PURPOSE: To measure a three-dimensional attitude angle with high accuracy even in an arbitrary place such as in thr air, on the ground, under the ground, under the water or the like by a method wherein a gravitational acceleration vector obtained by an accelerometer is used as an absolute standard so as to correct attitude information.
CONSTITUTION: A three-dimensional attitude angle measuring apparatus α is composed of three accelerometers 1, of three accelerometers 2 and of a computing device 3. Respective units at the apparatus α are arranged on a board 4, and they are housed inside a housing so as to be loaded on a moving body. For example, gyro sensors are used for the accelerometers 1, and, e.g. piezoelectric accelerometers or semiconductor accelerometers are used for the accelerometers 2. The accelerometers 1, 2 are arranged respectively on three independent axes (three orthogonal axes) as pairs. The device 3 integrates, in terms of time, measured values of angular velocities obtained by the accelerometers 1, it computes the measured value of the three- dimensional attitude angle of the moving body, and it corrects the measured value of the three-dimensional attitude angle of the moving body while an extended Kalman filter is applied to respective vectors in a motive power direction obtained from the accelerometers 2.
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TSUJIMURA TAKESHI
MORIMITSU TAKENORI
