JP3234963B2 - Attitude angle detection method of angular velocity sensor type attitude angle detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude angle detecting type attitude angle detecting apparatus for detecting the attitude angle and traveling direction of a radio-controlled unmanned helicopter, a ship traveling on or underwater, a shield type excavator, and the like. It relates to a detection method.

[0002]

2. Description of the Related Art Conventionally, a radio-controlled unmanned helicopter for spraying pesticides, for example, has a structure in which the azimuth, inclination angle, etc. of an airframe are remotely controlled by a pilot command signal from a pilot. In this type of unmanned helicopter, the actual azimuth, inclination angle, etc. of the aircraft are affected by disturbances such as wind, etc. with respect to the azimuth, inclination angle, etc., determined by the pilot command signal so that maneuvering can be performed easily. It has been desired to provide an attitude control device that automatically corrects the attitude of the aircraft even if it changes.

It is conceivable that the attitude control device is configured to obtain the number of rotations of the body with respect to its left, right, front and rear, and vertical axes by using an angular velocity sensor for each axis.

[0004]

However, according to an experiment conducted by the inventors, even if a high-precision angular velocity sensor is used, the attitude angle of the body cannot be detected with high accuracy. This was due to the low positional accuracy when attaching the angular velocity sensor to the body.

That is, since the axes of the left, right, front and rear and up and down directions of the body do not coincide with the axes of the angular velocity sensors disposed on these axes, the detection axes of the three angular velocity sensors are not orthogonal to each other. there were. For this reason, for example, when the aircraft is turned only around the vertical axis, the angular velocity sensor on the horizontal axis and the angular velocity sensor on the longitudinal axis, which should not normally detect the angular velocity, are caused by misalignment. The detected angular velocity.

[0006] Such a problem can be solved by increasing the accuracy of the mounting position of each angular velocity sensor. However, the angular velocity sensor mounting portion must be machined with strict accuracy and more precise position adjustment must be performed. The cost increases.

In addition, the angular velocity sensor is usually assembled with the sensor body housed in a case, and the detection axis of the sensor body is displaced from the reference axis of the case. Even if the case is attached to the body with high accuracy as described above, the shaft will eventually be misaligned. If the accuracy of positioning the sensor body with respect to the case is also increased, the cost will be further increased.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and an attitude angle can be detected with high accuracy by using an angular velocity sensor without employing a method of increasing the mounting position accuracy which increases the cost. The purpose is to be able to.

[0009]

According to a first aspect of the present invention, there is provided a method for detecting an attitude angle of an angular velocity sensor type attitude angle detection apparatus, comprising: a vertical axis angular velocity sensor for detecting an angular velocity about a vertical axis; The attitude angle detecting device to which the X-axis angular velocity sensor and the Y-axis angular velocity sensor for detecting the angular velocities around the X and Y axes orthogonal to the vertical direction is rotated about the vertical axis. The axis of the angular velocity sensor for the vertical axis is placed on the rotary table in the vertical direction and rotated, and the output values of the angular velocity sensor for the X axis and the angular velocity sensor for the Y axis when the rotary table is rotating are respectively vertical. An error value about the axis is stored in a non-volatile memory, and after the attitude angle detecting device is mounted on a moving object, when it rotates around a vertical axis, the angular velocity sensor for the X axis and the Y axis Obtains a true angular velocity from the output value of the speed sensor by subtracting each said error value, in which determining the angle based on the true angular velocity.

According to a second aspect of the present invention, there is provided an attitude angle detecting method for an angular velocity sensor type attitude angle detecting apparatus according to the first aspect, wherein the attitude angle detecting apparatus is a moving object. Before mounting on the X-axis angular velocity sensor, the axis of the X-axis angular velocity sensor is rotated by a rotary table in the vertical direction, and the output values of the vertical axis angular velocity sensor and the Y-axis angular velocity sensor when the rotary table is rotating are respectively The error value around the X axis is stored in the nonvolatile memory,
After the attitude angle detecting device is mounted on a moving object, when the device rotates around the axis of the X axis, the error value around the X axis is subtracted from the output values of the angular velocity sensor for the vertical axis and the angular velocity sensor for the Y axis to obtain a true value. The angular velocity is determined, and the angle is determined based on the true angular velocity.

