WO2012066821A1 - 角速度検出装置、角速度検出方法、移動状態検出装置およびナビゲーション装置 - Google Patents
角速度検出装置、角速度検出方法、移動状態検出装置およびナビゲーション装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- the present invention relates to an angular velocity detecting device that is installed in a moving body and detects an angular velocity of the moving body, and a moving state detecting device that detects a moving state of the moving body.
- various navigation devices that are attached to a moving body such as an automobile, detect the position, traveling speed, and traveling direction of the moving body and display information for assisting traveling to a destination have been devised.
- a navigation device detects the position of the device based on a positioning signal from a positioning satellite such as a GPS satellite, and uses the angular velocity by the gyro sensor, the acceleration by the acceleration sensor, etc. Is detected.
- the mounting angle to the moving body becomes a problem.
- the mounting angle of the gyro sensor there may be a difference between the angular velocity detection axis of the gyro sensor and the axis based on the absolute azimuth for calculating the attitude, and an accurate attitude angle may not be detected.
- the mounting angle is detected from the detection result of the acceleration sensor.
- the on-vehicle angular velocity detection device described in Patent Document 1 corrects the angular velocity output from the gyro sensor based on the detected mounting angle.
- An object of the present invention is to realize an angular velocity detection device capable of estimating and detecting an accurate attachment angle of a gyro sensor using an output from the gyro sensor.
- the present invention relates to an angular velocity detection device that is mounted on a moving body and detects the angular velocity of the moving body.
- the angular velocity detection device includes a gyro sensor, a misalignment angle estimation unit, and a coordinate conversion unit.
- the gyro sensor is attached to the moving body and measures the angular velocity of three orthogonal axes in the sensor coordinate system according to the attachment angle.
- the misalignment angle estimation unit estimates an angle difference (misalignment angle) between the three orthogonal axes of the gyro sensor and the three orthogonal axes of the moving body based on the angular velocity in the sensor coordinate system.
- the coordinate conversion unit performs a coordinate conversion calculation from the angular velocity in the sensor coordinate system to the angular velocity in the moving object coordinate system based on the angle difference.
- the misalignment angle is estimated only from the angular velocity measured by the gyro sensor.
- the angular velocity detection device of the present invention includes a bias component removal unit that removes a bias component of angular velocity.
- the misalignment angle estimation unit and the coordinate conversion unit perform calculations using the angular velocities after removing the bias component.
- the bias component removal unit of the angular velocity detection device of the present invention removes the bias component by correcting the angular velocity using the time average value of the angular velocity output from the gyro sensor.
- the angular velocity detection device of the present invention includes a frequency analysis unit that performs frequency analysis of the angular velocity and calculates an angular velocity composed of frequency components obtained by removing the frequency components of the bias component and the noise component.
- the misalignment angle estimation unit and the coordinate conversion unit perform calculations using the angular velocities output from the frequency analysis unit.
- This configuration shows specific processing for removing the bias component and noise component, and shows an example using frequency analysis.
- the frequency analysis unit of the angular velocity detection device of the present invention performs frequency analysis using wavelet transform.
- the angular velocity detection device of the present invention includes a turning detection unit that detects that the vehicle is turning based on the acceleration of the moving body and the angular velocity detected in the past.
- This configuration shows a specific configuration for detecting the turning of the moving body.
- the present invention also relates to a moving state detection device.
- the movement state detection device includes the above-described angular velocity detection device, posture angle detection unit, acceleration sensor, positioning unit, and movement state calculation unit.
- the posture angle detection unit detects the posture angle of the moving body using the angular velocity detected by the angular velocity detection device.
- the acceleration sensor detects the acceleration of the moving body.
- the positioning unit receives a positioning signal and measures the position, speed, and direction of the moving body.
- the moving state calculation unit uses the posture angle obtained by the posture angle detection unit, the acceleration obtained by the acceleration sensor, the position, speed, and orientation obtained by the positioning unit to calculate the position, speed, and posture angle of the moving object.
- the movement state including is calculated.
- This configuration shows the configuration of the moving state detection device including the angular velocity detection device described above.
- the present invention also relates to a navigation device.
- the navigation device includes the above-described movement state detection device and a user notification unit that notifies navigation information including the movement state.
- the moving state of the moving body can be detected with high accuracy, so that accurate navigation becomes possible.
