Moving body posture angle detecting apparatus

A moving body posture angle detecting apparatus, comprising:

• an angular velocity sensor which detects an angular velocity of a moving body;
• an acceleration sensor which detects an acceleration of the moving body;
• an angular velocity posture angle calculating device that calculates, as an angular velocity posture angle, a posture angle of the moving body from the angular velocity;
• an acceleration posture angle calculating device that calculates, as an acceleration posture angle, a posture angle of the moving body from the acceleration;
• a difference calculating device that calculates a difference between the angular velocity posture angle and the acceleration posture angle;
• a low range component extracting device that extracts, as error, a low range component of the difference;
• an error removing device that removes the error from the angular velocity posture angle;
• an outputting device that outputs, as a posture angle of the moving body, an angular velocity posture angle from which the error has been removed by the error removing device;
• and
• a feedback device that feeds back the angular velocity posture angle from which the error has been removed by the error removing device to the angular velocity posture angle calculating device.

A moving body posture angle detecting apparatus, comprising:

• an angular velocity sensor which detects an angular velocity of a moving body;
• an acceleration sensor which detects an acceleration of the moving body;
• a device that calculates a small angle matrix which defines a small rotation angle after a small period of time is has passed from the angular velocity;
• a device that calculates a new angular velocity system posture matrix from the small angle matrix and a posture matrix that was fed back;
• a device that calculates a tilt angle from the acceleration;
• a device that calculates an acceleration system posture matrix from the tilt angle;
• an angular velocity system low range component extracting device that extracts a low range component of the angular velocity system posture matrix;
• an acceleration system low range component extracting device that extracts a low range component of the acceleration system posture matrix;
• a difference calculating device that calculates, as error, a difference between the low range component of the angular velocity system posture matrix and the low range component of the acceleration system posture matrix;
• an error removing device that removes the error from the angular velocity system posture matrix;
• an outputting device that calculates a posture angle from the angular velocity system posture matrix from which the error has been removed by the error removing device and outputs the result a posture angle of the moving body;
• and
• a feedback device that feeds back the angular velocity system posture matrix from which the error has been removed by the error removing device to the device that calculates the new angular velocity system posture matrix.

A moving body posture angle detecting apparatus, comprising:

• an angular velocity sensor which detects an angular velocity of a moving body;
• an acceleration sensor which detects an acceleration of the moving body;
• a device that calculates a small angle quaternion which defines a small rotation angle after a small period of time is has passed from the angular velocity;
• a device that calculates a new angular velocity system quaternion from the small angle quaternion and a quaternion that was fed back;
• a device that calculates a tilt angle from the acceleration;
• a device that calculates an acceleration system quaternion from the tilt angle;
• an angular velocity system low range component extracting device that extracts a low range component of the angular velocity system quaternion;
• an acceleration system low range component extracting device that extracts a low range component of the acceleration system quaternion;
• a difference calculating device that calculates, as error, a difference between the low range component of the angular velocity system quaternion and the low range component of the acceleration system quaternion;
• an error removing device that removes the error from the angular velocity system quaternion;
• an outputting device that calculates a posture angle from the angular velocity system quaternion from which the error has been removed by the error removing device and outputs the result a posture angle of the moving body;
• and
• a feedback device that feeds back the angular velocity system quaternion from which the error has been removed by the error removing device to the device that calculates the new angular velocity system quaternion.