Inertial measurement method, inertial measurement device, and inertial measurement program

摘要

It is an inertial measurement method and inertial measurement device for a moving body that can effectively cancel various error factors and obtain a highly accurate detection result even in a non-GPS environment. Filtering processing S1s and S1u of the angular velocity signal ω is performed. After calculating the approximate initial posture angle from the acceleration signal and the angular velocity signal, an alignment process S2 for fine adjustment of these is performed. An angular velocity / acceleration bias calculation process S3 for calculating an angular velocity bias obtained by subtracting the earth angular velocity from the angular velocity signal and calculating an acceleration bias obtained by subtracting gravitational acceleration from the acceleration signal is performed. An angular velocity obtained by subtracting the earth angular velocity and the angular velocity bias from the angular velocity signal is calculated, and attitude angles calculation processing S4s and S4u for calculating an attitude angle by performing integration are performed. Acceleration obtained by subtracting the gravitational acceleration and acceleration bias from the acceleration signal is calculated, and position movement amount calculation processing S5s and S5u are performed by calculating the position movement amount by second-order integration.