JP3367461B2 - Moving body 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 is a movement for measuring a coarse posture angle and a precise posture angular velocity of a moving body on a moving body and highly accurately estimating current posture angle information of the moving body from those signals. The present invention relates to a body posture angle detection device.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication (Kokai) No. 7-167871 discloses that a vehicle-mounted navigation device calculates an average heading from a current time to a certain past time by GPS and corrects an offset value of an angular velocity sensor during traveling. Then, an angular velocity sensor output correction device that improves the estimation accuracy of the vehicle azimuth is described.

Japanese Unexamined Patent Publication (Kokai) No. 8-14922 discloses a vehicle-mounted positioning device that enables accurate positioning even if a rotational angular velocity sensor that easily causes a drift or a vehicle speed sensor that has a large error is used. This positioning device includes a vehicle speed sensor and a piezoelectric vibration gyro that are position sensors for detecting the position of the vehicle, and satellite information detecting means or relative speed for detecting the relative position of each satellite from the signals emitted by a plurality of satellites. GPS as a detection means, a positioning routine as a positioning means for positioning the absolute position of the vehicle from at least one of the outputs of the position sensor and the satellite information detection means, and the detected position of the position sensor is corrected based on the information from the satellite. And a gyro correction routine which is a sensor output correction means. Further, in Japanese Patent Laid-Open No. 14922/1996, the relation between the azimuth change amount per hour of the gyro and the azimuth change amount per time obtained from the satellite information is obtained by using a Kalman filter, and the calculation constant of the azimuth angle calculating means. It is described that the error that increases as the correction amount increases is predicted and corrected by correcting the error.

In Japanese Unexamined Patent Publication No. 9-5105, an inertial navigation device uses an attitude angle from a posture indicator mounted on a moving body, an azimuth angle from a azimuth indicator, and a GPS speed from a GPS navigation device as initial values for the inertial navigation device. There is described a method for calculating a settling operation of an inertial navigation device during movement, which enables highly accurate and short-time adjustment of the inertial navigation device during movement of a moving body by inputting. Inertial navigation system and GP
A hybrid navigation device is configured by the S navigation device and the state estimation Kalman filter. The inertial navigation data from the inertial navigation device and the GPS navigation data from the GPS navigation device are subjected to addition / subtraction processing by an adder / subtractor and then input to the state estimation Kalman filter. The inertial error correction processed by the state estimation Kalman filter is input to the inertial navigation device, and the GPS error corrections of the state estimation Kalman filter and the like are input to the GPS navigation device. The initial velocity from the GPS navigation device is input to the inertial navigation device. The hybrid navigation device is mounted on a moving body such as a flying body, and an initial attitude angle from an attitude indicator and an initial azimuth angle from a direction indicator are input to the inertial navigation device.

FIG. 2 is a block diagram showing an example of a conventional vehicle-mounted positioning device. Conventional vehicle-mounted positioning device 100
Is a GPS 101, a gyro 102, and a vehicle speed sensor 1
03, azimuth calculation means 104, and azimuth correction means 10
5, relative speed detecting means 106, and total distance calculating means 1
07, integrated distance correction means 108, and positioning means 109. Reference numeral 110 is a GPS azimuth signal, and reference numeral 111 is a GPS vehicle speed signal.

A conventional vehicle-mounted positioning device 100 has a GPS 1
GPS direction signals 110 and G detected by 01
Using the PS vehicle speed signal 111 as a reference signal, the azimuth calculation means 1
For the azimuth angle calculated by 04, the azimuth angle correction means 105 using the GPS azimuth signal 110 corrects the azimuth angle, and for the integrated distance of the vehicle calculated by the integrated distance calculation means 107, the GPS By correcting the integrated distance by the integrated distance correction means 108 using the vehicle speed signal 111, the accuracy of the positioning value obtained from the gyro 102 and the vehicle speed sensor 103 is improved, and the positioning means 109 adds the relative speed in addition to those values. By using the value of the relative speed of the vehicle generated from the detection means 106,
It enables more accurate positioning.

Generally, the data detection cycle of the GPS 101 is long, and the radio wave from the satellite may not be received depending on the condition of the vehicle. However, in the conventional vehicle-mounted positioning device 100,
By equipping the gyro 102 and the vehicle speed sensor 103 as a positioning sensor, the disadvantages of the GPS 101 regarding data detection are compensated for, and stable positioning that is not affected by radio wave conditions is enabled.

