Angular velocity deriving device and angular velocity deriving method

摘要

To provide technology that suppresses the degradation of angular velocity derivation accuracy when a three-axis gyro sensor is used.SOLUTION: An initial attitude derivation unit 12 derives the initial attitude of Euler angle representation on the basis of the output value of a three-axis acceleration sensor 10. A first conversion unit 14 converts the initial attitude of Euler angle representation to an initial attitude by quaternion. An update unit 18 sequentially substitutes the output value of the three-axis gyro sensor 16, with the initial attitude by quaternion as an initial value, and while so doing, updates the attitude by quaternion. A second conversion unit 20 converts the attitude by quaternion to an attitude of Euler angle representation. An angular velocity derivation unit 22 derives an angular velocity on the basis of a temporal change of the attitude of Euler angle representation. When the integrated value of absolute value of the angular velocity derived by the angular velocity derivation unit 22 is greater than or equal to a threshold, an output unit 24 outputs, instead of the angular velocity, an angular velocity derived on the basis of the output value of a mono-axis gyro sensor.SELECTED DRAWING: Figure 4