PITCH ANGULAR VELOCITY CORRECTION VALUE CALCULATION DEVICE, POSE ANGLE CALCULATION DEVICE, AND PITCH ANGULAR VELOCITY CORRECTION VALUE CALCULATION METHOD

摘要

PROBLEM TO BE SOLVED: To improve accuracy of an offset value of a pitch rate gyro.SOLUTION: A pitch angular velocity correction value calculation device comprises: a pitch angle calculation unit 111 that calculates a pitch angle of a pose angle of a vehicle on the basis of a pitch angular velocity serving as an angular velocity of the vehicle detected by a three-axis gyro sensor 13, and a correction value of the pitch angular velocity; and a correction value calculation unit 112 that corrects the correction value of the pitch angular velocity on the basis of: an inclination angle of the vehicle at a time of calculation by an inclination angle calculation unit 22 based on the pitch angle calculated by the pitch angle calculation unit 111 using the correction value of the pitch angular velocity, a speed of the vehicle calculated by a speed calculation unit 21 and acceleration of the vehicle detected by a three-axis accelerator sensor 12; and an inclination angle at a time of calculation by the inclination angle calculation unit 22 based on the pitch angle calculated in the past by the pitch angle calculation unit 111 using the same correction value of the pitch angular velocity.SELECTED DRAWING: Figure 1