Rotational information calculation method, rotation information calculation program, magnetic gyroscope and moving object

摘要

A rotation information calculation method capable of solving measurement delay of a magnetic gyroscope is provided. In the rotation information calculation method of the present invention, the angular velocity vector of the moving object is obtained by dividing the angular velocity vector into its size and its direction (rotational axis vector). Then, the calculation method of the rotation axis vector is changed depending on whether the rotation mode of the moving body is the fixed axis rotation mode or the free axis rotation mode. In the fixed axis rotation mode, the rotational axis vector is obtained by the cross product of the two differential vectors. In the free axis rotation mode, the outer product of the vector of the radius vector and the difference vector is calculated and calculated based on the set instantaneous rotation coordinate system. At this time, at certain time t_I-1The rotation axis vector n_I-1, The time t_I(= T_I-1+ t), the rotation axis vector n_I(That is, fed back).