[0008]

However, in the conventional vehicle-mounted positioning device 100 having the configuration shown in FIG. 2, the vehicle speed sensor 1 is provided in addition to the GPS 101 and the gyro 102.
No. 03 is required, the weight of the entire vehicle to be mounted is increased and a physical constraint condition such as an arrangement space for the vehicle speed sensor 103 is imposed. Further, when the vehicle speed sensor 103 is mounted on a general vehicle, the GPS 10
As compared with the case of the No. 1 or the gyro 102, the mounted vehicle needs to be greatly improved, and thus the cost reduction effect is small even if the inexpensive vehicle speed sensor 103 is used.

Further, the gyro 102 or the vehicle speed sensor 1
The azimuth angle correction unit 105 or the integrated distance correction unit 108 that corrects the detection signal from the signal 03 is a static correction function for GPS data (on the assumption that the sampling period of GPS data is constant, G obtained in
Since it has only the function of correcting the detection signal of the gyro 102 or the vehicle speed sensor 103 by the Kalman filter whose parameter is fixed using PS data), when the data from the GPS 101 cannot be received at each preset sampling period due to radio wave shielding, Azimuth correction means 105
Alternatively, the correction function of the integrated distance correction unit 108 does not sufficiently function, and it is difficult to maintain the positioning accuracy of the vehicle even if the gyro 102 and the vehicle speed sensor 103 are used together.

Further, in the conventional angular velocity sensor output correction device disclosed in Japanese Patent Laid-Open No. 7-167871, the GPS
Since it is premised that the reception of GPS is difficult, it becomes impossible to correct the offset of the angular velocity sensor when GPS reception is difficult or a communication delay situation occurs on the road.
There is a problem that the estimation accuracy of the own vehicle direction cannot be improved.

[0011]

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and has a precise angular velocity sensor such as a gyro and a G sensor.
In a configuration in which a PS or a coarse attitude angle detecting means such as antenna orientation information detected by an on-board antenna is used as a sensor to estimate the attitude angle in a moving body, the precise angular velocity signal detected by the precise angular velocity sensor is stored in an angular velocity data memory. The coarse attitude angle signal stored by the coarse attitude angle detection means is stored in the attitude angle data memory, and the coarse attitude angle detection means is likely to change the data sampling cycle due to radio wave shielding or communication delay. The data sampling period detector detects the sampling period of the data,
An object of the present invention is to provide a mobile body posture angle detection device that can highly accurately estimate a posture angle in any situation by including a posture angle estimator having a posture angle correction algorithm that can cope with the fluctuating sampling period. And

[0012]

In order to solve the above problems, a moving body posture angle detecting apparatus according to the present invention includes a coarse posture angle detecting means for detecting and outputting a posture angle of a moving body, and the rough posture angle detecting means. Posture angle data memory for holding a plurality of samples of the coarse posture angle signal output from the means, a precise angular velocity sensor for detecting and outputting the angular velocity of the moving body, and the precise angular velocity sensor
Output from the coarse attitude angle detection means and the angular velocity data memory that holds the precise angular velocity signals output from
Sampling period of coarse attitude angle signal based on the time interval of
And the output time of the precise angular velocity sensor
Data sampling period detector and angular velocity data string signal attitude angle data sequence signal and the angular velocity data memory to output the attitude angle data memory is output and the data sampling period detector that detect the sampling period of the fine angular velocity signal based on the interval There constructed and a posture angle estimator for estimating an attitude angle of the mobile object group <br/> Zui in the sampling period signal sampling cycle signal and angular velocity data string of the attitude angle data sequence output.

The attitude angle data memory holds a plurality of samples of the coarse attitude angle signals detected by the coarse attitude angle detecting means. The angular velocity data memory holds a plurality of samples of the precise angular velocity signals detected by the precise angular velocity sensor. The data sampling period detector detects the sampling periods of the coarse posture angle signal and the precise angular velocity signal, respectively. The posture angle estimator estimates the posture angle of the moving body based on the posture angle data sequence signal, the angular velocity data sequence signal, the sampling period signal of the posture angle data sequence, and the sampling period signal of the angular velocity data sequence.

As described above, the moving body posture angle detecting apparatus according to the present invention detects the sampling period of the coarse posture angle signal and the precise angular velocity signal, and estimates the posture angle of the moving body based on the detected sampling period. Therefore, even if the sampling cycle changes due to the influence of radio wave shielding, a highly accurate attitude angle signal can be stably generated.

