Posture Estimation Method, Posture Estimation Device, And Movable Device

Abstract

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.

What is claimed is: 
     
         1 . A posture estimation method comprising:
 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;   measuring an angular velocity and an acceleration by the angular velocity sensor and the acceleration sensor in a stationary state of the object;   updating the bias value BW and the variance value PWW of the angular velocity sensor and the variance value PVV of the acceleration sensor from the initial setting values; 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.   
     
     
         2 . The posture estimation method according to  claim 1 , wherein
 the predetermined operation is most frequently performed one of operations of the object.   
     
     
         3 . The posture estimation method according to  claim 1 , wherein
 the predetermined operation includes a plurality of operations, and the bias value BW, the variance value PWW, the bias value BA, and the variance value PVV corresponding to one of the plurality of operations according to a type of the plurality of operations are read from the storage unit.   
     
     
         4 . The posture estimation method according to  claim 1 , wherein
 measurement time in the stationary state is 200 msec.   
     
     
         5 . A posture estimation device comprising:
 a storage unit configured to store 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   a processing unit configured to estimate a posture of the object using a Kalman filter from an output of the angular velocity sensor and an output of the acceleration sensor.   
     
     
         6 . The posture estimation device according to  claim 5 , wherein
 the predetermined operation is most frequently performed one amoung operations of the object.   
     
     
         7 . The posture estimation device according to  claim 5 , wherein
 the predetermined operation includes a plurality of operations, and   the storage unit stores the bias value BW, the variance value PWW, the bias value BA, and the variance value PVV corresponding to the plurality of operations.   
     
     
         8 . A posture estimation device comprising:
 a storage unit configured to store, in association with each of a plurality of movements of the object, 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 ; and   a processing unit configured to estimate a posture of the object using a Kalman filter from an output of the angular velocity sensor and an output of the acceleration sensor.   
     
     
         9 . A movable device comprising:
 the posture estimation device according to  claim 5 ; and   a control device configured to control the posture of the object based on posture information on the object estimated by the posture estimation device.   
     
     
         10 . A movable device comprising:
 the posture estimation device according to  claim 8 ; and   a control device configured to control the posture of the object based on posture information on the object estimated by the posture estimation device.