Inertial sensor , attitude estimation apparatus and posture estimation method of moving targets using a magnetic sensor and speedometer

摘要

PROBLEM TO BE SOLVED: To provide a device and a method for attitude estimation of a moving body using a gyroscope, an accelerometer, a magnetic sensor, and a speed meter, in which a set of light-weight compact and inexpensive sensors with a low precision and a Kalman filter are combined to estimate the attitude of the moving body with an enough precision by using a quaternion for calculation of the attitude information and using the quaternion as a correction amount calculated from observed values of the sensors as well to estimate an attitude error of the moving body with a high precision.;SOLUTION: An aircraft is provided with a gyro device 11, an accelerometer 12, a magnetic sensor 14 and a speed meter 13. Attitude information of the aircraft is calculated by computing data obtained from these sensors by a computing unit 15 and a Kalman filter 19. In the calculation of the attitude information, quaternion is used. The quaternion as a correction amount calculated from observed values is multiplied with the calculated values so as to obtain an attitude estimation device that can estimate a precise attitude.;COPYRIGHT: (C)2012,JPO&INPIT