The coarse attitude angle detecting means is a GPS unit,
Alternatively, it can be configured by using a DGPS including a plurality of GPSs. Further, the coarse attitude angle detecting means may be configured to use the pointing angle error signal of the satellite tracking antenna mounted on the moving body. Further, the coarse attitude angle detecting means may be constituted by means for integrating the output of the vehicle speed sensor. GP
The coarse attitude angle detection means can be easily configured by using the S, DGPS, the pointing angle error signal of the satellite tracking antenna, the integrated value of the vehicle speed, and the like.

It is desirable that the precise angular velocity sensor is constructed by using a gyro. By using the gyro, the accurate angular velocity sensor can be easily configured.

The attitude angle estimator is provided with the attitude angle data string signal and
According to the spline function using the sampling period signal
The posture angle data string signal is interpolated, and
Based on the spline function profile obtained by
Prediction of coarse attitude angle signal detected next time by the force angle detection means
The value θα is generated, and the angular velocity data string signal and its sample
Posture angle calculated value θβ using integral calculation from the
Calculate the weight for the rough attitude angle signal predicted value θα, m,
The following formula 1 is used, where n is the weight for the calculated force angle θβ.
Then, the posture angle estimated value θγ is calculated. θγ = (mθα + nθβ) / (m + n) (Equation 1)

Alternatively, the attitude angle estimator is used to transmit the attitude angle data string.
The latest coarse attitude angle signal and angular velocity data string signal included in the No.
The latest precise angular velocity signal included in
And the sampling period signal of the precise angular velocity signal
By applying a dynamic Kalman filter
The attitude angle and the drift value of the precise angular velocity sensor are estimated and the attitude angle is calculated.
Generate an estimate .

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a block diagram of a moving body posture angle detecting device according to the present invention. A mobile body posture angle detection device 10 according to the present invention includes a posture angle estimator 11, a precise angular velocity sensor 12, a coarse posture angle detection means 13, an angular velocity data memory 14, an posture angle data memory 15, and a data sampling cycle. And a detector 16. 11a is a posture angle estimation signal, 12a is a precise angular velocity signal, 13a is a coarse posture angle signal, 1
4a is an angular velocity data sequence signal, 15a is a posture angle data sequence signal, and 16a is a sampling period signal. The attitude angle estimation signal 11a is a value corresponding to the attitude angle obtained by the integral calculation of the angular velocity data string signal 14a, and the integrated value of noise and measurement error of the precise angular velocity sensor 12 contained therein is the attitude angle data string signal. It is estimated based on the posture angle value derived by the interpolation processing of 15a, and the estimated value is removed from the posture angle equivalent value.

A mobile body posture angle detecting device 10 according to the present invention.
Is the precise angular velocity signal 12a detected by the precise angular velocity sensor 12.
And a coarse attitude angle signal 13a detected by the coarse attitude angle detecting means 13
And for each sampling period ,
No. 12a and the coarse attitude angle signal 13a are stored in the angular velocity data memory 14 and the attitude angle data memory 15, respectively, and the sampling cycle of each detection signal 12a, 13a is detected by the data sampling cycle detector 16. Therefore, the attitude angle estimator 11 uses the angular velocity data string signal 14a and the attitude angle data string signal 15a.
By estimating the posture angle of the moving body based on the sampling period signal 16a, it is possible to stably realize highly accurate posture angle estimation.

A precise angular velocity signal 12a, which is the angular velocity of the moving body.
Is detected by a precise angular velocity sensor 12 such as a gyro that can perform stable sampling and high precision detection, and is input to an angular velocity data memory 14 and a data sampling period detector 16.

Coarse posture angle signal 13a which is the posture angle of the moving body.
Is detected by the coarse attitude angle detecting means 13 using satellite information, such as a GPS or a directivity angle error signal detector of a vehicle-mounted antenna for satellite tracking, and is input to an attitude angle data memory 15 and a data sampling period detector 16.

The angular velocity data memory 14 uses the latest precise angular velocity signal 1 for the sampling data that is stored oldest.
While being constantly replaced by 2a, a maximum of about 10 samplings is stored in the order of sampling and is output as the angular velocity data string signal 14a.

