Information processing apparatus, information processing method, and program

An information processing method comprising the steps of:

• calculating at least one of an acceleration and a velocity of a mobile object in a reference coordinate system on a basis of inertial navigation calculation;
• calculating at least one of an acceleration and a velocity of a mobile object coordinate system that is a coordinate system of the mobile object from at least one of the acceleration and the velocity of the reference coordinate system;
• and
• specifying a rotation component or an absolute azimuth on a basis of at least one of the acceleration and the velocity of the mobile object coordinate system and reference information of at least one of an acceleration and a velocity serving as a non-holonomic constraint condition that constrains a degree of freedom of at least one of six axes related to an attitude and a velocity of the mobile object.

A program for causing a computer to function as:

• a reference coordinate system calculation unit that calculates at least one of an acceleration and a velocity of a mobile object in a reference coordinate system on a basis of inertial navigation calculation;
• a mobile object coordinate system calculation unit that calculates at least one of an acceleration and a velocity of a mobile object coordinate system that is a coordinate system of the mobile object from at least one of the acceleration and the velocity of the reference coordinate system;
• and
• a specification unit that specifies a rotation component or an absolute azimuth on a basis of at least one of the acceleration and the velocity of the mobile object coordinate system and reference information of at least one of an acceleration and a velocity serving as a non-holonomic constraint condition that constrains a degree of freedom of at least one of six axes related to an attitude and a velocity of the mobile object.