JP2012008096A - バイアス推定方法、姿勢推定方法、バイアス推定装置及び姿勢推定装置 - Google Patents

バイアス推定方法、姿勢推定方法、バイアス推定装置及び姿勢推定装置 Download PDF

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Publication number
JP2012008096A
JP2012008096A JP2010146561A JP2010146561A JP2012008096A JP 2012008096 A JP2012008096 A JP 2012008096A JP 2010146561 A JP2010146561 A JP 2010146561A JP 2010146561 A JP2010146561 A JP 2010146561A JP 2012008096 A JP2012008096 A JP 2012008096A
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JP
Japan
Prior art keywords
bias
value
acceleration sensor
axis
posture
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Pending
Application number
JP2010146561A
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English (en)
Japanese (ja)
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JP2012008096A5 (enExample
Inventor
Imei Cho
イメイ 丁
Chikashi Uchida
周志 内田
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Seiko Epson Corp
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Seiko Epson Corp
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Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2010146561A priority Critical patent/JP2012008096A/ja
Priority to US13/170,139 priority patent/US9273967B2/en
Priority to CN201110177231.6A priority patent/CN102313822B/zh
Publication of JP2012008096A publication Critical patent/JP2012008096A/ja
Publication of JP2012008096A5 publication Critical patent/JP2012008096A5/ja
Pending legal-status Critical Current

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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
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • 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
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/185—Compensation of inertial measurements, e.g. for temperature effects for gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
JP2010146561A 2010-06-28 2010-06-28 バイアス推定方法、姿勢推定方法、バイアス推定装置及び姿勢推定装置 Pending JP2012008096A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2010146561A JP2012008096A (ja) 2010-06-28 2010-06-28 バイアス推定方法、姿勢推定方法、バイアス推定装置及び姿勢推定装置
US13/170,139 US9273967B2 (en) 2010-06-28 2011-06-27 Bias estimating method, posture estimating method, bias estimating device, and posture estimating device
CN201110177231.6A CN102313822B (zh) 2010-06-28 2011-06-28 偏置估算方法、姿势估算方法、偏置估算装置及姿势估算装置

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JP2010146561A JP2012008096A (ja) 2010-06-28 2010-06-28 バイアス推定方法、姿勢推定方法、バイアス推定装置及び姿勢推定装置

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JP2015081552A Division JP2015135349A (ja) 2015-04-13 2015-04-13 バイアス推定方法、姿勢推定方法、バイアス推定装置及び姿勢推定装置

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JP2012008096A5 JP2012008096A5 (enExample) 2013-08-08

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US (1) US9273967B2 (enExample)
JP (1) JP2012008096A (enExample)
CN (1) CN102313822B (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014171227A1 (ja) * 2013-04-17 2014-10-23 古野電気株式会社 姿勢角推定装置およびそれを備える移動状態検出装置
WO2018100964A1 (ja) * 2016-11-30 2018-06-07 パイオニア株式会社 初期化装置、初期化方法及び初期化装置用プログラム

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JP6094026B2 (ja) * 2011-03-02 2017-03-15 セイコーエプソン株式会社 姿勢判定方法、位置算出方法及び姿勢判定装置
CN102353351B (zh) * 2011-06-28 2014-01-15 惠州Tcl移动通信有限公司 偏侧拍摄角度检测方法、倾斜拍摄角度检测方法及手机
JP2014106206A (ja) * 2012-11-29 2014-06-09 Tamagawa Seiki Co Ltd 慣性センサおよびその演算誤差軽減方法
JP6167747B2 (ja) * 2013-08-14 2017-07-26 セイコーエプソン株式会社 バイアス算出方法及びバイアス算出装置
JP2015094631A (ja) * 2013-11-11 2015-05-18 セイコーエプソン株式会社 位置算出装置及び位置算出方法
CN104502632B (zh) * 2014-11-28 2017-06-16 郑州合智汇金电子科技有限公司 一种石英加速度传感器的温度补偿方法
JP6394399B2 (ja) * 2015-01-09 2018-09-26 株式会社デンソー 回転角検出装置
CN106428034B (zh) * 2016-09-28 2019-01-08 中车大连电力牵引研发中心有限公司 列车牵引逆变器的转矩控制装置
CN108051839B (zh) * 2017-10-27 2021-11-05 成都天合世纪科技有限责任公司 一种车载三维定位装置及三维定位的方法
CN111655074B (zh) * 2018-01-31 2022-09-09 奥诗莱格金属技术有限责任公司 可电动地调节高度的台及其控制方法
WO2019205152A1 (zh) * 2018-04-28 2019-10-31 深圳市大疆创新科技有限公司 云台的控制方法和云台
CN109084755B (zh) * 2018-06-14 2021-06-25 东南大学 一种基于重力视速度与参数辨识的加速度计零偏估计方法
US12029942B2 (en) 2020-08-28 2024-07-09 Band Connect Inc. System and method for remotely providing and monitoring physical therapy
CN113375699A (zh) * 2021-08-12 2021-09-10 智道网联科技(北京)有限公司 惯性测量单元安装误差角标定方法及相关设备
US12234014B2 (en) 2021-08-16 2025-02-25 Shenzhen Reolink Technology Co., Ltd. UAV navigation calibration method, non-transitory computer-readable storage medium and UAV implementing the same
CN113758515B (zh) * 2021-08-16 2023-04-07 深圳市睿联技术股份有限公司 零点校准方法、装置、电子设备及计算机可读存储介质
CN119717309B (zh) * 2023-12-27 2025-09-26 十二毫米健康科技(海南)有限公司 一种矫正用眼姿势的眼镜挂绳数据修正方法

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US5610815A (en) * 1989-12-11 1997-03-11 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
WO1991009375A1 (en) * 1989-12-11 1991-06-27 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
JPH10267651A (ja) 1997-03-28 1998-10-09 Data Tec:Kk 傾斜測定方法及び傾斜測定装置
USH1840H (en) * 1998-09-23 2000-02-01 Caterpillar Inc. Apparatus and method of providing calibration information to an operator of a work machine
FR2832804B1 (fr) * 2001-11-23 2004-01-30 Sagem Procede de mesure accelerometrique, compensee thermiquement, avec au moins un dispositif a deux resonateurs vibrants
JP4063149B2 (ja) * 2003-05-28 2008-03-19 株式会社デンソー 車両角速度検出装置
GB0511942D0 (en) 2005-06-13 2005-07-20 Nokia Corp Atmosphere model
JP2007040763A (ja) * 2005-08-01 2007-02-15 Toyota Motor Corp 加速度センサの補正装置
US20090259424A1 (en) * 2008-03-06 2009-10-15 Texas Instruments Incorporated Parameter estimation for accelerometers, processes, circuits, devices and systems
US8150651B2 (en) 2008-06-11 2012-04-03 Trimble Navigation Limited Acceleration compensated inclinometer
CN101290326B (zh) * 2008-06-13 2010-07-07 哈尔滨工程大学 石英挠性加速度计测量组件的参数辨识标定方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014171227A1 (ja) * 2013-04-17 2014-10-23 古野電気株式会社 姿勢角推定装置およびそれを備える移動状態検出装置
WO2018100964A1 (ja) * 2016-11-30 2018-06-07 パイオニア株式会社 初期化装置、初期化方法及び初期化装置用プログラム

Also Published As

Publication number Publication date
CN102313822A (zh) 2012-01-11
US20110320164A1 (en) 2011-12-29
CN102313822B (zh) 2016-05-11
US9273967B2 (en) 2016-03-01

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