- the attitude angle of the moving body can be accurately detected without being affected by the angle difference between the axis for detecting the attitude of the moving body and the axis for measuring the angular velocity by the gyro sensor.
- the movement state detection device is used for various navigation devices such as an in-vehicle navigation device and a PND (Personal Navigation Device).
- FIG. 1 is a block diagram showing the main configuration of the angular velocity detection device 1 of the present embodiment.
- FIG. 2 is a diagram for explaining a detection axis of the gyro sensor 20 in a state where the gyro sensor 20 is mounted on a moving body.
- the angular velocity detection device 1 includes an angular velocity calculation unit 10 and a gyro sensor 20.
- the gyro sensor 20 measures the sensor coordinate system angular velocity [ ⁇ x s , ⁇ y s , ⁇ z s ] in its own coordinate system (sensor coordinate system).
- the angular velocity ⁇ x s is an angular velocity in the roll angle ( ⁇ ) direction with the x axis, which is the longitudinal direction of the moving body, as the rotation axis. At this time, the angular velocity ⁇ x s is detected with the clockwise direction as the positive direction when the moving body is viewed from the front.
- the angular velocity ⁇ y s is an angular velocity in the pitch angle ( ⁇ ) direction with the y-axis, which is the horizontal direction of the moving body, as the rotation axis. At this time, the angular velocity ⁇ y s is detected with the clockwise direction as the positive direction when the moving body is viewed from the starboard side.
- the angular velocity ⁇ z s is an angular velocity in the azimuth ( ⁇ ) direction with the z axis, which is the vertical direction of the moving body, as the rotation axis. At this time, the angular velocity ⁇ z s is detected with the counterclockwise direction as the positive direction when the moving body is viewed from above.
- the gyro sensor 20 is attached to the moving body with a misalignment angle [ ⁇ , ⁇ , ⁇ ] composed of an attachment angle error ⁇ in the roll direction, an attachment angle error ⁇ in the pitch direction, and an attachment angle error ⁇ in the azimuth direction. It is assumed that
- the gyro sensor 20 since the gyro sensor 20 is attached to the moving body at misalignment angles [ ⁇ , ⁇ , ⁇ ], the sensor coordinate system angular velocity [ ⁇ x s , ⁇ y s , output from the gyro sensor 20, The solid angle based on the misalignment angle [ ⁇ , ⁇ , ⁇ ] is present between each component of ⁇ z s ] and each component of the moving body coordinate system acceleration [ ⁇ x b , ⁇ y b , ⁇ z b ]. A corresponding difference will occur. Further, the gyro sensor 20 includes a steady bias component in the output angular velocity, which causes an error with respect to the output angular velocity. Therefore, these error factors are removed by the angular velocity calculator 10 shown below.
- the angular velocity calculation unit 10 includes a bias component removal unit 11, a misalignment angle estimation unit 12, and a coordinate conversion unit 13.
- the bias component removal unit 11 performs time-average processing on the angular velocities [ ⁇ x s , ⁇ y s , ⁇ z s ] in the sensor coordinate system, respectively, and averages [E av ( ⁇ x s ), E av ( ⁇ y s). ), E av ( ⁇ z s )].
- the bias component removing unit 11 averages the angular velocities [ ⁇ x s , ⁇ y s , ⁇ z s ] in the sensor coordinate system [E av ( ⁇ x s ), E av ( ⁇ y s ), E av ( ⁇ z s )].
- the bias component included in the angular velocity [ ⁇ x s , ⁇ y s , ⁇ z s ] is removed.
- the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] after removing the bias component are output to the misalignment angle estimation unit 12 and the coordinate conversion unit 13.
- the misalignment angle estimation unit 12 receives the turning detection result together with the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] after removing the bias component.
- the turning detection result is information indicating a result of identifying whether or not the moving body is turning.
- the turning detection result is set, for example, based on the acceleration measured by the acceleration sensor and the previously detected angular velocity as described later, or by detecting the rotation of the steering wheel if the moving body is an automobile.
- the misalignment angle estimator 12 uses the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] after removing the bias component obtained during the period of detecting that the vehicle is turning based on the turning detection result.
- the misalignment angles [ ⁇ , ⁇ , ⁇ ] are estimated.
- the estimation of the misalignment angle may be performed, for example, every second in accordance with the acquisition timing of the angular velocity in the sensor coordinate system, as long as it is during the period in which it is detected that the vehicle is turning. It is also possible to perform this at every set timing while buffering the angular velocity.
