating that the magnetic vector detected by the magnetic sensor is reliable as a geomagnetic vector, and in other cases, outputting a false signal indicating that the current magnetic vector is not reliable.
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Accused Products
Abstract
A posture angle processing apparatus includes a magnetic sensor, a gravitational acceleration sensor, a position information acquisition device, and a dip angle database device wherein a correlation of the absolute location and a geomagnetic dip angle at the corresponding point is stored. Based on the absolute location of the current point, a dip angle estimation and determination device reads the geomagnetic dip angle at the current point, calculates an angle formed by a horizontal plane and the magnetic vector, compares the angle formed by the magnetic vector and the horizontal plane with the geomagnetic dip angle of the current point, and outputs either a true signal or a false signal depending on the error between the angle and the geomagnetic dip angle.
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Citations
16 Claims
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1. A posture angle processing apparatus comprising:
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a magnetic sensor for detecting a magnetic vector; a gravitational acceleration sensor for detecting a gravitational acceleration vector; a position information acquisition device for obtaining an absolute location for a current point; a dip angle database device for storing a correlation of the absolute location and a geomagnetic dip angle at a corresponding point; and a dip angle estimation and determination device, for, based on the absolute location of the current point received from the position information acquisition device, reading a geomagnetic dip angle for the current point from the dip angle database device, for employing the magnetic vector detected by the magnetic sensor and the gravitational acceleration vector detected by the gravitational acceleration sensor to calculate an angle formed by a horizontal plane and the magnetic vector, for comparing the angle formed by the magnetic vector and the horizontal plane with the geomagnetic dip angle for the current point, and for, when an error between the angle and the geomagnetic dip angle is within a predetermined range, outputting a true signal indicating that the magnetic vector detected by the magnetic sensor is reliable as a geomagnetic vector, and in other cases, outputting a false signal indicating that the current magnetic vector is not reliable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A posture angle processing method by which a posture angle process is performed by a posture angle processing apparatus that includes:
- a magnetic sensor for detecting a magnetic vector, a gravitational acceleration sensor for detecting a gravitational acceleration vector, a position information acquisition device for obtaining an absolute location for a current point, a dip angle database device for storing a correlation of the absolute location and a geomagnetic dip angle at a corresponding point, and a data processing device,
the posture angle processing method comprising the steps of; based on an absolute location of a current point received from a position information acquisition device that obtains an absolute location of a current point, reading a geomagnetic dip angle for the current point from a dip angle database device wherein a correlation of the absolute location and the geomagnetic dip angle at the corresponding point is stored; employing a magnetic vector detected by a magnetic sensor and a gravitational acceleration vector detected by a gravitational acceleration sensor to calculate an angle formed by a horizontal plane and the magnetic vector; comparing the angle formed by the magnetic vector and the horizontal plane with the geomagnetic dip angle for the current point, and when an error between the angle and the geomagnetic dip angle is within a predetermined range, outputting a true signal indicating that the magnetic vector detected by the magnetic sensor is reliable as a geomagnetic vector, and in other cases, outputting a false signal indicating that the current magnetic vector is not reliable. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
- a magnetic sensor for detecting a magnetic vector, a gravitational acceleration sensor for detecting a gravitational acceleration vector, a position information acquisition device for obtaining an absolute location for a current point, a dip angle database device for storing a correlation of the absolute location and a geomagnetic dip angle at a corresponding point, and a data processing device,
Specification