Orientation calculation apparatus, orientation calculation method, imaging apparatus including orientation calculation apparatus, and method for controlling same

An imaging apparatus comprising:

• an image sensor configured to capture an object image formed by an imaging optical system;
• one or more memories;
• and
• one or more processors, wherein the one or more processors and the one or more memories are configured to:
• obtain detection signals from a first sensor configured to detect movement of the imaging apparatus and a second sensor configured to detect the movement of the imaging apparatus on a same axis as that of the movement detected by the first sensor;
• calculate, as a first calculation, first orientation information about the imaging apparatus based on an output of the first sensor and a reference angle;
• calculate, as a second calculation, second orientation information about the imaging apparatus by a method different from that for calculating the first orientation information based on the output of the first sensor and an output of the second sensor;
• determine which calculation to calculate an orientation of the imaging apparatus is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination;
• and
• update the reference angle,
• wherein the reference angle is updated in synchronization with a timing when the one or more processors and the one or more memories determine that a state where the determination is to be switched from a state where the orientation of the imaging apparatus is calculated using the second calculation to a state where the orientation of the imaging apparatus is calculated using the first calculation.

A moving body comprising:

• a driving unit;
• one or more memories;
• and
• one or more processors, wherein the one or more processors and the one or more memories are configured to:
• obtain detection signals from a first sensor configured to detect movement of the moving body and a second sensor configured to detect the movement of the moving body on a same axis as that of the movement detected by the first sensor;
• calculate, as a first calculation, first orientation information about the moving body based on an output of the first sensor and a reference angle;
• calculate, as a second calculation, second orientation information about the moving body by a method different from that for calculating the first orientation information based on the output of the first sensor and an output of the second sensor;
• determine which calculation to calculate an orientation of the moving body is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination;
• and
• update the reference angle,
• wherein the reference angle is updated in synchronization with a timing when the one or more processors and the one or more memories determine that a state where the determination is to be switched from a state where the orientation of the moving body is calculated using the second calculation to a state where the orientation of the imaging apparatus is calculated using the first calculation.

A method for controlling an orientation calculation apparatus configured to calculate information indicating an orientation of a moving apparatus, the method comprising:

• obtaining detection signals from a first sensor configured to detect movement of the moving apparatus and a second sensor configured to detect the movement of the moving apparatus on a same axis as that of the movement detected by the first sensor;
• calculating information indicating a first orientation of the moving apparatus as a first calculation based on an output of the first sensor and a reference angle;
• calculating information indicating a second orientation of the moving apparatus as a second calculation by a method different from that for the first calculation based on the output of the first sensor and an output of the second sensor;
• determining which calculation to calculate an orientation of the moving apparatus is to be used, from among a plurality of calculations including the first calculation and the second calculation, as a determination;
• and
• updating the reference angle as a reference angle update,
• wherein the reference angle update is performed in synchronization with a timing when it is determined by the determination that a state where the orientation of the moving apparatus is calculated using the second calculation is to be switched to a state where the orientation of the moving apparatus is calculated using the first calculation.