TERRESTRIAL MAGNETISM MEASURING DEVICE, TERRESTRIAL MAGNETISM MEASURING METHOD AND TERRESTRIAL MAGNETISM MEASUREMENT PROGRAM

摘要

PROBLEM TO BE SOLVED: To detect a precise value of terrestrial magnetism.;SOLUTION: A mobile phone 1 has a ROM30 which stores a terrestrial magnetism measurement program 100 having an initial value generation module 110 and a nonlinear Kalman filter module 120, a terrestrial magnetism detection part 70, an acceleration detection part 80 and an angular velocity detection part 90. The nonlinear Kalman filter module 120 executes a calculation of the nonlinear Kalman filter KF and estimates a state vector x_k which includes a first variable ρ for expressing an intensity of terrestrial magnetism r and a second variable η for expressing an inclination of terrestrial magnetism θ as elements.;COPYRIGHT: (C)2013,JPO&INPIT