CN102959357A - Posture determination device - Google Patents
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- CN102959357A CN102959357A CN2011800321435A CN201180032143A CN102959357A CN 102959357 A CN102959357 A CN 102959357A CN 2011800321435 A CN2011800321435 A CN 2011800321435A CN 201180032143 A CN201180032143 A CN 201180032143A CN 102959357 A CN102959357 A CN 102959357A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
Disclosed is a posture determination device that can easily determine posture without complicated calculations. Acceleration compositions (Gx to Gz) in normalized first to third axes directions output from a three-axis acceleration sensor (1) are input into first to third judgment units (5 to 9). The first judgment unit (5) judges which of the following ranges the first axis direction component (Gx) is in: Gx< -0.5, -0.5<=Gx<0, 0<=Gx<0.5, or 0.5<=Gx. The second judgment unit (7) judges which of the following ranges the second axis direction component (Gy) is in: Gy< -0.5, -0.5<=Gy<0, 0<=Gy<0.5, or 0.5<=Gy. The third judgment unit (9) judges which of the following ranges the third axis direction component (Gz) is in: Gz< -0.5, -0.5<=Gz<0, 0<=Gz<0.5, or 0.5<=Gz. Outputs from the first to third judgment units (5 to 9) are input into the posture determination unit (11) and the posture determination unit (11) judges the posture of a supporting body to which the three-axis acceleration sensor (1) is fixed.
Description
Technical field
The present invention relates to use the posture of 3-axis acceleration sensor to determine device.
Background technology
TOHKEMY 2009-276282 communique discloses a kind of posture and has determined device, this posture is determined the device angle of being come calculating apparatus by 3-axis acceleration sensor component of acceleration that detect, under the quadrature three-dimensional coordinate, utilizes the angle of calculating to determine the posture of device self.
The prior art document
Patent documentation
Patent documentation 1: TOHKEMY 2009-276282 communique
Summary of the invention
The problem that the invention wish solves
Use in the past the posture of 3-axis acceleration sensor determine that device is in order to determine that posture needs complex calculations.Therefore, such as determining in the situation of device in use postures such as portable communication terminal devices, the problem of generation is, the definite desired operand of posture increases, and the burden of the CPU of portable communication terminal device significantly increases.
The object of the present invention is to provide a kind of posture to determine device, it does not need complex calculations just can simply determine posture.
For the scheme of dealing with problems
Posture of the present invention determines that device comprises: 3-axis acceleration sensor, the first to the 3rd detection unit and posture determination portion that supported body supports.The supported body of 3-axis acceleration sensor supports, the acceleration decomposition that acts on supporter is the first axle X, detects with the second axle Y of the first axle X quadrature and with each axial component Gx, Gy and Gz of the 3rd axle Z of the first axle X and the second axle Y quadrature, export so that each component Gx, Gy and Gz for-1≤Gx≤1 ,-1≤Gy≤1 and-value of the scope of 1≤Gz≤1.It is positive number that the first detection unit is established α, judge the first axial component Gx be in Gx＜-α ,-which scope among α≤Gx＜0,0≤Gx＜α and the α≤Gx, export result of determination with digital value.It is positive number that the second detection unit is established β, judge the second axial component Gy be in Gy＜-β ,-which scope among β≤Gy＜0,0≤Gy＜β and the β≤Gy, export result of determination with digital value.It is positive number that the 3rd detection unit is established γ, judge the 3rd axial component Gz as z＜-γ ,-which scope among γ≤Gz＜0,0≤Gz＜γ and the γ≤Gz, export result of determination with digital value.More specifically, α, β and γ identical number preferably.Further practical, α, β and γ preferably 0.5.The combination of the result of determination of the digital value that the posture determination portion determines based on the first to the 3rd detection unit determines that acceleration of gravity acts on the acceleration of gravity direction of supporter, according to the posture of acceleration of gravity orientation determination supporter.In the present invention, the posture determination portion comprises: acceleration directional data storage part, pre-stored have combination that the result that the first to the 3rd detection unit judges is shown, with the data of the corresponding relation of the acceleration of gravity direction that acts on supporter; And search part, the combination of the result of determination of the digital value that the first to the 3rd detection unit is judged is as input, from data retrieval and the combination of this result of determination acceleration of gravity direction corresponding, that act on supporter that is stored in acceleration directional data storage part and export.
