Title:
ORIENTATION ESTIMATION DEVICE AND TRANSPORT EQUIPMENT
Document Type and Number:
WIPO Patent Application WO/2017/175840
Kind Code:
A1
Abstract:
An orientation estimation device that estimates the orientation of a moving body, estimates the roll angle and pitch angle of the moving body, and comprises: first, second, and third angular speed detection units; and an orientation estimation unit that estimates, using arithmetic processing, an offset error for at least one among first, second, and third acceleration detection units. During the current estimation operation, the orientation estimation unit estimates the roll angle and pitch angle of the moving body and at least one offset error, on the basis of: detection values from the first, second, and third angular speed detection units; detection values from the first, second, and third acceleration detection units; a detection value from a speed information detection unit; an estimated value for roll angle from the previous estimation operation; an estimated value for pitch angle from the previous estimation operation; and the estimated value for offset error from the previous estimation operation.
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Inventors:
TAKAHASHI GOH (JP)
FUJII TAKAHIRO (JP)
FUJII TAKAHIRO (JP)
Application Number:
PCT/JP2017/014417
Publication Date:
October 12, 2017
Filing Date:
April 06, 2017
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B60W40/11; B60G17/015; B60T8/172; B60T8/174; B60W40/112; B60W40/114; B60W40/13; B62J99/00; G01C9/08
Foreign References:
| JP2015209106A | 2015-11-24 | |||
| JP2013216278A | 2013-10-24 | |||
| JP2013028237A | 2013-02-07 | |||
| JP2011073542A | 2011-04-14 | |||
| JP2005061376A | 2005-03-10 |
Other References:
See also references of EP 3415393A4
Attorney, Agent or Firm:
UEBA, Hidetoshi et al. (JP)
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