To provide a posture angle correction device and a posture angle correction method that can appropriately correct a posture angle detected by a position and posture detection device.SOLUTION: A posture angle correction device includes: a point extraction unit 14 that extracts a point at a first time point and a point at a second time point of which horizontal coordinates are within a predetermined distance from the three-dimensional point cloud data generated from detection data at the first time point and detection data at the second time point, respectively; a correction point generation unit 15 that generates a correction point when a plurality of different provisional pitch angle correction values are applied to each of the extracted points; and a correction value specifying unit 16 that specifies, as a pitch angle correction value, a provisional pitch angle correction value in which the altitude difference between the correction point at the first time point and the correction point at the second time point is minimum. Targeting extracted points of which horizontal coordinates are within the predetermined distance, a pitch angle correction value for suppressing errors can be specified by searching for the provisional pitch angle correction value in which the altitude difference between correction points when using a plurality of different provisional pitch angle correction values is minimum.SELECTED DRAWING: Figure 1

    【課題】位置姿勢検出装置により検出される姿勢角を適切に補正可能な「姿勢角補正装置および姿勢角補正方法」を提供する。【解決手段】第1時点の検出データおよび第2時点の検出データから生成された3次元点群データのそれぞれから、水平座標が所定距離以内にある第1時点の点および第2時点の点を抽出する点抽出部14と、当該抽出した点のそれぞれについて、複数の異なる仮ピッチ角補正値を適用した場合の補正点を生成する補正点生成部15と、第1時点の補正点と第2時点の補正点との高度差が最小となる仮ピッチ角補正値をピッチ角補正値として特定する補正値特定部16とを備え、水平座標が所定距離以内にあるものとして抽出される点を対象として、複数の異なる仮ピッチ角補正値を用いた場合の補正点の高度差が最小となる仮ピッチ角補正値を探索することで、誤差を抑制するためのピッチ角補正値を特定可能にする。【選択図】図1


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    Title :

    POSTURE ANGLE CORRECTION DEVICE AND POSTURE ANGLE CORRECTION METHOD


    Additional title:

    姿勢角補正装置および姿勢角補正方法


    Contributors:

    Publication date :

    2024-02-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge



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