According to the present invention, in 1 detection unit, export result of determination with 2 bit digital value.Therefore, 2 * 3=6 of the from first to the 3rd detection unit output position information.And, if obtain in advance the result of determination that the from first to the 3rd detection unit output is shown combination, with the data of the corresponding relation of the acceleration of gravity direction that acts on supporter, then be pre-stored in acceleration directional data storage part.And, the combination of the result of determination of the digital value that search part is judged the first to the 3rd detection unit is as input, from data retrieval and output and the combination of this result of determination acceleration of gravity direction corresponding, that act on supporter that is stored in acceleration directional data storage part.By like this, input (6) and less storage data based on less quantity of information do not need complex calculations, just can determine to be equipped with the posture of the device of 3-axis acceleration sensor.
Be stored in the data of acceleration directional data storage part so long as illustrate the result that the first to the 3rd detection unit judges combination, with the data of the corresponding relation of the acceleration of gravity direction that acts on supporter, which kind of pattern all can.For example, when the spheroid of having supposed centered by the axle center of 3-axis acceleration sensor, can be with spheroid to carry out 4 five equilibriums with the first axle first virtual face parallel with the second axle, with spheroid to carry out 4 five equilibriums with the second axle second virtual face parallel with the 3rd axle, to carry out 4 five equilibriums with the first axle the 3rd virtual face parallel with the 3rd axle, give identification marking at 56 virtual regions that the surface of spheroid is divided with spheroid.The identification marking of the virtual region of the acceleration of gravity direction that then, also the combination that is positioned at the result who is judged by the first to the 3rd detection unit can be determined, the result's that judges with described the first to the 3rd detection unit combination is mapped and is stored in acceleration directional data storage part.In this case, search part is exported the acceleration of gravity direction with identification marking.By like this, can illustrate with 56 directional informations the posture that posture is determined the device of device is installed.If the information of this level, then can increase hardly the burden of the CPU of a lot of portable communication terminal devices.
Description of drawings
Fig. 1 illustrates the block diagram of structure of an example that posture of the present invention is determined the embodiment of device.
Fig. 2 is the figure that the first to the 3rd axle is shown.
Fig. 3 is illustrated in the situation of 3-axis acceleration sensor horizontal positioned and make in the situation of its inclination, from the sight line of X-Z axial plane with under the sight line of X-Y axial plane, and the figure of the relation of 3-axis acceleration sensor and spheroid.
Fig. 4 is the figure that the example of giving identification marking is shown.
Fig. 5 (A) and (B) be in the situation of the 3rd axle (Z axis) that the 3rd detection unit output that is stored in acceleration directional data storage part the is shown scope that is output as 0.5≤Gz and be in the situation of scope of 0≤Gz＜0.5 is stored in the figure of example of the numerical data of the pose information register in the acceleration directional data storage part.
Fig. 6 (A) and (B) be the 3rd axle (Z axis) that the 3rd detection unit output that is stored in acceleration directional data storage part is shown be output as-situation of the scope of 0.5≤Gz＜0 and Gz＜-0.5 under, be stored in the figure of example of the numerical data of the pose information register in the acceleration directional data storage part.
Fig. 7 is the figure that three-dimensionally shows the example of giving identification marking of Fig. 4.
