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...

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Bibliographic Details
Main Author YODA, Kentaro
Format Patent
LanguageEnglish
Published 18.08.2022
Subjects
DREDGING
FIXED CONSTRUCTIONS
FOUNDATIONS
HYDRAULIC ENGINEERING
SOIL SHIFTING
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Summary: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.
Bibliography:Application Number: US202217670577