Method and device for accurately detecting attitude of movable body

4:

• The apparatus for accurately detecting an attitude of a moving body according to claim 3, wherein
• the attitude detection section are rate gyroscopes,
• a pair of rate gyroscopes forming a high-accuracy attitude detection mechanism is mounted on the moving body in opposite directions to each other, and
• the attitude information of the moving body is detected by a differential signal obtained from the output signals of the rate gyroscopes.

5:

• The apparatus for accurately detecting an attitude of a moving body according to claim 3, wherein
• the attitude detection section are acceleration sensors,
• a pair of acceleration sensors forming a high-accuracy attitude detection mechanism is mounted on the moving body in opposite directions to each other, and
• the attitude information of the moving body is detected by a differential signal obtained from the output signals of the acceleration sensors.

6:

• The apparatus for accurately detecting an attitude of a moving body according to claim 3, wherein
• the attitude detection section are inclination sensors,
• a pair of inclination sensors forming a high-accuracy attitude detection mechanism is mounted on the moving body in opposite directions to each other, and
• the attitude information of the moving body is detected by a differential signal obtained from the output signals of the inclination sensors.

7:

• The apparatus for accurately detecting an attitude of a moving body according to claim 3, wherein
• the attitude detection section is formed by a pair of rate gyroscopes and a pair of acceleration sensors,
• each of the pair of rate gyroscopes and acceleration sensors forming a high-accuracy attitude detection mechanism is mounted on the moving body in opposite directions to each other, and
• the attitude information of the moving body is detected by a differential signal obtained from the differential signal of output signals of the rate gyroscopes and that of output signals of the acceleration sensors.

8:

• The apparatus for accurately detecting an attitude of a moving body according to claim 3, wherein
• the attitude detection section is formed by a pair of rate gyroscopes and a pair of inclination sensors,
• each of the pair of rate gyroscopes and the pair of inclination sensors forming a high-accuracy attitude detection mechanism is mounted on the moving body in opposite directions to each other, and
• the attitude information of the moving body is detected by a differential signal obtained from the differential signal of output signals of the rate gyroscopes and that of output signals of the inclination sensors.

9:

• The apparatus for accurately detecting an attitude of a moving body according to any one of claims 3 through 8, comprising:
• at least a pair of moving body attitude detection section, and
• a control arithmetic processing mechanism for detecting the attitude of the moving body by using the output of the attitude detection section as an input signal, wherein
• the attitude detection section and the control arithmetic processing mechanism are connected to a common driving power supply.