According to a third aspect of the present invention, there is provided the attitude angle detecting method of the angular velocity sensor type attitude angle detecting device according to the second aspect of the present invention, wherein:
Before mounting the attitude angle detection device on a moving object, the axis of the Y-axis angular velocity sensor is turned by a rotary table in the vertical direction, and when the rotary table is rotating, the vertical axis angular velocity sensor and the X-axis The output value of the angular velocity sensor is stored in a nonvolatile memory as an error value around the Y axis, and after the attitude angle detection device is mounted on the moving object, when the rotation angle about the Y axis is reached, the angular velocity sensor for the vertical axis and X
The true angular velocity is obtained by subtracting the error value around the Y-axis from the output value of the shaft angular velocity sensor, and the angle is obtained based on the true angular velocity.

[0012]

In the present invention, the angular velocity error caused by the axes of the three angular velocity sensors not being orthogonal to each other is electrically corrected.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to FIGS. In the present embodiment, an example will be described in which the attitude angle of the wirelessly-controlled unmanned helicopter is detected. FIG. 1 is a schematic configuration diagram of an unmanned helicopter that detects an attitude angle by an attitude angle detection method according to the present invention, and FIG. 2 shows an overall configuration of an attitude angle detection device that detects an attitude angle by an attitude angle detection method according to the present invention. FIG. 3 is a block diagram showing a configuration of a main part of the attitude angle detecting device, and FIG. 4 is a perspective view showing a schematic configuration of the attitude angle detecting device.

FIG. 5 is a block diagram for explaining an error value detecting step on the rotary table, FIG. 6 is a graph for explaining an error value detecting procedure on the rotary table, and FIG. It is a figure for explaining an angular velocity detection procedure after mounting in an unmanned helicopter.

In these figures, 1 is an unmanned helicopter body as a moving object, 2 is a main rotor, 3 is a tail rotor, 4 is the main rotor 2 and the tail rotor 3
This is the engine that drives the rotation. 5 is an engine controller servo motor for controlling the number of revolutions of the engine 4;
6 is a collective servo motor for controlling the inclination angle and pitch angle of the main rotor 2, 7 is a ladder servo motor for controlling the pitch angle of the tail rotor 3, and these servo motors 5 to 7 are for detecting the attitude angle according to the present invention. The structure is controlled by a controller 8 as a device.

Reference numeral 9 denotes a receiver mounted on the body 1. The receiver 9 receives a pilot command signal transmitted from the transmitter 10 by the receiving unit 9a and outputs the pilot command signal to the controller 8.
The control signal from the controller 8
7 is built in. Although not shown, the machine 1 is equipped with a pesticide spraying device for spraying pesticides from the air.

The controller 8 detects the angle of the body 1 with respect to three main directions (left and right, front and rear, and up and down directions) orthogonal to each other, the altitude of the body, acceleration in the vertical direction, and the like using various sensors described later. The structure is such that the target flight state set by the pilot command signal sent from the transmitter 10 is controlled. here,
As the sensor, the horizontal axis (X axis) of the body 1
Acceleration sensor 11 as inclinometer for detecting rotation angle
And an angular velocity sensor 12, an acceleration sensor 13 and an angular velocity sensor 14 as inclinometers for detecting an angle around the longitudinal axis (Y axis) of the body 1, and an angle around a vertical axis (Z axis) of the body 1 Azimuth sensor 15 and angular velocity sensor 16 for detecting the acceleration, and vertical acceleration sensor 17 for detecting the acceleration of the body 1 in the vertical direction
An altitude sensor 18 for detecting the altitude of the aircraft 1;
An engine speed detection sensor 19 (FIG. 2) for detecting the speed of the engine 4.

