Posture estimation method, posture estimation device, and vehicle

A posture estimation device included in an electronic device, the posture estimation device comprising a memory that stores a program, and a processor that executes the program to function as:

• 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 adjustment unit that determines whether or not the output of the angular velocity sensor is within an effective measurement range, where an input exceeding the effective measurement range is off-scale, and when it is determined that the output of the angular velocity sensor is not within the effective measurement range:
• increases a posture error component of a posture quaternion indicative of the posture information in error information in an error covariance matrix, and
• reduces a correlation component between the posture error component in the error information and an error component other than the posture error component in the error information in the error covariance matrix by reducing the correlation component between the posture error component in the error information and a bias error component of an angular velocity from the output of the angular velocity sensor, wherein the error covariance matrix includes an angular velocity noise component, an acceleration noise component, and a process noise component;
• and
• a posture information correction unit that corrects the predicted posture information of the object based on the error information in the error covariance matrix.

A vehicle comprising:

• a posture estimation device and a control device that controls a posture of the vehicle based on posture information of the vehicle, which is estimated by the posture estimation device,
• wherein the posture estimation device is included in an electronic device, and the posture estimation device comprises a memory that stores a program, and a processor that executes the program to function as:
• 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 adjustment unit that determines whether or not the output of the angular velocity sensor is within an effective measurement range, where an input exceeding the effective measurement range is off-scale, and when it is determined that the output of the angular velocity sensor is not within the effective measurement range:
• increases a posture error component of a posture quaternion indicative of the posture information in error information in an error covariance matrix, and
• reduces a correlation component between the posture error component in the error information and an error component other than the posture error component in the error information in the error covariance matrix by reducing the correlation component between the posture error component in the error information and a bias error component of an angular velocity from the output of the angular velocity sensor, wherein the error covariance matrix includes an angular velocity noise component, an acceleration noise component, and a process noise component;
• and
• a posture information correction unit that corrects the predicted posture information of the object based on the error information in the error covariance matrix.