Attitude determination method, position calculation method, and attitude determination device
First Claim
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1. An attitude determination method comprising:
- measuring local coordinate movement vectors vxL, vyL, and vzL by a sensor system which is mounted in a moving body and measures the movement vectors, wherein vxL is a velocity vector in a local coordinate system in an X direction, vyL is a velocity vector in a local coordinate system in a Y direction, and vzL is a velocity vector in a local coordinate system in a Z direction;
measuring an absolute coordinate attitude measurement in an absolute coordinate system by the sensor system;
converting the local coordinate movement vectors into absolute coordinate movement vectors using the absolute coordinate attitude measurement; and
determining an attitude of the sensor with respect to the moving body using the absolute coordinate movement vectors and the absolute coordinate attitude measurement after the moving body starts to move from a stop position and has reached a predetermined threshold velocity or a predetermined threshold acceleration,wherein the determining the attitude of the sensor is delayed until the moving body has reached the predetermined threshold velocity or the predetermined threshold acceleration following the stop position.
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Abstract
A new method for determining an attitude of a sensor with respect to a moving body is proposed. A movement vector is measured by a sensor mounted in the moving body. In addition, the attitude of the sensor with respect to the moving body is determined using the movement vector measured by the sensor when the moving body starts to move.
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Citations
6 Claims
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1. An attitude determination method comprising:
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measuring local coordinate movement vectors vxL, vyL, and vzL by a sensor system which is mounted in a moving body and measures the movement vectors, wherein vxL is a velocity vector in a local coordinate system in an X direction, vyL is a velocity vector in a local coordinate system in a Y direction, and vzL is a velocity vector in a local coordinate system in a Z direction; measuring an absolute coordinate attitude measurement in an absolute coordinate system by the sensor system; converting the local coordinate movement vectors into absolute coordinate movement vectors using the absolute coordinate attitude measurement; and determining an attitude of the sensor with respect to the moving body using the absolute coordinate movement vectors and the absolute coordinate attitude measurement after the moving body starts to move from a stop position and has reached a predetermined threshold velocity or a predetermined threshold acceleration, wherein the determining the attitude of the sensor is delayed until the moving body has reached the predetermined threshold velocity or the predetermined threshold acceleration following the stop position. - View Dependent Claims (2, 3, 4, 5)
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6. An attitude determination method comprising:
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measuring local coordinate movement vectors vxL, vyL, and vzL by a sensor system which is mounted in a moving body and measures the movement vectors, wherein vxL is a velocity vector in a local coordinate system in an X direction, vyL is a velocity vector in a local coordinate system in a Y direction, and vzL is a velocity vector in a local coordinate system in a Z direction; measuring an absolute coordinate attitude measurement in an absolute coordinate system by the sensor system; converting the local coordinate movement vectors into absolute coordinate movement vectors using the absolute coordinate attitude measurement and determining an attitude of the sensor with respect to the moving body using the absolute coordinate movement vectors and the absolute coordinate attitude measurement after the moving body starts to move from a stop position and has reached a predetermined threshold velocity or a predetermined threshold acceleration, wherein the determining the attitude of the sensor is delayed until the moving body has reached the predetermined threshold velocity or the predetermined threshold acceleration following the stop position.
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Specification