The purpose is to easily achieve verification of an integrated attitude angle based on an inertial sensor. An attitude angle calculating device may include an integrated attitude angle calculating module, a reverse-calculated value calculating module, a reference value calculating module, and a determining module. The integrated attitude angle calculating module may calculate an integrated attitude angle using an output of the inertial sensor and a positioning signal. The reverse-calculated value calculating module may reverse calculate, using the integrated attitude angle, a physical quantity obtained based on the positioning signal that is used for calculating the integrated attitude angle. The reference value calculating module may calculate a reference physical quantity corresponding to the reverse-calculated physical quantity, based on an observation value of the positioning signal. The determining module may determine whether to reset the calculation of the integrated attitude angle by using the reverse-calculated physical quantity and the reference physical quantity.
Method and device for calculating attitude angle
2020-12-29
Patent
Electronic Resource
English
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