Posture angle calculation apparatus, moving apparatus, posture angle calculation method, and program

A posture angle calculation method comprising:

• acquiring an output of an acceleration sensor installed to output acceleration of a moving apparatus that moves along a moving surface in a vertical axis direction with respect to the moving surface and acquiring an output of a gyro sensor installed to output an angular velocity about the vertical axis;
• calculating a posture angle of the moving apparatus about the vertical axis based on an assumed angular velocity of zero when the acceleration is larger than a preset reference acceleration and the angular velocity is smaller than a preset reference angular velocity;
• calculating the posture angle of the moving apparatus about the vertical axis based on the angular velocity when the acceleration is equal to or smaller than the preset reference acceleration and when the angular velocity is smaller than the preset reference angular velocity;
• calculating the posture angle of the moving apparatus about the vertical axis based on the angular velocity when the acceleration is larger than the preset reference acceleration and when the angular velocity is equal to or larger than the preset reference angular velocity;
• and
• outputting data of the calculated posture angle in order to control a turning motion around the vertical axis and to control the posture angle of the moving apparatus.

A non-transitory computer readable medium storing a control program for causing a computer to execute a posture angle calculation method comprising:

• acquiring an output of an acceleration sensor installed to output acceleration of a moving apparatus that moves along a moving surface in a vertical axis direction with respect to the moving surface and acquiring an output of a gyro sensor installed to output an angular velocity about the vertical axis;
• calculating a posture angle of the moving apparatus about the vertical axis based on an assumed angular velocity of zero when the acceleration is larger than a preset reference acceleration and the angular velocity is smaller than a preset reference angular velocity;
• calculating the posture angle of the moving apparatus about the vertical axis based on the angular velocity when the acceleration is equal to or smaller than the preset reference acceleration and when the angular velocity is smaller than the preset reference angular velocity;
• calculating the posture angle of the moving apparatus about the vertical axis based on the angular velocity when the acceleration is larger than the preset reference acceleration and when the angular velocity is equal to or larger than the preset reference angular velocity;
• and
• outputting data of the calculated posture angle in order to control a turning motion around the vertical axis and to control the posture angle of the moving apparatus.