Position calculating device of a working machine, position calculating device of an excavator and working machine

摘要

A position calculating device (24) of a work machine (100), comprising: a measuring device (29) provided in the work machine (100) and configured to detect angular velocity (ω) and acceleration (Ac); a posture angle calculating unit (51, 52) configured to detect a posture angle (θ) of the work machine (100) from the angular velocity (ω) detected by the measuring device (29) and the acceleration (Ac); a first complementary filter (53) to which a first cutoff frequency is set and which is configured to reduce a noise in the posture angle (θ) detected by the posture angle calculating unit (51, 52) by a first posture angle (θ1 ) issue; a second complementary filter (54) at which a second cutoff frequency different from the first cutoff frequency is set and which is configured to reduce a noise in the posture angle (θ) detected by the posture angle calculating unit (51, 52), to output a second attitude angle (θ2); and a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle corresponding to a state of the work machine ,