Like the angular velocity data memory 14, the attitude angle data memory 15 stores old sampling data for the detected coarse attitude angle signal 13a at all times, and stores up to about 10 samplings in the order of sampling, which is stored as an attitude angle data string. The signal 15a is output.

The data sampling period detector 16 detects the precise angular velocity signal 1 using two built-in timers.
2a and coarse attitude angle signal 13a data interval is measured,
They are collectively output as the sampling period signal 16a.

The attitude angle estimator 11 uses the generated angular velocity data string signal 14a, the attitude angle data string signal 15a and the sampling period signal 16a to interpolate the attitude angle data string signal 15a and integrate the angular velocity data string signal 14a. By comparing the two attitude angle data obtained by calculation, the noise and measurement error of the precise angular velocity sensor 12 are estimated, and the result is generated as the attitude angle estimation signal 11a.

In the present invention, for example, JP-A-8-14922 is used.
The GP assumed in the conventional device disclosed in the publication
By generalizing the point that the attitude angle and attitude angular velocity such as S and gyro can be detected at a preset constant sampling cycle, and by adopting a configuration that can cope with the variation of the sampling cycle, satellite information such as the attitude angle is used for detection. It is possible to adaptively estimate the posture angle of the mobile body even when the signal cannot be detected due to radio wave shielding or communication delay. As a result, it is possible to easily realize the posture angle detection of the moving body that is robust against environmental changes.

Next, in the second embodiment of the present invention, in the attitude angle estimator 11, the attitude angle data string signal 15a generated by the attitude angle data memory 15 and the sampling cycle generated by the data sampling cycle detector 16 are used. Signal 16a
Based on the above, while performing the data interpolation of the discrete attitude angle data string signal 15a by the spline function, and predicting the value of the coarse attitude angle signal 13a detected next time by the coarse attitude angle detecting means 13 from the spline function profile. To generate a rough attitude angle signal prediction value, and take a weighted average value between the attitude angle calculation value calculated by integration calculation using the sampling period signal 16a based on the angular velocity data string signal 14a and the rough attitude angle signal prediction value. Thus, the posture angle estimation signal 11a is generated. Detailed description below
It

Here, a cubic spline function as a spline function is applied to the attitude angle data string signal 15a, and a rough attitude angle signal predicted value predicted therefrom is θα, and the sampling period signal 16a is used based on the angular velocity data string signal 14a. If the posture angle calculation value calculated by the integral calculation is θβ, the posture angle estimation signal θγ indicated by reference numeral 11a can be derived by the following Equation 1. θγ = (mθα + nθβ) / (m + n) (Equation 1) Here, m is a weight for the rough posture angle signal predicted value, and n is a weight for the posture angle calculated value, and these must be set in advance. .

In the attitude angle estimator 11, the rough attitude angle signal predicted value θα and the attitude angle calculated value θβ are generated, and the attitude angle estimated signal θγ can be generated by using Equation 1 for these values. It will be possible.

As a result, even when the coarse attitude angle detection means 13 cannot detect the coarse attitude angle signal 13a due to radio wave shielding or the like, the attitude angle estimator 11 uses the rough attitude angle signal predicted value θα to obtain the precise angular velocity. It is possible to correct the posture angle calculation value θβ calculated from the signal 12a and maintain the required accuracy of the posture angle estimation signal (11a) θγ.

Many correction methods for a precise angular velocity sensor such as a gyro have been found in the past, but in the second embodiment of the present invention, the interpolation and fluctuation profile of the past coarse attitude angle signal 13a are derived by a spline function. It is possible to predict the rough posture angle signal 13a detected by the rough posture angle detecting means 13 from the next time, and correct the posture angle calculation value generated by the integral calculation of the precise angular velocity signal 12a. A completely different effect can be obtained. Although a cubic spline function is used as the spline function here, a B-spline function or the like can also be applied.

Furthermore, in the third embodiment of the present invention,
In the attitude angle estimator 11, the latest coarse attitude angle signal 13a stored in the attitude angle data memory 15 and included in the attitude angle data string signal 15a (that is, the latest coarse attitude angle signal detected by the coarse attitude angle detecting means 13). 13a), the latest precise angular velocity signal 12a (that is, the latest precise angular velocity signal 12a detected by the precise angular velocity sensor 12) stored in the angular velocity data memory 14 and included in the angular velocity data string signal 14a, and data sampling cycle detection. Using the precise angular velocity sensor 12 detected by the detector 16 and the sampling period signal 16a of the coarse posture angle detection means 13, the drift value of the precise angular velocity sensor 12 and the posture angle estimation signal 11a are estimated by applying the dynamic Kalman filter. The configuration is such that the estimated signal 11a is generated.

