ORIENTATION ESTIMATION DEVICE AND TRANSPORT EQUIPMENT

WIPO Patent Application WO/2017/175844

A1

An orientation estimation device that estimates the orientation of a moving body, estimates the roll angle of the moving body, and comprises: first and second angular speed detection units; and an orientation estimation unit that estimates, using arithmetic processing, offset errors for at least one among first, second, and third acceleration detection units. The orientation estimation unit includes a plurality of Kalman filters having applied thereto virtual offset amounts for target detection units, same being applied as at least two types of mutually different values. During the current estimation operation, the plurality of Kalman filters each use detection values for each detection unit, the estimated value from the previous estimation operation, and the virtual offset amounts and calculate the likelihood of the estimated value being correct. The orientation estimation unit estimates the roll angle of the moving body by applying a weighting to each Kalman filter estimated value on the basis of the likelihood.

JP4503113	Rotation angular velocity detector
JP4271541	Gradient angle detector and method
JP2703105	[Title of Invention] Image Stabilizer

TAKAHASHI GOH (JP)
FUJII TAKAHIRO (JP)

PCT/JP2017/014422

October 12, 2017

April 06, 2017

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YAMAHA MOTOR CO LTD (JP)

G01C19/00; B60W40/076; B60W40/11; B60W40/112; B60W40/12; B60W40/13; B62J99/00; G01P21/00

WO2010001970A1

2010-01-07

JP2015209106A	2015-11-24
JP2011128093A	2011-06-30
JP2009073466A	2009-04-09
JP2007271605A	2007-10-18
JP2013064695A	2013-04-11
US6192305B1	2001-02-20
US20090309793A1	2009-12-17

See also references of EP 3441718A4

UEBA, Hidetoshi et al. (JP)

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