Among these sensors, the X-axis acceleration sensor 11 detects how many degrees the Y-axis of the body 1 is inclined with respect to the vertical direction from the acceleration in the Y-axis direction. It is configured to detect an angular velocity when the body 1 rotates around the X axis. The Y-axis acceleration sensor 13 detects how much the X-axis of the body 1 is inclined with respect to the vertical direction based on the acceleration in the X-axis direction, and the Y-axis angular velocity sensor 14 detects that the body 1 rotates around the Y-axis. It is configured to detect the angular velocity when rotating.

Further, the geomagnetic azimuth sensor 15 detects, for example, how many times the Y-axis of the fuselage has turned with respect to the north azimuth,
The Z-axis angular velocity sensor 16 is configured to detect an angular velocity when the body 1 rotates around the Z-axis. In addition, the vertical acceleration sensor 17 is configured to detect acceleration in the Z-axis direction of the aircraft 1 in the Z-axis direction, and the altitude sensor 18 optically detects the distance between the aircraft 1 and the ground. It is configured to be. Further, the engine speed detection sensor 19 is configured to detect the rotation of a crankshaft (not shown) of the engine 4.

The angular velocity sensor 12 for each axis
In this embodiment, 14, 16, the acceleration sensors 11, 13, 17 and the geomagnetic azimuth sensor 15 are attached to a base block 20 shown in FIG. 4, and are supported and fixed to the body 1 via the base block 20. FIG.
In the figure, the geomagnetic azimuth sensor 15 is not shown, but is fixed to the base block 20 using the Z axis as a detection axis.

The base block 20 includes a bottom plate 20a formed parallel to the XY plane, a rear plate 20b formed parallel to the XZ plane, and a side plate 20c formed parallel to the YZ plane. Are provided integrally, and the bottom plate 20a is provided with angular velocity sensors 12, 14, 16 and a vertical acceleration sensor 1
7 is fixed, and the acceleration sensor 1 in the X-axis direction is
1 is fixed, and the acceleration sensor 1 in the Y-axis direction is attached to the side plate 20c.
3 is fixed. In addition, this base block 20
Is attached to the body 1 such that the corner ridge formed by joining mutually adjacent ones of the bottom plate 20a, the rear plate 20b, and the side plate 20c coincides with the X, Y, and Z axes of the body 1. . Then, each of the angular velocity sensors 12, 14,
Reference numeral 16 is attached so that the detection axis is parallel to the X axis, Y axis and Z axis. In this embodiment, an optical fiber gyro is employed as each of the angular velocity sensors 12, 14, and 16.

As shown in FIG. 2, the controller 8 calculates an actual attitude angle of the airframe 1 from the output values of the various sensors. Of the servo motor 5 so that the actual attitude angle of the servo motor 5 approaches a target attitude angle to be described later, and the flight direction, engine speed and altitude approach target values.
-7 are controlled by a flight state control CPU 22 and the like. The flight state control CPU 22 includes the transmitter 1
Target value calculation processing means for calculating target values such as a target attitude angle, a target flight direction, and a target flight speed based on a pilot command signal sent from 0; and a control unit for controlling the servomotors 5 to 7 as described above. An actuator control amount calculation processing means is provided.

As shown in FIG. 3, the attitude angle calculation device 21 is formed of a CPU 23 for performing various calculations, and an interface for connecting the sensors and the flight state control CPU 22 to the CPU 23.

The CPU 23 controls each of the angular velocity sensors 12, 1
4 and 16 and the actually detected angular velocity and the non-volatile memory 24
Correction angular velocity calculation processing means 25 for obtaining a corrected angular velocity as a true angular velocity using the error angular velocity stored in the storage means, and the corrected angular velocity obtained by the corrected angular velocity calculation processing means 25 for the acceleration sensors 11, 13 and the geomagnetic azimuth sensor. Fifteen
And a posture angle calculation processing means 26 for obtaining the current posture angle by adding the angle to the angle detected by the above.

