Bias estimating method, posture estimating method, bias estimating device, and posture estimating device

摘要

A bias estimating method includes: calculating a virtual posture angle which is a posture angle with a bias which is assumed to be zero by the use of detection values of a plurality of axes in a calibration posture where one axis of a multi-axis acceleration sensor is parallel to the vertical direction; and estimating a bias value contained in the detection value of the axis using the detection value of the axis and the virtual posture angle.