Posture calculation device of working machinery, posture calculation device of excavator, and working machinery

A posture calculation device of working machinery comprising:

• a measuring device provided in the working machinery, and configured to detect an angle speed and acceleration;
• a first posture angle calculation unit configured to obtain a posture angle of the working machinery from the acceleration detected by the measuring device;
• a second posture angle calculation unit configured to obtain a posture angle of the working machinery from the angle speed detected by the measuring device;
• a complementary filter configured to output one of a first posture angle and a second posture angle, the first posture angle being calculated based on a first cutoff frequency that decrease a noise included in the posture angle obtained by the first posture angle calculation unit and the second posture angle calculation, the second posture angle being calculated based on a second cutoff frequency that decrease a noise included in the posture angle obtained by the first posture angle calculation unit and the second posture angle calculation, the second cutoff frequency being different from the first cutoff frequency;
• and
• a switching unit configured to switch between the first posture angle and the second posture angle to output the first posture angle or the second posture angle according to operation information of the working machinery.