DEVICE FOR ESTIMATING MOVING OBJECT TRAVEL DIRECTION AND METHOD FOR ESTIMATING TRAVEL DIRECTION

WIPO Patent Application WO/2014/010727

A1

A travel direction estimation device includes: an inertia direction vector estimation unit (2407) for estimating an inertia direction vector on the basis of output from an acceleration sensor and an angular velocity sensor; a provisional travel direction vector generating unit (2413) for generating travel direction vector candidates; a walking frequency estimation unit (2424) for estimating a walking frequency from component data in which acceleration component data has been projected on an inertia direction vector; and a travel direction vector determining unit (2425) for obtaining an Af frequency component in which acceleration component data has been projected on a travel direction vector, an An frequency component in which acceleration component data has been projected on a horizontal direction vector, a Ws frequency component in which angular velocity component data has been projected on a travel direction vector, a Wn frequency component in which angular velocity component data has been projected on a horizontal direction vector, a walking frequency, and an objective function and phase difference on the basis of the phase difference of the walking frequency; for establishing, as the travel direction vector, the provisional travel direction vector whereof the phase difference is within a predetermined range and whereof the objective function value is the largest; and for determining the orientation of the travel direction.

KOUROGI MASAKATSU (JP)
KURATA TAKESHI (JP)
ISHIKAWA TOMOYA (JP)
OKUMA TAKASHI (JP)

PCT/JP2013/069152

January 16, 2014

July 12, 2013

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NAT INST OF ADVANCED IND SCIEN (JP)

G01C21/00; G01P13/02

JP2011245285A	2011-12-08
JP2005114537A	2005-04-28
JP2012132851A	2012-07-12

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