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Posture Estimation Method, Posture Estimation Device, And Movable Device
A posture estimation method includes: measuring a bias value BW and a variance value PWW of an angular velocity sensor and a bias value BA and a variance value PVV of an acceleration sensor in a predetermined operation of an object and storing the measured values in a storage unit; reading the bias value BW, the variance value PWW, the bias value BA, and the variance value PVV from the storage unit and setting the read values as initial setting values during reset; and estimating a posture of the object using a Kalman filter from an output of the angular velocity sensor and an output of the acceleration sensor.
Posture Estimation Method, Posture Estimation Device, And Movable Device
A posture estimation method includes: measuring a bias value BW and a variance value PWW of an angular velocity sensor and a bias value BA and a variance value PVV of an acceleration sensor in a predetermined operation of an object and storing the measured values in a storage unit; reading the bias value BW, the variance value PWW, the bias value BA, and the variance value PVV from the storage unit and setting the read values as initial setting values during reset; and estimating a posture of the object using a Kalman filter from an output of the angular velocity sensor and an output of the acceleration sensor.
Posture Estimation Method, Posture Estimation Device, And Movable Device
YODA KENTARO (author)
2022-08-18
Patent
Electronic Resource
English
IPC:
E02F
Baggern
,
DREDGING
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