Description of reference numerals
1 3-axis acceleration sensor
3 supporters
5 first detection units
7 second detection units
9 the 3rd detection units
11 posture determination portions
13 acceleration directional data storage parts
15 search part
Embodiment
Below, the posture that present invention will be described in detail with reference to the accompanying is determined an example of the embodiment of device.Fig. 1 illustrates the block diagram of structure of an example that posture of the present invention is determined the embodiment of device.As shown in Figure 1, the posture of present embodiment determines that device comprises 3-axis acceleration sensor 1 and the supporter 3 that supports 3-axis acceleration sensor 1.Herein, supporter 3 can be to take in the housing that is fixed with 3-axis acceleration sensor, also can be the substrate that is fixed with 3-axis acceleration sensor in addition, these housings or substrate the need posture such with respect to for example portable communication terminal device determines that the equipment of device fixes.So 3-axis acceleration sensor 1 detection effect is in the acceleration of this equipment.As shown in Figure 2,3-axis acceleration sensor 1 will to act on the acceleration decomposition of supporter 3 be the first axle X, with the second axle Y of the first axle X quadrature and with each axial component (component of acceleration) Gx, Gy and the Gz of the 3rd axle Z of the first axle X and the second axle Y quadrature and detect.Use in the present embodiment when equipment is static, also can export the semiconductor acceleration sensor for detection of the component of acceleration of acceleration of gravity G.The 3-axis acceleration sensor 1 of present embodiment is exported by normalized detected value, so that each component Gx, Gy and Gz are-1≤Gx≤1, and the value of the scope of-1≤Gy≤1 and-1≤Gz≤1.
Be imported into the first to the 3rd detection unit 5 to 9 from what 3-axis acceleration sensor 1 was exported by the normalized first to the 3rd axial component of acceleration Gx to Gz.It is positive number that the first detection unit 5 is established α, judge the first axial component Gx be in Gx＜-α ,-which scope among α≤Gx＜0,0≤Gx＜α and the α≤Gx, export result of determination with digital value.In the present embodiment, particularly, adopt 0.5 as α.So, the first detection unit 5 particularly judge the first axial component Gx be in Gx＜-0.5 ,-which scope among 0.5≤Gx＜0,0≤Gx＜0.5 and the 0.5≤Gx, export result of determination with digital value.In addition, it is positive number that the second detection unit 7 is established β, judge the second axial component Gy be in Gy＜-β ,-which scope among β≤Gy＜0,0≤Gy＜β and the β≤Gy, export result of determination with digital value.Particularly, adopt 0.5 as β.So, the second detection unit 7 particularly judge the second axial component Gy be in Gy＜-0.5 ,-which scope among 0.5≤Gy＜0,0≤Gy＜0.5 and the 0.5≤Gy, export result of determination with digital value.It is positive number that the 3rd detection unit 9 is established γ, judge the 3rd axial component Gz be in Gz＜-γ ,-which scope among γ≤Gz＜0,0≤Gz＜γ and the γ≤Gz, export result of determination with digital value.Particularly, adopt 0.5 as γ.So, the 3rd detection unit 9 particularly judge the 3rd axial component Gz be in Gz＜-0.5 ,-which scope among 0.5≤Gz＜0,0≤Gz＜0.5 and the 0.5≤Gz, export result of determination with digital value.
The output (result of determination) of the first to the 3rd detection unit 5 to 9 inputs to posture determination portion 11, and 11 pairs of posture determination portions are fixed with the posture of the supporter (perhaps equipment) of 3-axis acceleration sensor 1 and judge.In the present embodiment, posture determination portion 11 is based on the combination of the result of determination of the digital value of the first to the 3rd detection unit 5 to 9 judgements, determine that acceleration of gravity G acts on the acceleration of gravity direction of supporter 3, according to the posture of acceleration of gravity orientation determination supporter 3.Posture determination portion 11 comprises acceleration directional data storage part 13, search part 15.Acceleration directional data storage part 13 is pre-stored illustrate the result that the first to the 3rd detection unit 5 to 9 judges combination, with the data of the corresponding relation of the acceleration of gravity direction that acts on supporter 3.The combination of the result of determination of the digital value that search part 15 is judged the first to the 3rd detection unit 5 to 9 is as input, from data retrieval and the output acceleration of gravity direction corresponding with the combination of this result of determination, that act on supporter 3 that is stored in acceleration directional data storage part 13.
Be stored in the data of acceleration directional data storage part 13 so long as illustrate the result that the first to the 3rd detection unit 5 to 9 judges combination, get final product with the data of the corresponding relation of the acceleration of gravity direction that acts on supporter 3, which kind of pattern all can.In the present embodiment, as shown in Figure 3 and Figure 4, when having supposed with the axle center of 3-axis acceleration sensor 1 as the spheroid S at center, can be with spheroid S to carry out 4 five equilibriums with the first axle X first virtual face parallel with the second axle Y, with spheroid S to carry out 4 five equilibriums with the second axle Y second virtual face parallel with the 3rd axle Z, spheroid S carrying out 4 five equilibriums with the first axle X the 3rd virtual face parallel with the 3rd axle Z, is divided into the surface of spheroid S 56 virtual regions and adds identification marking (1～56).Fig. 3 is illustrated in the situation of 3-axis acceleration sensor 1 horizontal positioned and make in the situation of its inclination, from the sight line of X-Z axial plane with under the sight line of X-Y axial plane, and the figure of 3-axis acceleration sensor 1 and the relation of spheroid S.
