移動体の状態推定装置

Japanese Patent JP5750742

B2

PROBLEM TO BE SOLVED: To provide a device for estimating condition of a moving body capable of measuring the position and direction (posture) of the moving body and estimating the condition of the same based on a self-contained type measuring means of the moving body.SOLUTION: An acceleration vector-measuring means 1002 and an angular speed vector-measuring means 1001 are measuring means installed on the moving body and measure the acceleration vector and the angular speed vector of the moving body. A posture angle estimating device 1004 inputs the acceleration vector (sensor coordinate system) and the angular speed vector (sensor coordinate system) and estimates the posture angle of the same. An acceleration vector/angular speed component disassembling device 1005 outputs output data of total 6 components of an acceleration component in a gravity direction, an angular acceleration component around a gravity axis, an acceleration component in a travelling direction, an angular speed component around the travelling axis, an acceleration component in a lateral direction, an angular speed component around a lateral axis to the moving body from the above three kinds of outputs, and the movement of the moving body is discriminated by the mighty discriminators 1011 to 101x.

Masakatsu Korogi
Takeshi Kurata
Takashi Makita

JP2011100632A

July 22, 2015

April 28, 2011

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National Institute of Advanced Industrial Science and Technology

A61B5/11; G01C15/00

JP2009080539A
JP2007151948A

興梠正克,”ウェアラブルカメラと慣性センサ群のデータ統合に基づくパーソナルポジショニング”,画像ラボ,日本,日本工業出版,2003年 6月 1日,第14巻、第6号,p.9-14
興梠正克,”装着型自蔵センサモジュールを用いた歩行者の位置・方位計測技術”,電子情報通信学会誌,日本,社団法人 電子情報通信学会,2009年 4月 1日,第92巻、第4号,p.268-275

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