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US 11,686,744 B2Granted
Posture estimation method, posture estimation device, and vehicle
AssigneeSeiko Epson Corporation
InventorYasushi Nakaoka
Life of this patent
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Abstract
A posture estimation method includes calculating a posture change amount of an object based on an output of an angular velocity sensor, predicting posture information of the object by using the posture change amount, limiting a bias error in a manner of limiting a bias error component of an angular velocity around a reference vector in error information, and correcting the predicted posture information of the object based on the error information, the reference vector, and an output of a reference observation sensor.
Claims5
A posture estimation method comprising:
- calculating a posture change amount of an object based on an output of an angular velocity sensor;
- predicting posture information of the object by using the posture change amount;
- limiting an azimuth error around a reference vector, in error information;
- and
- correcting the predicted posture information of the object based on the error information, the reference vector, and an output of a reference observation sensor.
2 more elements
A posture estimation device comprising:
- a posture-change-amount calculation unit that calculates a posture change amount of an object based on an output of an angular velocity sensor;
- a posture information prediction unit that predicts posture information of the object by using the posture change amount;
- an error information update unit that updates error information based on the output of the angular velocity sensor;
- a azimuth error limitation unit that limits a azimuth error around a reference vector, in the error information;
- and
- a posture information correction unit that corrects the predicted posture information of the object based on the error information, the reference vector, and an output of a reference observation sensor.
3 more elements
Dependencies are inferred from the claim text.