Fig. 4 is the figure that the example of giving identification marking is shown.In Fig. 4, illustrate be divided into acceleration of gravity G be in G＜-0.5 ,-situation of the scope of 0.5≤G＜0,0≤G＜0.5 and 0.5≤G, the example of the identification marking that 56 virtual regions dividing on the surface of spheroid S mark.And posture determination portion 11 will be positioned at the identification marking of the virtual region of the acceleration of gravity direction that the result's who is judged by the first to the 3rd detection unit combination determines, the result's that judges with the first to the 3rd detection unit combination is mapped is stored in acceleration directional data storage part 13.
Fig. 5 (A) and (B) and Fig. 6 (A) and the example of the numerical data that is stored in the pose information register in the acceleration directional data storage part 13 (B) is shown.The digital value of component Gz that Fig. 5 (A) illustrates the 3rd axle (Z axis) of the 3rd detection unit 9 output is output as digital value that 0.5≤Gz, Fig. 5 (B) illustrate component Gz and is output as the digital value that 0≤Gz＜0.5, Fig. 6 (A) illustrates component Gz and is output as-and digital value that 0.5≤Gz＜0, Fig. 6 (B) illustrate component Gz is output as the example of the numerical data in the situation of scope of Gz＜-0.5.Fig. 5 (A) and (B) and Fig. 6 (A) and address digit (B) be the address digit of pose information register.The pose information register has 8 passages that are respectively with channel number D0 to D7.XSU to ZSL illustrates the data that represent the output of the first axle (X-axis)～the 3rd axle (Z axis) with 2 (bit).For example be output as in the situation of 0.5≤Gz at the 3rd axle (Z axis), represent with ZSU=0, ZSL=1, be output as in the situation of 0≤Gz＜0.5 at the 3rd axle (Z axis), represent with ZSU=0, ZSL=0, be output as at the 3rd axle (Z axis)-situation of 0.5≤Gz＜0 under, represent with ZSU=1, ZSL=1, be output as in the situation of Gz＜-0.5 at the 3rd axle (Z axis), represent with ZSU=1, ZSL=0.In the situation of the first and second axles (X, Y) axle, represent with 2 equally.In the present embodiment, distribute respectively XSU to ZSL to D7 to D2.So the pose information register value of each address represents with 82 system numbers.In addition, because D1 and D2 do not use, therefore value can be 0 also can be 1, also can be blank.And in the present embodiment, identification marking (CAL) moves right 2 and be scaled the value of 10 system numbers for the pose information register value that makes each address.Particularly, for example in the situation of address digit 1, make the pose information register value move right 2, become " 010101 ", this value is scaled 21 of 10 system numbers becomes identification marking (CAL).This identification marking illustrates the position of acceleration of gravity direction corresponding to 56 identification markings that virtual region is given to dividing on the surface of spheroid S.
Number among each figure of the bottom of Fig. 4 is equivalent to this identification marking.Fig. 7 illustrates the example that three-dimensionally shows identification marking shown in Figure 4.
In the present embodiment, the combination of the result of determination XSU to ZSL of the digital value that search part 15 is judged the first to the 3rd detection unit 5 to 9 is as input, the identification marking (CAL) of the address digit under the combination of this result of determination of data retrieval of being stored in acceleration directional data storage part 13.Then, search part 15 uses identification marking (1～56 number) to export the acceleration of gravity direction.By like this, can enough 56 directional informations illustrate the posture that posture is determined the equipment of device is installed.If the information of this level, then can increase hardly the burden of the CPU of a lot of portable communication terminal devices.