The non-volatile memory 24 stores each of the angular velocity sensors 12 and
The error angular velocities of 14 and 16 are stored. This error angular velocity means that if the angular velocity sensor 12 detects the angular velocity around the X axis, the angular velocity sensor 12 is rotated around the Z axis together with the base block 20 in a state where the angular velocity sensor 12 is attached to the base block 20 shown in FIG. Angular velocity KXZ detected when turning, and angular velocity KXY detected when turning around the Y axis
That is. Normally, the angular velocity sensor 12 around the X axis should not detect the angular velocity even if it is rotated around the Z axis or the Y axis. Or the reference line of the sensor case 12b is inclined with respect to the X axis of the base block 20, the above-described error angular velocities KXZ and KXY are generated.

Similarly, the angular velocity sensor 1 around the Y axis
Since the angular velocity sensors 16 around the 4 and Z axes also cause errors, the errors are also stored in the nonvolatile memory 24.
The error angular velocity output by the angular velocity sensor 14 around the Y axis is
Error angular velocity KYZ when it is rotated around the Z axis, and X
It is the error angular velocity KYX when turned around the axis. Also,
The error angular velocity output by the angular velocity sensor 16 around the Z axis is:
Error angular velocity KZX when it is rotated around the X axis, and Y
It is the error angular velocity KZY when turned around the axis.

The above-described error angular velocity is set as a value per unit angular velocity when it is rotated around an axis where an error occurs in an error detection step described later. For example, the error angular velocity KXZ when the angular velocity sensor 12 around the X axis is rotated around the Z axis is obtained by dividing the angular velocity by the angular velocity detected by the angular velocity sensor 16 around the Z axis at that time. That is, as the angular velocity around the Z axis increases, the error angular velocity increases.
Is multiplied by the output value of the angular velocity sensor 16 around the Z axis. This multiplication is performed by a correction angular velocity calculation processing means 25 described later.

The corrected angular velocity calculating means 25 subtracts the error angular velocity multiplied by the angular velocity around the error generating axis from the actual angular velocity ωX, ωY, ωZ detected by each of the angular velocity sensors 12, 14, 16 to calculate the true value. Is determined. More specifically, for example, when the Z-axis angular velocity sensor 16 detects the angular velocity, X
The error angular velocities KXZ and KYZ around the Z-axis are obtained from the output values of the angular gyration sensor 12 and the Y-axis gyration sensor 14, respectively.
Multiplied by the output ωZ of the angular velocity sensor 16 about the Z axis is subtracted. Thereby, the angular velocity sensor 1 around the X axis
2. The true value of the angular velocity output by the angular velocity sensor 14 about the Y axis is obtained. The true angular velocity is output to the attitude angle calculation processing means 26.

Similarly, the correction angular velocity calculation processing means 2
5, when the angular velocity sensor 12 around the X-axis is detecting angular velocity, the true value of the angular velocity detected by the angular velocity sensor 14 around the Y-axis and the angular velocity sensor 16 around the Z-axis is used as the attitude angle calculation processing means 26. Output to When the angular velocity sensor 14 around the Y axis detects the angular velocity, the true value of the angular velocity detected by the angular velocity sensor 12 around the X axis and the angular velocity sensor 16 around the Z axis is sent to the attitude angle calculation processing means 26. Output.

That is, the current true angular velocities of the body 1 around the respective axes are output to the attitude calculation processing means 26 as ω′X, ω′Y, ω′Z.

The attitude processing means 26 detects the initial values of the inclination angle and azimuth of the aircraft 1 when the aircraft is stationary before takeoff, stores these values in a memory (not shown), and calculates the corrected angular velocity after takeoff. True angular velocity ω obtained by processing means 15
The present attitude angle is obtained by adding a true angle obtained by integrating X ′, ωY ′, ωZ ′ to the initial value. The inclination angle required before takeoff is the acceleration sensor 11,1
3, and the azimuth uses the output value of the geomagnetic azimuth sensor 15. To detect that the body 1 is stationary, the angular velocity sensors 12, 14, 16
Is continuously output during the predetermined period of time with a value smaller than a predetermined value.

That is, the current attitude angle obtained by the attitude angle calculation processing means 26 is input to the flight state control CPU 22, and the flight state control CPU 22 calculates the flight direction, altitude, engine rotation based on the attitude angle. You will control the number.

