Attitude data filter device, attitude data filtering manner and attitude data filter program.

摘要

PROBLEM TO BE SOLVED: To provide an attitude data filter device that does not have singular segments which allows unsuitable smoothing result to be derived, and being capable of enhancing smoothing strength, even if using a small number of buffer stages.;SOLUTION: The device includes an input means for sequentially acquiring input data A'_i, representing a first attitude at a time iT (where T is a constant, and i=0, 1, 2...); an output means for sequentially outputting output data A_i, representing a second attitude at the time iT; and an arithmetic means which calculates angular acceleration, based on a condition defined, in order to realize a smoothing function and then derives the output data A_i, based on an initial value A₀ and an initial value ω₀, wherein a rotational angle θ_i from the second attitude at the timing (i-1)T to the first attitude at the time iT, an angular velocity ω_i at the time iT, represented by the locus of the output data, and the angular acceleration N_i=N_1i-N_2i of the rotation of the second attitude from the timing (i-1)T to the timing iT, are defined.;COPYRIGHT: (C)2009,JPO&INPIT