Utilizability on the industry
According to the present invention, in 1 detection unit, export result of determination with 2 bit digital value.Therefore, 2 * 3=6 of the from first to the 3rd detection unit output position information.And, if obtain in advance the result of determination that the from first to the 3rd detection unit output is shown combination, with the data of the corresponding relation of the acceleration of gravity direction that acts on supporter, then be pre-stored in acceleration directional data storage part.And, the combination of the result of determination of the digital value that search part is judged the first to the 3rd detection unit is as input, from data retrieval and output and the combination of this result of determination acceleration of gravity direction corresponding, that act on supporter that is stored in acceleration directional data storage part.By like this, based on the input (6) of less quantity of information and less storage data, do not need complex calculations, just can determine to be equipped with the posture of the device of 3-axis acceleration sensor.
Claims (5)
1. a posture is determined device, it is characterized in that, comprising:
3-axis acceleration sensor, supported body supports, with the acceleration decomposition that acts on described supporter be the first axle X, with the second axle Y of described the first axle X quadrature and with each axial component Gx, Gy and the Gz of the 3rd axle Z of described the first axle X and the second axle Y quadrature and detect, export so that each component Gx, Gy and Gz are-1≤Gx≤1 value of the scope of-1≤Gy≤1 and-1≤Gz≤1;
The first detection unit, judge the described first axial component Gx be in Gx＜-0.5 ,-which scope among 0.5≤Gx＜0,0≤Gx＜0.5 and the 0.5≤Gx, export result of determination with digital value;
The second detection unit, judge the described second axial component Gy be in Gy＜-0.5 ,-which scope among 0.5≤Gy＜0,0≤Gy＜0.5 and the 0.5≤Gy, export result of determination with digital value;
The 3rd detection unit, judge the described the 3rd axial component Gz be in Gz＜-0.5 ,-which scope among 0.5≤Gz＜0,0≤Gz＜0.5 and the 0.5≤Gz, export result of determination with digital value; And
The posture determination portion, the combination of the described result of determination of the digital value that determines based on described the first to the 3rd detection unit, determine that acceleration of gravity acts on the acceleration of gravity direction of described supporter, according to the posture of the described supporter of described acceleration of gravity orientation determination
Described posture determination portion comprises: acceleration directional data storage part, pre-stored have combination that the result that described the first to the 3rd detection unit judges is shown, with the data of the corresponding relation of the described acceleration of gravity direction that acts on described supporter; And search part, the combination of the result of determination of the digital value that described the first to the 3rd detection unit is determined is as input, from described data retrieval and the combination of this result of determination acceleration of gravity direction corresponding, that act on described supporter and the output that is stored in described acceleration directional data storage part.
2. a posture is determined device, it is characterized in that, comprising:
3-axis acceleration sensor, supported body supports, the acceleration decomposition that acts on described supporter is the first axle X, detects with the second axle Y of described the first axle X quadrature and with each axial component Gx, Gy and Gz of the 3rd axle Z of described the first axle X and the second axle Y quadrature, export so that each component Gx, Gy and Gz are-1≤Gx≤1 value of the scope of-1≤Gy≤1 and-1≤Gz≤1;
The first detection unit, establishing α is positive number, judge the described first axial component Gx be in Gx＜-α, which scope among-α≤Gx＜0,0≤Gx＜α and the α≤Gx is exported result of determination with digital value;
The second detection unit, establishing β is positive number, judge the described second axial component Gy be in Gy＜-β ,-which scope among β≤Gy＜0,0≤Gy＜β and the β≤Gy, export result of determination with digital value;
The 3rd detection unit, establishing γ is positive number, judge the described the 3rd axial component Gz be in Gz＜-γ ,-which scope among γ≤Gz＜0,0≤Gz＜γ and the γ≤Gz, export result of determination with digital value; And
The posture determination portion, the combination of the described result of determination of the digital value that determines based on described the first to the 3rd detection unit, determine that acceleration of gravity acts on the acceleration of gravity direction of described supporter, according to the posture of the described supporter of described acceleration of gravity orientation determination
Described posture determination portion comprises: acceleration directional data storage part, and pre-stored have described data; And search part, the combination of the result of determination of the digital value that described the first to the 3rd detection unit is determined is as input, from the described data retrieval that is stored in described acceleration directional data storage part the acceleration of gravity direction that act on described supporter and the output corresponding with the combination of this result of determination.