Next, a method for obtaining the error value will be described. First, the base block 20 to which the angular velocity sensors 12, 14, 16 are mounted is fixed on a rotary table 27 as shown in FIG. This rotary table 27
Has a structure that rotates at a predetermined number of revolutions around a vertical axis. When placing the base block 20 on the rotary table 27, first, the axis Z of the base block 20 is directed in the vertical direction. That is, in the state shown in FIG.
Is fixed to the rotary table 27. In the present embodiment, as shown in FIG.
The PU 23 and the non-volatile memory 24 are mounted together with the angular velocity sensor. Then, each of the angular velocity sensors 12, 1
4 and 16 are connected to the CPU 23 via the A / D converter 28. That is, in this embodiment, the base block 20
Also constitute a part of the attitude angle detecting device.

Next, after the base block 20 is mounted on the rotary table 27 as described above, the angular velocity is detected by each angular velocity sensor for 10 seconds while the rotary table 27 is stationary as shown in FIG. And this 10
The average value of angular velocities detected per second is stored in a memory (not shown) of the CPU 23 as initial angular velocities ωX0, ωY0, ωZ0 of each angular velocity sensor. This is performed based on an error detection program stored in the CPU 23 in advance. That is, in addition to the program for calculating the attitude angle, the CPU 23
A program for detecting an error of the angular velocity sensor in the error detecting step and storing the detected error in the nonvolatile memory 24 as described later is also stored.

Thereafter, the rotary table 27 is rotated at a predetermined rotational speed, and the angular velocity is detected by each angular velocity sensor when the rotary table 27 is rotating at a constant rotational speed. At this time, the average value of the angular velocities detected for 10 seconds is stored in the memory of the CPU 23 as the actual angular velocities ωX, ωY, ωZ of each angular velocity sensor. After detecting the actual angular velocities ωX, ωY, ωZ in this way, the rotary table 27 is stopped.

Next, the actual angular velocities ωX,
The initial angular velocities ωX0, ωY0, ωZ0 are subtracted from ωY, ωZ to obtain angular velocity increments ΔωX, ΔωY, ΔωZ, respectively. Then, the angular velocity increase ΔωX of the angular velocity sensor 12 about the X axis and the angular velocity increase ΔωY of the angular velocity sensor 14 about the Y axis are divided by the angular velocity increase ΔωZ of the angular velocity sensor 16 around the Z axis, respectively. Are obtained. Thus, the error angular velocity KX
After obtaining Z and KYZ, the CPU 23 stores them in the nonvolatile memory 24.

After the error angular velocity about the Z axis is obtained in this manner, the error angular velocity about the X axis is obtained. At this time,
Once the base block 20 is removed from the turntable 27,
The base block 20 is fixed again so that the X axis is oriented in the vertical direction. Then, the initial angular velocities ωX0, ωY0, ωZ0 are detected in a stationary state as described above, and then the rotary table 27 is rotated similarly to the above to obtain the actual angular velocities ωX, ωY,
ωZ is detected. The method of detecting the angular velocity is the same as when detecting an error around the Z axis.

Thereafter, the initial angular velocities ωX0, ωY0, ωZ0 are subtracted from the actual angular velocities ωX, ωY, ωZ, and the angular velocity increase Δω
X, ΔωY, and ΔωZ are obtained, and the angular velocity increment ΔωY of the Y-axis angular velocity sensor 14 and the angular velocity increment ΔωZ of the Z-axis angular velocity sensor 16 are calculated as the X-axis angular velocity sensor 1.
The error angular velocities KYX and KZX per unit angular velocity are obtained by dividing by the angular velocity increment ΔωX of 2. After obtaining the error angular velocities KYX and KZX in this manner, the CPU 23 stores them in the nonvolatile memory 24.

After the error angular velocities around the Z axis and the X axis are obtained, the error angular velocities around the Y axis are obtained. At this time, similarly, the base block 20 is once removed from the rotary table 27 and fixed again so that the Y axis of the base block 20 is directed in the vertical direction. Then, in the stationary state, the initial angular velocities ωX0, ωY0, ωZ0 are detected, and then the rotary table 27 is rotated to detect the actual angular velocities ωX, ωY, ωZ. The method of detecting the angular velocity is the same as when detecting an error around the Z axis and the X axis.

