JP2013205164A5 - - Google Patents

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JP2013205164A5
JP2013205164A5 JP2012073346A JP2012073346A JP2013205164A5 JP 2013205164 A5 JP2013205164 A5 JP 2013205164A5 JP 2012073346 A JP2012073346 A JP 2012073346A JP 2012073346 A JP2012073346 A JP 2012073346A JP 2013205164 A5 JP2013205164 A5 JP 2013205164A5
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posture
acceleration
acceleration sensor
bias
output value
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JP2012073346A
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JP2013205164A (en
JP6003146B2 (en
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Claims (10)

加速度センサーの第１の姿勢における出力値が所定値であるか否かを判定することと、
前記所定値ではないと判定した場合に、前記加速度センサーの姿勢変更の指示をすることと、
前記加速度センサーの前記姿勢変更された第２の姿勢における出力値が前記所定値であるか否かを判定することと、
前記所定値であると判定されたときの姿勢と、当該姿勢における前記加速度センサーの出力値との組合せを用いて、前記加速度センサーのバイアスを推定することと、
を含む加速度バイアス推定方法。 Determining whether the output value of the acceleration sensor in the first posture is a predetermined value;
Instructing the posture change of the acceleration sensor when it is determined that it is not the predetermined value;
Determining whether an output value of the acceleration sensor in the second posture after the posture change is the predetermined value;
Estimating the bias of the acceleration sensor using a combination of the posture when determined to be the predetermined value and the output value of the acceleration sensor in the posture ;
An acceleration bias estimation method including: 前記所定値は重力加速度相当値である、
請求項１に記載の加速度バイアス推定方法。 The predetermined value is a gravity acceleration equivalent value ,
The acceleration bias estimation method according to claim 1. 前記第１の姿勢及び前記第２の姿勢は、絶対座標系における前記加速度センサーの姿勢であり、
前記推定することは、前記絶対座標系における加速度として重力加速度以外の加速度がゼロであることを参照値として用いて、前記バイアスを推定することを含む、
請求項２に記載の加速度バイアス推定方法。 The first posture and the second posture are postures of the acceleration sensor in an absolute coordinate system,
The estimating includes estimating the bias using, as a reference value, acceleration other than gravitational acceleration as acceleration in the absolute coordinate system.
The acceleration bias estimation method according to claim 2. 前記加速度センサーの出力値に基づいて設定した静止時の基準姿勢と、ジャイロセンサーの出力値とを用いて、前記加速度センサーの姿勢を算出することを更に含み、
前記推定することは、前記算出された姿勢と前記加速度センサーの出力値との組合せを用いて前記バイアスを推定することである、
請求項１乃至３の何れか一項に記載の加速度バイアス推定方法。 Further comprising calculating the attitude of the acceleration sensor using a stationary reference attitude set based on the output value of the acceleration sensor and an output value of the gyro sensor;
The estimating is to estimate the bias using a combination of the calculated posture and an output value of the acceleration sensor.
The acceleration bias estimation method according to any one of claims 1 to 3. 前記推定することは、新たな前記組合せが得られる毎に逐次的に前記バイアスを推定する逐次近似演算処理を行うことを含む、
請求項１乃至４の何れか一項に記載の加速度バイアス推定方法。 The estimation includes performing a successive approximation calculation process for sequentially estimating the bias every time a new combination is obtained.
The acceleration bias estimation method according to any one of claims 1 to 4. 加速度センサーの姿勢を算出する姿勢算出部と、
前記姿勢算出部により算出された複数の姿勢と当該姿勢における前記加速度センサーの出力値との組合せを用いて、前記加速度センサーのバイアスを推定する推定部と、
を含む処理部を備え、
前記処理部は、前記加速度センサーの第１の姿勢における出力値が所定値であるか否かを判定し、前記所定値ではないと判定した場合に、前記加速度センサーを第２の姿勢に変更するための指示を行う計測装置。 An attitude calculation unit for calculating the attitude of the acceleration sensor;
An estimation unit that estimates a bias of the acceleration sensor using a combination of a plurality of postures calculated by the posture calculation unit and an output value of the acceleration sensor in the posture;
Including a processing unit including
The processing unit determines whether or not an output value in the first posture of the acceleration sensor is a predetermined value, and when determining that the output value is not the predetermined value, changes the acceleration sensor to the second posture. Measuring device that gives instructions . 前記所定値は重力加速度相当値である請求項６に記載の計測装置。The measuring apparatus according to claim 6, wherein the predetermined value is a value corresponding to gravitational acceleration. 前記第１姿勢及び前記第２の姿勢は、絶対座標系における前記加速度センサーの姿勢であり、The first posture and the second posture are postures of the acceleration sensor in an absolute coordinate system,
前記推定部は、前記絶対座標系における加速度として重力加速度以外の加速度がゼロであることを参照値として用いて、前記バイアスを推定する、The estimation unit estimates the bias using, as a reference value, acceleration other than gravitational acceleration as acceleration in the absolute coordinate system,
請求項７に記載の計測装置。The measuring device according to claim 7. 前記姿勢算出部は、前記加速度センサーの出力値に基づいて設定した静止時の基準姿勢と、ジャイロセンサーの出力値とを用いて、前記加速度センサーの姿勢を算出し、The posture calculation unit calculates the posture of the acceleration sensor using a stationary reference posture set based on the output value of the acceleration sensor and the output value of the gyro sensor,
前記推定部は、前記姿勢算出部により算出された姿勢と前記加速度センサーの出力値との組合せを用いて前記バイアスを推定する、The estimation unit estimates the bias using a combination of the posture calculated by the posture calculation unit and the output value of the acceleration sensor;
請求項６乃至８の何れか一項に記載の計測装置。The measuring device according to any one of claims 6 to 8. 前記推定部は、新たな前記組合せが得られる毎に逐次的に前記バイアスを推定する逐次近似演算処理を行う、The estimation unit performs a successive approximation calculation process for sequentially estimating the bias every time the new combination is obtained.
請求項６乃至９の何れか一項に記載の計測装置。The measuring device according to any one of claims 6 to 9.
JP2012073346A 2012-03-28 2012-03-28 Acceleration bias estimation method and measurement apparatus Active JP6003146B2 (en)

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JP2013205164A5 true JP2013205164A5 (en) 2015-05-07
JP6003146B2 JP6003146B2 (en) 2016-10-05

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US10203350B2 (en) 2015-10-02 2019-02-12 Seiko Epson Corporation Measurement instrument, measurement method, measurement system, and program
US20170097278A1 (en) 2015-10-02 2017-04-06 Seiko Epson Corporation Measurement instrument, measurement method, measurement system, and program
US10198640B2 (en) 2015-10-02 2019-02-05 Seiko Epson Corporation Measuring device, measuring system, measuring method, and program
JP6467525B2 (en) * 2015-11-30 2019-02-13 アルプス電気株式会社 Wearable device, posture measurement method and program thereof

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US7881900B2 (en) * 2006-01-05 2011-02-01 Asahi Kasei Emd Corporation Acceleration measuring device
JP2010271209A (en) * 2009-05-22 2010-12-02 Kddi Corp Portable information apparatus, method and program for correcting offset error of acceleration sensor
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