- C b s is a rotation matrix for converting the moving body coordinate system to the angular velocity sensor coordinate system, and can be expressed by the following equation using misalignment angles [ ⁇ , ⁇ , ⁇ ].
- equation (1) can be expressed by the following equation.
- Equation (4) is expressed as the following equation.
- the roll direction misalignment angle ⁇ and the pitch direction misalignment angle ⁇ can be estimated and calculated only from the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] measured by the gyro sensor.
- the time averaging process shown here indicates a general time averaging process in which instantaneous values of misalignment angles calculated based on the angular velocities at the respective sampling timings are summed and divided by the number of samplings. Specifically, if the symbol of the time averaging process is E [(formula)],
- the primary low-pass filter (LPF) process is performed on the roll direction misalignment angle ⁇ is shown as an example, but the primary low-pass filter process is similarly performed on other pitch direction misalignment angles ⁇ .
- ⁇ is a weight of LPF, and the value is changed according to the following conditions.
- weights ⁇ 1 and ⁇ 2 are set such that 0 ⁇ 1 ⁇ ⁇ 2 ⁇ 1.
- the threshold ⁇ is an experimentally set value.
- Kalman filter processing may be used instead of such low-pass filter processing or the above-described time averaging processing.
- the misalignment angle calculated in this way is output to the coordinate conversion unit 13.
- the roll angle ⁇ and the pitch angle ⁇ have little variation with respect to the azimuth angle ⁇ , and the roll angle ⁇ and the pitch angle ⁇ have little influence on the azimuth angle ⁇ . Therefore, the azimuth misalignment angle ⁇ can be approximated to “0”.
- the coordinate conversion unit 13 uses the angular velocity [ ⁇ x se , in the sensor coordinate system output from the bias component removal unit 11. ⁇ y se, ⁇ z se] a by coordinate transformation, the angular velocity of the moving object coordinate system [ ⁇ x be, ⁇ y be , it calculates the ⁇ z be].
- this correction is based on the following principle. Assuming that the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] in the sensor coordinate system and the angular velocities [ ⁇ x be , ⁇ y be , ⁇ z be ] in the moving object coordinate system are satisfied, the following equations are established. .
- C s b is a rotation matrix for converting the moving body coordinate system to the angular velocity sensor coordinate system, and can be expressed by the following equation using the estimated misalignment angles [ ⁇ , ⁇ , ⁇ ].
- the coordinate conversion unit 13 uses the rotation matrix C s b as described above to convert the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] in the sensor coordinate system after removing the bias component into the angular velocities [ ⁇ x be, ⁇ y be, converted to ⁇ z be].
- the calculated angular velocities [ ⁇ x be , ⁇ y be , ⁇ z be ] in the moving object coordinate system are highly accurate values. Further, since the bias component is removed as described above, the angular velocities [ ⁇ x be , ⁇ y be , ⁇ z be ] are values with higher accuracy.
- FIG. 3 is a block diagram illustrating a configuration of the moving state detection device 100 including the angular velocity detection device 1 according to the present embodiment.
- the movement state detection device 100 includes a GPS receiver 101, an acceleration sensor 102, an acceleration correction unit 103, a turning detection unit 104, a position calculation unit 301, a speed calculation unit 302, and an attitude angle calculation unit 303, in addition to the angular velocity detection device 1 described above. Prepare.
- the GPS receiver 101 receives a GPS signal from a GPS satellite, performs positioning by a known method from the received GPS signal, and calculates GPS position data, GPS speed data, and GPS azimuth data.
- the GPS receiver 101 outputs GPS position data to the position calculation unit 301, outputs GPS speed data to the speed calculation unit 302, and outputs GPS azimuth data to the attitude angle calculation unit 303.
- the acceleration sensor 102 is installed in a predetermined manner with respect to the moving body, and in its own coordinate system (acceleration sensor coordinate system), the acceleration [a x s , a y in the sensor coordinate system is provided. s 1 , a z s ] are measured.
- the acceleration a x s is the x-axis acceleration that is the longitudinal direction of the moving body.
- the acceleration a y s is the y-axis acceleration that is the lateral direction of the moving body.
- the acceleration a z s is the vertical acceleration of the moving body.
- the acceleration sensor 102 outputs the measured acceleration [a x s , a y s , a z s ] in the sensor coordinate system to the acceleration correction unit 103.