Thereafter, the initial angular velocities ωX0, ωY0, ωZ0 are subtracted from the actual angular velocities ωX, ωY, ωZ, and the angular velocity increase Δω
X, ΔωY, and ΔωZ are obtained, and the angular velocity increment ΔωX of the X-axis angular velocity sensor 12 and the angular velocity increment ΔωZ of the Z-axis angular velocity sensor 16 are calculated based on the Y-axis angular velocity sensor 1.
Error angular velocities KXY and KZY per unit angular velocity are obtained by dividing by the angular velocity increment ΔωY of 4 respectively. After obtaining the error angular velocities KXY and KZY in this manner, the CPU 23 stores the same in the nonvolatile memory 24.

By storing the respective error angular velocities around the X, Y, and Z axes in the non-volatile memory 24, the error detection process is completed. The base block 20 to which the angular velocity sensor and the like are attached is mounted on the body 1 after passing through this error detection step.

When the controller 8 in which the error angular velocity is stored in the above-described error detection step is used, as shown in FIG. 7, the actual angular velocity ωX detected by the X-axis angular velocity sensor 12 is converted to the Y-axis angular velocity sensor 14. When the Z-axis angular velocity sensor 16 outputs the angular velocities ωY and ωZ, the value of ωY × KYX and the value of ωZ × KZX are subtracted, respectively, to be changed to the true angular velocity ωX ′. Similarly, the actual angular velocity ωY detected by the Y-axis angular velocity sensor 14 is the value of ωX × KXY when the X-axis angular velocity sensor 12 and the Z-axis angular velocity sensor 16 output the angular velocities ωX and ωZ. And the value of ωZ × KZY are subtracted from each other to be changed to the true angular velocity ωY ′. Further, the actual angular velocity ωZ detected by the Z-axis angular velocity sensor 16 is also determined by the X-axis angular velocity sensor 12 and the Y-axis angular velocity sensor 14 by the angular velocities ωX and ωY.
Is output, the value of ωX × KXZ and the value of ωY × KYZ are subtracted from each other to be changed to the true angular velocity ωZ ′.

Therefore, the three angular velocity sensors 12, 1
It is possible to electrically correct the angular velocity error caused by the detection axes of the sensor bodies 12a, 14a, 16a being not orthogonal to each other. For this reason, the sensor bodies 12a, 14 of the angular velocity sensors 12, 14, 16
a, 16a are attached to the cases 12b, 14b, 16b with strict accuracy.
There is no need to position the 6 on the base block 20 with high accuracy.

In this embodiment, the error angular velocities X,
An example has been described in which the angular velocity is obtained for three axes around the Y and Z axes.
2. The angular velocity ωX detected by the angular velocity sensor 14 around the Y axis,
As long as .omega.Y is corrected, the attitude of the helicopter can be controlled with relatively high accuracy. Further, the base block 20 for attaching the angular velocity sensors 12, 14, 16 to the body 1 is not limited to a structure in which a plate-like object is extended in three directions as shown in the present embodiment. The structure can be changed appropriately.

Further, in this embodiment, an example is shown in which the attitude angle detecting method according to the present invention is applied to the attitude angle detecting method of an unmanned helicopter, but the attitude angle of a ship traveling on water or underwater can be detected. The present invention can also be applied when detecting the traveling direction of a shield type excavator.

[0046]

As described above, the attitude angle detecting method of the angular velocity sensor type attitude angle detecting apparatus according to the present invention mounts, on a moving object, an attitude angle detecting apparatus in which angular velocity sensors are attached for every three axes orthogonal to each other. Prior to the rotation, the rotary table is used to rotate around the detection axis so that the other two axes perpendicular to the detection axis are rotated.
The output value of the angular velocity sensor of the axis is stored as an error value in a non-volatile memory, and after the attitude angle detecting device is mounted on a moving object, when the attitude angle detection device rotates around the detection axis, the output value of the angular velocity sensor of the two axes is calculated. Since the error value was subtracted, 3
An angular velocity error caused by the axes of the angular velocity sensors not being orthogonal to each other can be electrically corrected.