The dynamic Kalman filter is described in JP-A-8-1.
Different from the Kalman filter applied to the conventional vehicle-mounted positioning device disclosed in Japanese Patent No. 4922, it is possible to dynamically respond to the data sampling cycle of the coarse attitude angle detection means 13 which varies depending on the situation such as radio wave shielding. As a result, it is possible to prevent the accuracy deterioration of the attitude angle estimation signal 11a.

Here, the i-th estimated posture angle estimation signal 11a is z ^ _i ⁺ (hereinafter referred to as "Z (i) a"),
The estimated drift value is represented by w ^ _i ⁺ (hereinafter “W (i) a”).
Is written. ), The attitude angle estimation signal z ^ _{i + 1} calculated as the i + 1-th attitude angle value by integral calculation using the sampling cycle τ _{i + 1} (hereinafter referred to as “τ (i + 1)”) of the precise angular velocity sensor 12 from here. ⁻ (Hereinafter “Z
(I + 1) b ”. ) And the drift value w ^ _{i + 1}
^- (Hereinafter, described as "W (i + 1) b". Hereinafter, each symbol will be described similarly to these.) Is calculated by the following Expression 2.

[0037]

[Equation 1]

Next, the attitude angle estimation signal Z obtained by the equation 2
Let (i + 1) b and drift value W (i + 1) b be i +
The sampling period T (i between the first coarse attitude angle signal Y (i + 1) and the i-th detected coarse attitude angle signal Y (i)
It is corrected by the dynamic Kalman filter composed of +1).

The dynamic Kalman filter is constructed by the following equation, and the i + 1th attitude angle estimation signal Z (i + 1) b is generated.

[0040]

[Equation 2]

Where σv is the random noise value of the precise angular velocity sensor 12, σu is the random walk noise value of the precise angular velocity sensor 2, R is the covariance value of the noise of the rough attitude angle detecting means, and P (1) is 2 × 2. Is a design parameter matrix of. In addition, i is an integer indicating the sampling order starting from 1,
Ψ (i + 1) is the state transition matrix, T (i + 1) is the i + 1th data sampling period, M is the observation matrix, and Q (i +
1) is a state noise covariance matrix, S (i + 1) is a Kalman filter sequence intermediate variable matrix, K (i + 1) is a Kalman gain, and P (i + 1) is a state covariance matrix. Expressions 3 and 5 explicitly include the (i + 1) th data sampling cycle detected by the coarse attitude angle detection means 13, and this filter will be referred to as a dynamic Kalman filter. Here, “included in the sun” means i + in the formula (3).
That the first data sampling period T (i + 1) is included, that is, Ψ (i + 1) is the variable T (i +
It means that the matrix has 1) as a part of the elements.

By constructing the dynamic Kalman filter represented by the equations 2 to 9 in the attitude angle estimator 11, it is possible to carry out the attitude angle estimation corresponding to the data sampling cycle of the coarse attitude angle detecting means 13. It will be possible.

As a result, even if the sampling cycle of the coarse attitude angle signal 13a detected by the coarse attitude angle detecting means 13 changes due to the influence of radio wave shielding, the attitude angle estimator 11 applies the dynamic Kalman filter, The posture angle calculation value calculated from the precise angular velocity signal 12a can be corrected, and the highly accurate posture angle estimation signal 11a can be stably generated.

[0044]

As described above, according to the present invention,
Since the attitude angle detector is composed of a data memory, sampling period detector, and attitude angle estimator that has an estimation algorithm corresponding to it, the attitude angle of the moving object is always constant regardless of the influence of radio wave shielding. Since it is possible to stably estimate, and a new detection means (sensor) for the state quantity of the moving body is not required, the realization thereof is very easy.

[Brief description of drawings]

FIG. 1 is a block configuration diagram of a moving body posture angle detection device according to the present invention.

FIG. 2 is a block diagram showing an example of a conventional vehicle-mounted positioning device.

