Title:
姿勢推定装置及び輸送機器
Document Type and Number:
Japanese Patent JP6454021
Kind Code:
B2
Abstract:
An attitude estimation apparatus for estimating the attitude of a movable body includes an attitude estimation unit for estimating the roll angle of the movable body and for using a calculation process to estimate the offset error for at least one of first and second angular velocity detection units and first, second and third acceleration detection units. The attitude estimation unit includes a plurality of Kalman filters that each receives at least two or more imaginary offset quantities for a detection unit of interest, the imaginary offset quantities being different from each other. In the current estimation operation, each of the Kalman filters uses detected values from the detection units, estimated values from the previous estimation operation and the imaginary offset quantities to calculate a likelihood, which indicates how reliable the estimated values are. The attitude estimation unit weights the estimated values from the Kalman filters based on the likelihood to estimate the roll angle of the movable body.
Inventors:
Tsuyoshi Takahashi
Takahiro Fujii
Takahiro Fujii
Application Number:
JP2017540294A
Publication Date:
January 16, 2019
Filing Date:
April 06, 2017
Export Citation:
Assignee:
YAMAHA HATSUDOKI KABUSHIKI KAISHA
International Classes:
G01C19/00; B62J99/00; G01P21/00
Domestic Patent References:
| JP2015209106A | ||||
| JP2011128093A | ||||
| JP2009073466A | ||||
| JP2007271605A | ||||
| JP2013064695A |
Foreign References:
| WO2010001970A1 | ||||
| US6192305 | ||||
| US20090309793 |
Attorney, Agent or Firm:
Hidetoshi Ueba
Tetsufumi Yamauchi
Tetsufumi Yamauchi