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STATE ESTIMATION DEVICE, STATE ESTIMATION METHOD, STATE ESTIMATION PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM

外国特許コード F070001669
整理番号 F070001669
掲載日 2007年9月14日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2006JP310241
国際公開番号 WO 2006/126535
国際出願日 平成18年5月23日(2006.5.23)
国際公開日 平成18年11月30日(2006.11.30)
優先権データ
  • 特願2005-150221 (2005.5.23) JP
発明の名称 (英語) STATE ESTIMATION DEVICE, STATE ESTIMATION METHOD, STATE ESTIMATION PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM
発明の概要(英語) There are provided a state estimation device, a state estimation method, a stateestimation program, and a computer-readable recording medium which can be usedwithout requiring an error variance matrix even when the initial state is unknown.The state estimation device includes: an initial angle estimating unit (6) forestimating a posture angle (initial posture angle) of a moving body accordingto a relative posture angle obtained from a relative angle measuring unit (4)and an absolute posture angle obtained from an absolute angle measuring unit(5); a current angle estimating unit (7) for estimating a posture angle (currentposture angle) of the moving body according to the relative posture angle andthe initial posture angle; an initial position estimating unit (8) for estimatingthe position (initial position) of the moving body according to the initial postureangle, the relative position of the moving body obtained from the relative positionmeasuring unit (2), and the absolute position obtained from an absolute positionmeasuring unit (3); and a current position estimating unit (9) for estimatingthe current position of the moving body according to the relative position, theestimated initial posture angle, and the estimated initial position. Thus,it is possible to estimate the current position and the current posture angleof the moving body.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • National University Corporation Nara Institute Of Science And Technology
  • 発明者(英語)
  • Nakamura, Hisakazu
  • Higuchi, Muneaki
  • Nishitani, Hirokazu
国際特許分類(IPC)
指定国 AE AG AL AM AT AU AZ BA BB BE BF BG BJ BR BW BY BZ CA CF CG CH CI CM CN CO CR CU CY CZ DE DK DM DZ EC EE EG ES FI FR GA GB GD GE GH GM GN GQ GR GW HR HU ID IE IL IN IS IT JP KE KG KM KN KP KR KZ LC LK LR LS LT LU LV LY MA MC MD MG MK ML MN MR MW MX MZ NA NE NG NI NL NO NZ OM PG PH PL PT RO RU SC SD SE SG SI SK SL SM SN SY SZ TD TG TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW
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