- the acceleration correction unit 103 performs correction of an error due to a misalignment angle of the acceleration sensor and correction for removing a bias component and a noise component with respect to acceleration [a x s , a y s , a z s ] in the sensor coordinate system. .
- Acceleration correction unit 103 converts the acceleration corrected to the coordinate system of the moving body, the acceleration of the moving body coordinate system [a x be, a y be , a z be] to generate.
- the acceleration [a x be , a y be , a z be ] in the moving body coordinate system is output to the speed calculation unit 302. Further, the acceleration a z be in the z-axis direction (vertical direction) in the moving body coordinate system is also output to the turning detection unit 104.
- the turning detection unit 104 determines that the moving body is present on a flat ground. Furthermore, if the value of the angular velocity ⁇ z be in the azimuth angle ⁇ direction detected immediately before is greater than or equal to a predetermined threshold, the turning detection unit 104 detects that the moving body is turning. If it is determined that these two conditions are satisfied, the turning detection unit 104 outputs a turning detection result indicating that the moving body is turning to the misalignment angle estimation unit 12 of the angular velocity detection device 1.
- the angular velocity detection device 1 performs coordinate conversion on the angular velocity [ ⁇ x s , ⁇ y s , ⁇ z s ] in the sensor coordinate system measured by the gyro sensor 20, and the angular velocity [ ⁇ x be, ⁇ y be, to produce a ⁇ z be].
- Angular velocities [ ⁇ x be , ⁇ y be , ⁇ z be ] in the moving body coordinate system are output to the attitude angle calculation unit 303.
- the speed calculation unit 302 outputs the GPS speed data while the GPS speed data is input.
- Speed calculator 302 to be entered GPS speed data, the input end of the GPS speed data as the initial value, by integrating acceleration [a x be, a y be , a z be] a, velocity data Is calculated and output. Note that it is even while the GPS speed data is entered, the acceleration [a x be, a y be , a z be] also generate speed data using.
- the speed calculation unit 302 the acceleration [a x be, a y be , a z be] relative to the speed data previously outputted to weighted addition of the values of the current GPS speed data obtained by integrating, What is necessary is just to calculate the speed data this time.
- the attitude angle calculation unit 303 outputs the GPS azimuth data while the GPS azimuth data is being input. If the GPS azimuth data is not input, the attitude angle calculation unit 303 integrates the angular velocities [ ⁇ x be , ⁇ y be , ⁇ z be ] using the input final GPS azimuth data as an initial value. Calculate and output data. Note that even while GPS azimuth data is being input, the azimuth data can be generated using the angular velocities [ ⁇ x be , ⁇ y be , ⁇ z be ].
- the azimuth calculation unit 303 weights and adds the value obtained by integrating the angular velocity [ ⁇ x be , ⁇ y be , ⁇ z be ] to the previously output azimuth data and the value of the current GPS azimuth data, What is necessary is just to calculate this direction data.
- the position calculation unit 301 outputs the GPS position data while the GPS position data is being input. If the GPS position data is not input, the position calculation unit 301 uses the input final GPS position data as an initial value, the acceleration [a x be , a y be , a z be ] and the angular velocity [ ⁇ x be , ⁇ By integrating the velocity vector obtained from y be , ⁇ z be ], position data is calculated and output. Note that even while GPS position data is being input, position data using acceleration [a x be , a y be , a z be ] and angular velocity [ ⁇ x be , ⁇ y be , ⁇ z be ] are used. Can also be generated.
- the position calculation unit 301 the acceleration [a x be, a y be , a z be] with respect to the position data outputted last time and the angular velocity [ ⁇ x be, ⁇ y be , ⁇ z be] is obtained from
- the current position data may be calculated by weighted addition of the vector integrated value and the current GPS position data value.
- the position, speed, and attitude angle (azimuth) of the moving object can be calculated by using the configuration shown in FIG.
- the attitude angle can be detected with high accuracy, and the velocity can also be detected with high accuracy by the same method. Therefore, even if the GPS signal cannot be received, the position, speed, and attitude angle (azimuth) of the moving body can be calculated with high accuracy.
- the various movement information of the moving body calculated with high accuracy in this way is used for navigation processing or the like in the navigation apparatus in which the movement state detection apparatus 1 is mounted.
- the navigation device includes at least a navigation processing unit that performs route navigation processing, a display unit, and an operation unit that can also be used as the display unit.