3. posture as claimed in claim 1 is determined device, it is characterized in that,
Described posture determination portion is when having supposed with the axle center of described 3-axis acceleration sensor as the spheroid at center, with described spheroid to carry out 4 five equilibriums with described the first axle first virtual face parallel with the second axle, with described spheroid to carry out 4 five equilibriums with described the second axle second virtual face parallel with the 3rd axle, with described spheroid to carry out 4 five equilibriums with described the first axle the 3rd virtual face parallel with the 3rd axle, give identification marking to 56 virtual regions dividing on the surface of described spheroid, to be positioned at the described identification marking of the described virtual region of the described acceleration of gravity direction that the result's who judges according to described the first to the 3rd detection unit combination determines, the result's who judges with described the first to the 3rd detection unit combination is mapped and is stored in described acceleration directional data storage part
Described search part is exported described acceleration of gravity direction with described identification marking.
4. posture as claimed in claim 2 is determined device, it is characterized in that, described α, β are identical numbers with γ.
5. posture as claimed in claim 4 is determined device, it is characterized in that, described α, β and γ are 0.5.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-149610 | 2010-06-30 | ||
| JP2010149610 | 2010-06-30 | ||
| PCT/JP2011/065057 WO2012002494A1 (en) | 2010-06-30 | 2011-06-30 | Posture determination device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102959357A true CN102959357A (en) | 2013-03-06 |
| CN102959357B CN102959357B (en) | 2015-11-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180032143.5A Expired - Fee Related CN102959357B (en) | 2010-06-30 | 2011-06-30 | Posture determination device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5161396B2 (en) |
| CN (1) | CN102959357B (en) |
| WO (1) | WO2012002494A1 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003329705A (en) * | 2002-05-13 | 2003-11-19 | Casio Comput Co Ltd | Method and apparatus for analyzing motion and program thereof |
| CN1815141A (en) * | 2005-01-13 | 2006-08-09 | 株式会社日立制作所 | Pose checking method and program using double-axis magnetic sensor |
| CN101031803A (en) * | 2004-08-12 | 2007-09-05 | 旭化成电子材料元件株式会社 | Acceleration measuring device |
| US20090143972A1 (en) * | 2005-03-28 | 2009-06-04 | Asahi Kaseu Emd Corporation | Traveling Direction Measuring Apparatus and Traveling Direction Measuring Method |
| JP2009276282A (en) * | 2008-05-16 | 2009-11-26 | Sumitomo Electric Ind Ltd | Attitude determination apparatus and method, movement direction determination apparatus, position determination apparatus, and computer program |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3851406B2 (en) * | 1997-03-19 | 2006-11-29 | 本田技研工業株式会社 | Pedestrian speed / direction detector |
-
2011
- 2011-06-30 WO PCT/JP2011/065057 patent/WO2012002494A1/en active Application Filing
- 2011-06-30 CN CN201180032143.5A patent/CN102959357B/en not_active Expired - Fee Related
- 2011-06-30 JP JP2012522693A patent/JP5161396B2/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003329705A (en) * | 2002-05-13 | 2003-11-19 | Casio Comput Co Ltd | Method and apparatus for analyzing motion and program thereof |
| CN101031803A (en) * | 2004-08-12 | 2007-09-05 | 旭化成电子材料元件株式会社 | Acceleration measuring device |
| CN1815141A (en) * | 2005-01-13 | 2006-08-09 | 株式会社日立制作所 | Pose checking method and program using double-axis magnetic sensor |
| US20090143972A1 (en) * | 2005-03-28 | 2009-06-04 | Asahi Kaseu Emd Corporation | Traveling Direction Measuring Apparatus and Traveling Direction Measuring Method |
| JP2009276282A (en) * | 2008-05-16 | 2009-11-26 | Sumitomo Electric Ind Ltd | Attitude determination apparatus and method, movement direction determination apparatus, position determination apparatus, and computer program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5161396B2 (en) | 2013-03-13 |
| JPWO2012002494A1 (en) | 2013-08-29 |
| CN102959357B (en) | 2015-11-25 |
| WO2012002494A1 (en) | 2012-01-05 |
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