[Explanation of symbols]

10 Moving body posture angle detection device 11 Attitude angle estimator 11a Attitude angle estimation signal 12 Precision angular velocity sensor 12a Precision angular velocity signal 13 Coarse attitude angle detection means 13a Coarse attitude angle signal 14 Angular velocity data memory 14a Angular velocity data string signal 15 Posture angle data memory 15a Posture angle data string signal 16 Data sampling period detector 16a Sampling period signal

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-7-239236 (JP, A) JP-A-7-234131 (JP, A) JP-A-7-280575 (JP, A) JP-A-7- 286853 (JP, A) JP 8-68849 (JP, A) JP 8-313278 (JP, A) JP 7-301541 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 19/00 G01B 21/22 G01C 21/16 G01S 5/14

Claims (6)

(57) [Claims] 1. A posture angle of a moving body is detected.Then outputRough appearance
Bias angle detection means, The coarse attitude angle detecting meansOutput fromCoarse attitude angle signal
Attitude angle data memory that holds several samples, Detects the angular velocity of the moving bodyThen outputPrecision angular velocity sensor
When, The accurate angular velocity sensorOutput fromMultiple accurate angular velocity signals
Angular velocity data memory that holds samples, The coarse attitude angle detecting meansOutput time interval atBased on
And the sampling period of the coarse attitude angle signal is detected.
And the precise angular velocity sensorOutput time interval atBased on
Data to detect the sampling rate of the accurate angular velocity signal
A sampling period detector, Posture angle data string signal output from the posture angle data memory
And the angular velocity data string output from the angular velocity data memory
And the posture output by the data sampling period detector
Corner data stringas well asSampling period signal of angular velocity data string
And fromThe aboveEstimate the posture angle of the moving body and generate the estimated posture angle value
Attitude angle estimatorWith and This attitude angle estimator includes the attitude angle data sequence signal and its
According to the spline function using the sampling period signal
Then, the data of the posture angle data string signal is interpolated and
Based on the obtained spline function profile,
Rough attitude angle detected next time by the rough attitude angle detecting means
A predicted signal value θα is generated, and the angular velocity data string signal and
Figure using the integral calculation from the said sampling period signal
Calculate the bias angle calculation value θβ and compare it with the rough attitude angle signal predicted value θα.
Is m, and the weight for the calculated posture angle θβ is n.
Then, the posture angle estimated value θγ is calculated using the following Equation 1, θγ = (mθα + nθβ) / (m + n) (Equation 1) A mobile body posture angle detection device. 2.Coarse figure that detects and outputs the posture angle of the moving body
Bias angle detection means, The coarse attitude angle signal output from the coarse attitude angle detecting means is decoded.
Attitude angle data memory that holds several samples, A precise angular velocity sensor for detecting and outputting the angular velocity of the moving body
When, A plurality of precise angular velocity signals output from the precise angular velocity sensor
Angular velocity data memory that holds samples, Based on the time interval of the output in the coarse attitude angle detection means
And the sampling period of the coarse attitude angle signal is detected.
Based on the time interval of the output from the accurate angular velocity sensor.
Data to detect the sampling rate of the accurate angular velocity signal
A sampling period detector, Posture angle data string signal output from the posture angle data memory
And the angular velocity data string output from the angular velocity data memory
And the posture output by the data sampling period detector
Sampling period signal for angular data sequence and angular velocity data sequence
And estimate the posture angle of the moving body from
And an attitude angle estimator that This attitude angle estimator is included in the attitude angle data string signal.
The latest coarse attitude angle signal and angular velocity data string signal
The latest accurate angular velocity signal included and the rough attitude angle signal
Signal and the sampling period signal of the precise angular velocity signal
And applying the dynamic Kalman filter
Estimate the posture angle of the moving body and the drift value of the precise angular velocity sensor
Generate an attitude angle estimate, A mobile body posture angle detection device. Wherein the coarse attitude angle detecting means, claims, characterized by being configured using the DGPS consisting GPS alone or more GPS (Differential positioning method)
The mobile body posture angle detection device according to 1 or 2 . Wherein said crude attitude angle detecting means, mounted on the satellite directional angle error signal of the tracking antenna utilizing, characterized by being configured according to claim 1 or 2 mobile attitude angle detection according to the mobile apparatus. 5. The rough attitude angle detecting means is configured by using means for integrating the output of the vehicle speed sensor.
The mobile body posture angle detection device according to claim 1 . 6. The moving body posture angle detection device according to claim 1 , wherein the precise angular velocity sensor is configured by using a gyro.