- the optimal route is calculated from the current position and the target position, and the route is displayed on the display unit.
- the navigation device can realize accurate navigation processing.
- FIG. 4 is a block diagram illustrating a configuration of the angular velocity detection device 1A according to the embodiment.
- the angular velocity detection device 1A of the present embodiment is the same as the angular velocity detection device 1 shown in the first embodiment except that the bias component removal unit 11 is replaced with a frequency analysis unit 11A, and the other configurations are the same. . Therefore, only different points will be described in detail.
- the frequency analysis unit 11A converts the angular velocity [ ⁇ x s , ⁇ y s , ⁇ z s ] in the sensor coordinate system into an angular velocity component group on the frequency axis by wavelet transformation. More specifically, the frequency analysis unit 11A acquires angular velocities [ ⁇ x s , ⁇ y s , ⁇ z s ] in the sensor coordinate system, for example, every second, and stores them for 64 seconds. Perform wavelet transform based on the data for seconds.
- the frequency analysis unit 11A includes a substantially stationary component (DC component) corresponding to a sampling period of 64 seconds, a fluctuation component (AC component) corresponding to a sampling period of 32 seconds, and a fluctuation component (AC component) corresponding to a sampling period of 16 seconds. ), A fluctuation component corresponding to a sampling period of 8 seconds (AC component), a fluctuation component corresponding to a sampling period of 4 seconds (AC component), a fluctuation component corresponding to a sampling period of 2 seconds (AC component), 1 second A fluctuation component (AC component) corresponding to the sampling period is acquired.
- the frequency analysis unit 11A uses the acquired 64-second width DC component of the extremely low frequency as a bias frequency component, and converts the 8-second width AC component, the 4-second width AC component, and the 2-second width AC component of the middle frequency to the motion angular velocity frequency.
- a 1-second width AC component is set as a noise frequency component.
- the DC component obtained with a width of 64 seconds can be regarded as being output from the angular velocity sensor 20 almost constantly regardless of the moving state of the moving body.
- the AC components obtained in the width of 8 seconds, 4 seconds, and 2 seconds are greatly influenced by the moving state of the moving body, and are considered to be components that tend to depend on the moving angular velocity of the moving body. Because you can.
- the AC component obtained in 1 second width includes more randomness than the moving angular velocity of the moving body.
- the frequency analysis unit 11 converts the motion angular velocity frequency component obtained by the wavelet transform into the angular velocity [ ⁇ x sef , ⁇ y sef , ⁇ z sef ] after removing the error factor, to the misalignment angle estimation unit 12 and the coordinate conversion unit 13. Output.
- the misalignment angle is estimated with the angular velocity obtained by removing the bias component and the noise component from the angular velocity [ ⁇ x s , ⁇ y s , ⁇ z s ] measured by the gyro sensor 20. Corrected. Therefore, the angular velocity in the moving body coordinate system with higher accuracy can be calculated.
- wavelet transform is performed by the frequency analysis unit 11A
- wavelet transformation is preferably used, but other frequency transformation processing, for example, Fourier transformation processing may be performed, and further, the frequency components may be decomposed by a plurality of filters having different pass frequency bands. Also good.
- the angular velocity calculation unit 10 is functionally divided into the bias component removal unit 11 or the frequency analysis unit 11A, the misalignment angle estimation unit 12, and the coordinate conversion unit 13. These may be realized by one arithmetic element and an execution program.
- the azimuth misalignment angle ⁇ is set to approximately “0” and is not estimated, but can be estimated and calculated by the following method.
- the estimation of the azimuth misalignment angle ⁇ is performed in a period of going straight on a road with a gradient.
- Equation (4) is expressed as the following equation.
- the azimuth misalignment angle ⁇ is calculated from the following equation: Is done.
- the azimuth misalignment angle ⁇ can be estimated and calculated only from the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] measured by the gyro sensor.
- the azimuth direction misalignment angle ⁇ can be calculated, the misalignment angles in all directions can be estimated and calculated. Therefore, the angular velocities [ ⁇ x se , ⁇ y se , ⁇ z se ] detected by the gyro sensor 20 are further calculated. It can be corrected with high accuracy.