Therefore, there is no need to mount the main body of the angular velocity sensor to the case with strict accuracy, or to position each angular velocity sensor with high accuracy in the attitude angle detecting device. For this reason, it is not necessary to increase the accuracy more than necessary when manufacturing the angular velocity sensor or processing the mounting part of the angular velocity sensor with the attitude angle detection device, so it is possible to detect the angular velocity with high accuracy while preventing cost increase Will be able to

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an unmanned helicopter that detects an attitude angle by an attitude angle detection method according to the present invention.

FIG. 2 is a block diagram illustrating an overall configuration of a posture angle detection device that detects a posture angle by a posture angle detection method according to the present invention.

FIG. 3 is a block diagram illustrating a configuration of a main part of the attitude angle detection device.

FIG. 4 is a perspective view showing a schematic configuration of a posture angle detection device.

FIG. 5 is a block diagram for explaining an error value detecting step on a turntable.

FIG. 6 is a graph for explaining an error value detection procedure on a turntable.

FIG. 7 is a diagram for explaining an angular velocity detection procedure after the attitude angle detection device is mounted on an unmanned helicopter.

[Explanation of symbols]

 8 Controller 12 Angular velocity sensor 14 Angular velocity sensor 16 Angular velocity sensor 20 Base block 21 Posture angle computing device 24 Non-volatile memory 25 Correction angular velocity computing means 27 Rotary table

Claims (3)

(57) [Claims] 1. An angular velocity sensor for a vertical axis for detecting an angular velocity when rotating about an axis in a vertical direction, and an angular velocity sensor for rotating in X and Y directions orthogonal to each other and orthogonal to the vertical direction. X-axis angular velocity sensor that detects angular velocity,
An attitude angle detection device having an angular velocity sensor for Y-axis mounted thereon is rotated by placing the axis of the angular velocity sensor for vertical axis in a vertical direction on a rotary table that rotates about an axis in a vertical direction, and rotating the rotary table. The output values of the angular velocity sensor for the X axis and the angular velocity sensor for the Y axis when are rotating are stored in a nonvolatile memory as error values about the vertical axis, respectively, and this attitude angle detecting device is mounted on a moving object. After that, when turning around the vertical axis, the error value is subtracted from the output values of the X-axis angular velocity sensor and the Y-axis angular velocity sensor to obtain the true angular velocity, and the angle is determined based on the true angular velocity. An attitude angle detecting method of an angular velocity sensor type attitude angle detecting device, characterized in that: 2. The method according to claim 1, wherein the axis of the X-axis angular velocity sensor is oriented vertically before mounting the attitude angle detector on a moving object. The attitude angle detecting device is rotated by a rotary table, and output values of the angular velocity sensor for the vertical axis and the angular velocity sensor for the Y axis when the rotary table is rotating are respectively stored in a nonvolatile memory as error values about the X axis. After it is mounted on a moving object, when it turns around the axis of the X axis, the true angular velocity is obtained by subtracting the error value about the X axis from the output values of the angular velocity sensor for the vertical axis and the angular velocity sensor for the Y axis. An attitude angle detection method of an angular velocity sensor type attitude angle detection apparatus, wherein an angle is obtained based on a true angular velocity. 3. The attitude angle detecting method of an angular velocity sensor type attitude angle detecting device according to claim 2, wherein the axis of the Y-axis angular velocity sensor is oriented vertically before mounting the attitude angle detecting device on a moving object. The attitude angle detecting device is rotated by a rotary table, and the output values of the angular velocity sensor for the vertical axis and the angular velocity sensor for the X axis when the rotary table is rotating are stored in a nonvolatile memory as error values about the Y axis. After the is mounted on the moving object, when turning around the axis of the Y axis, the error value around the Y axis is subtracted from the output values of the angular velocity sensor for the vertical axis and the angular velocity sensor for the X axis to obtain a true angular velocity. An attitude angle detection method of an angular velocity sensor type attitude angle detection apparatus, wherein an angle is obtained based on a true angular velocity.