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Moving body posture angle processing device

  • US 8,758,275 B2
  • Filed: 07/02/2009
  • Issued: 06/24/2014
  • Est. Priority Date: 07/02/2008
  • Status: Expired due to Fees
First Claim
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1. A moving body attitude angle processing apparatus for estimating an attitude angle of a moving body in accordance with outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor that are mounted to the moving body, and for outputting the attitude angle thus estimated, the moving body attitude angle processing apparatus comprising:

  • a gyro sensor that outputs an angular velocity vector;

    an acceleration sensor that outputs an acceleration vector;

    a magnetic sensor that outputs a magnetic field vector of an ambient magnetic field that is different from a geomagnetic field;

    a movement state determining device that determines a movement state of a moving body in accordance with an output from the acceleration sensor;

    a gyro-sensor zero-point output estimating device that, when the movement state determining device determines the movement state to have been detected as a stationary state of the moving body, carries out a process of estimating a zero-point output of the gyro sensor in accordance with the output from the acceleration sensor, an output from the magnetic sensor, and an output from the gyro sensor, the gyro-sensor zero-point output estimating device is embodied by an extended Kalman filter having, as its components, only a gravitational acceleration vector, a magnetic field vector of the ambient magnetic field, an angular velocity vector, and an offset value of zero-point output of angular velocity by the gyro sensor,a zero point of the gyro sensor being corrected by utilizing an output from the gyro-sensor zero-point output estimating device; and

    an attitude angle estimating device that estimates the attitude angle in accordance with the outputs from the acceleration sensor, the magnetic sensor, and the gyro sensor.

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