Abstract
Description
[ωx se,ωy se,ωz se]=[ωx s-Eav(ωx s),ωy s-Eav(ωy s),ωz s-Eav(ωz s)]
の演算を実行する。バイアス成分除去処理には、時間平均に類似した処理を用いても良い。
この場合は、ミスアライメント角Δφが小さい場合であり、α=α1とする。
この場合は、ミスアライメント角Δφが大きい場合であり、α=α2とする。
Claims (14)
- 移動体に装着され、該移動体の角速度を検出する角速度検出装置であって、
センサ座標系における直交三軸の角速度を計測するジャイロセンサと、
前記センサ座標系における角速度に基づいて、前記ジャイロセンサの直交三軸と前記移動体の直交三軸との角度差を推定するミスアライメント角推定部と、
前記角度差に基づいて前記センサ座標系における角速度から移動体座標系における角速度へ座標変換する座標変換部と、
を備えた角速度検出装置。 - 請求項1に記載の角速度検出装置であって、
前記角速度のバイアス成分を除去するバイアス成分除去部を備え、
前記ミスアライメント角推定部および前記座標変換部は、バイアス成分除去後の角速度を用いて演算を行う、角速度検出装置。 - 請求項2に記載の角速度検出装置であって、
前記バイアス成分除去部は、
前記ジャイロセンサから出力された角速度の時間平均値を用いて、該角速度を補正することで、バイアス成分を除去する、角速度検出装置。 - 請求項1に記載の角速度検出装置であって、
前記角速度を周波数解析し、バイアス成分および雑音成分の周波数成分を除去した周波数成分からなる角速度を算出する周波数解析部を備え、
前記ミスアライメント角推定部および前記座標変換部は、前記周波数解析部から出力される角速度を用いて演算を行う、角速度検出装置。 - 請求項4に記載の角速度検出装置であって、
前記周波数解析部は、ウェーブレット変換を用いて周波数解析を行う、角速度検出装置。 - 請求項1乃至請求項5のいずれかに記載の角速度検出装置であって、
前記移動体の加速度および過去に検出した角速度に基づいて旋回中であることを検出する旋回検出部を備えた角速度検出装置。 - 請求項1乃至請求項6のいずれかに記載の角速度検出装置と、
該角速度検出装置で検出した角速度を用いて、前記移動体の姿勢角を検出する姿勢角検出部と、
前記移動体の加速度を検出する加速度センサと、
前記測位用信号を受信して、前記移動体の位置、速度、方位を測定する測位部と、
前記姿勢角検出部で得られた姿勢角、前記加速度センサで得られた加速度、前記測位部で得られた位置、速度、方位を用いて、前記移動体の位置、速度、姿勢角を含む移動状態を算出する移動状態算出部と、
を備えた移動状態検出装置。 - 請求項7に記載の移動状態検出装置と、
前記移動状態を含むナビゲーション情報を通知するユーザ通知部と、を備えたナビゲーション装置。 - 移動体の角速度を検出する角速度検出方法であって、
直交三軸の角速度を計測する計測工程と、
前記直交三軸の角速度に基づいて、前記ジャイロセンサの直交三軸と前記移動体の直交三軸との角度差を推定するミスアライメント角推定工程と、
前記角度差に基づいて前記センサ座標系における角速度から移動体座標系における角速度へ座標変換する座標変換工程と、
を有する角速度検出方法。 - 請求項9に記載の角速度検出方法であって、
前記角速度のバイアス成分を除去するバイアス成分除去工程を有し、
前記ミスアライメント角推定工程および前記座標変換工程では、バイアス成分除去後の角速度を用いて演算を行う、角速度検出方法。 - 請求項10に記載の角速度検出方法であって、
前記バイアス成分除去工程では、
前記計測された角速度の時間平均値を用いて、該角速度を補正することで、バイアス成分を除去する、角速度検出方法。 - 請求項9に記載の角速度検出方法であって、
前記角速度を周波数解析し、バイアス成分および雑音成分の周波数成分を除去した周波数成分からなる角速度を算出する周波数解析工程を有し、
前記ミスアライメント角推定工程および前記座標変換工程は、前記周波数解析工程で算出された角速度を用いて演算を行う、角速度検出方法。 - 請求項12に記載の角速度検出装置であって、
前記周波数解析工程では、ウェーブレット変換を用いて周波数解析を行う、角速度検出方法。 - 請求項9乃至請求項13のいずれかに記載の角速度検出方法であって、
前記移動体の加速度に基づいて旋回中であることを検出する旋回検出工程を有する角速度検出方法。
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